+ python -m lidar_slam --no-model /working/21c347ca-12e6-479f-b57a-69ae3df519c2 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/21c347ca-12e6-479f-b57a-69ae3df519c2 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 0.004203822 Adjusted end_distance from 9.223372036854776e+18 to 319.194203822 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004203822 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 0.034203822 meters Centerline goodness : 0.080582 Centerline is valid? [0, False] SLAMing on 0.06420382200000001 meters Centerline goodness : 0.081623 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999972e-01 2.25748633e-04 7.19442277e-05 2.02637977e-03] [-2.25764934e-04 9.99999949e-01 2.26640843e-04 -1.91294389e-03] [-7.18930602e-05 -2.26657079e-04 9.99999972e-01 -4.08525149e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.094203822 meters Centerline goodness : 0.606819 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999919e-01 4.01317007e-04 -2.35677628e-05 3.81140571e-03] [-4.01306957e-04 9.99999829e-01 4.24935522e-04 -4.04903796e-03] [ 2.37382927e-05 -4.24926030e-04 9.99999909e-01 -1.79643109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.124203822 meters Centerline goodness : 0.605821 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99999906e-01 3.99846308e-04 -1.68668063e-04 7.35041866e-03] [-3.99768275e-04 9.99999813e-01 4.62425026e-04 -3.01718114e-03] [ 1.68852931e-04 -4.62357554e-04 9.99999879e-01 -4.02154991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15420382200000002 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 0.18420382200000002 meters Centerline goodness : 0.538684 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 9.99999912e-01 3.23682320e-04 2.68640920e-04 8.88663953e-03] [-3.23742395e-04 9.99999923e-01 2.23611557e-04 1.95055315e-03] [-2.68568520e-04 -2.23698507e-04 9.99999939e-01 -4.05551195e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21420382200000002 meters Centerline goodness : 0.293982 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999832e-01 5.21011941e-04 2.52463144e-04 1.20327879e-02] [-5.21015520e-04 9.99999864e-01 1.41113528e-05 2.33784343e-03] [-2.52455757e-04 -1.42428876e-05 9.99999968e-01 -5.29296103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24420382200000001 meters Centerline goodness : 0.374863 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999864e-01 5.16701104e-04 6.59221793e-05 1.38086449e-02] [-5.16692675e-04 9.99999858e-01 -1.27816686e-04 3.34616710e-03] [-6.59882130e-05 1.27782607e-04 9.99999990e-01 -6.42689027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27420382200000004 meters Centerline goodness : 0.107964 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.01 [[ 9.99999899e-01 3.59538650e-04 2.68389117e-04 1.56097193e-02] [-3.59324137e-04 9.99999616e-01 -7.98881057e-04 8.79108526e-03] [-2.68676243e-04 7.98784538e-04 9.99999645e-01 -6.67201093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30420382200000007 meters Centerline goodness : 0.328297 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.01 [[ 9.99999956e-01 8.32138063e-05 2.86418449e-04 1.84762829e-02] [-8.28200883e-05 9.99999052e-01 -1.37436266e-03 1.45993976e-02] [-2.86532543e-04 1.37433888e-03 9.99999015e-01 -8.05946330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33420382200000004 meters Centerline goodness : 0.335047 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.01 [[ 9.99999989e-01 1.14757237e-04 9.75123072e-05 2.00658853e-02] [-1.14632600e-04 9.99999178e-01 -1.27721929e-03 1.39597709e-02] [-9.76587972e-05 1.27720810e-03 9.99999180e-01 -8.81419024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36420382200000007 meters Centerline goodness : 0.291892 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.01 [[ 9.99998964e-01 -1.36961634e-03 -4.42744455e-04 2.72547551e-02] [ 1.36877740e-03 9.99997278e-01 -1.88963997e-03 1.31155917e-02] [ 4.45331332e-04 1.88903199e-03 9.99998117e-01 -1.20088583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.39420382200000004 meters Centerline goodness : 0.346077 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.01 [[ 9.99998901e-01 -1.36178215e-03 -5.86703003e-04 2.83452012e-02] [ 1.36084954e-03 9.99997815e-01 -1.58706378e-03 1.11130119e-02] [ 5.88862956e-04 1.58626362e-03 9.99998569e-01 -1.23208700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42420382200000006 meters Centerline goodness : 0.346168 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.01 [[ 0.9999976 -0.00191625 -0.00106444 0.03296182] [ 0.00191511 0.99999759 -0.00106979 0.00642805] [ 0.00106649 0.00106775 0.99999886 -0.01378139] [ 0. 0. 0. 1. ]] SLAMing on 0.45420382200000003 meters Centerline goodness : 0.287135 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.02 [[ 0.99999688 -0.00209815 -0.00135327 0.03703668] [ 0.00209678 0.99999729 -0.00100963 0.00861362] [ 0.00135539 0.00100679 0.99999857 -0.01633117] [ 0. 0. 0. 1. ]] SLAMing on 0.48420382200000006 meters Centerline goodness : 0.276916 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.02 [[ 9.99996236e-01 -1.52498133e-03 -2.28089199e-03 4.78746304e-02] [ 1.52344528e-03 9.99998612e-01 -6.75029421e-04 1.08112333e-02] [ 2.28191823e-03 6.71552066e-04 9.99997171e-01 -2.34104862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.514203822 meters Centerline goodness : 0.281722 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.02 [[ 9.99996084e-01 -1.32981994e-03 -2.46232925e-03 4.96160523e-02] [ 1.32890246e-03 9.99999047e-01 -3.74207813e-04 8.24086640e-03] [ 2.46282453e-03 3.70934152e-04 9.99996898e-01 -2.42656941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5442038220000001 meters Centerline goodness : 0.275469 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.03 [[ 9.99996081e-01 -1.02452331e-03 -2.60533791e-03 5.29959654e-02] [ 1.02403841e-03 9.99999458e-01 -1.87443058e-04 5.55696846e-03] [ 2.60552854e-03 1.84774357e-04 9.99996589e-01 -2.56106845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5742038220000001 meters Centerline goodness : 0.270471 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.03 [[ 9.99995604e-01 -1.09324254e-03 -2.75606860e-03 5.47014598e-02] [ 1.09222496e-03 9.99999335e-01 -3.70693156e-04 7.38729397e-03] [ 2.75647202e-03 3.67681279e-04 9.99996133e-01 -2.66264940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6042038220000001 meters Centerline goodness : 0.287829 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.03 [[ 9.99994855e-01 -1.10349328e-03 -3.01211880e-03 5.93264423e-02] [ 1.10120571e-03 9.99999104e-01 -7.61008821e-04 1.22411907e-02] [ 3.01295587e-03 7.57687943e-04 9.99995174e-01 -2.91580257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.634203822 meters Centerline goodness : 0.270972 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.03 [[ 0.999994 -0.00121466 -0.00324528 0.06155779] [ 0.00121122 0.9999987 -0.00106388 0.01519411] [ 0.00324657 0.00105994 0.99999417 -0.03028814] [ 0. 0. 0. 1. ]] SLAMing on 0.664203822 meters Centerline goodness : 0.261089 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.04 [[ 9.99990521e-01 -2.75834505e-04 -4.34534885e-03 7.34002118e-02] [ 2.72191355e-04 9.99999611e-01 -8.38971228e-04 1.56899445e-02] [ 4.34557858e-03 8.37780509e-04 9.99990207e-01 -3.71736599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6942038220000001 meters Centerline goodness : 0.262597 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-0.04 [[ 9.99989643e-01 2.32522257e-05 -4.55124297e-03 7.76728414e-02] [-2.68277085e-05 9.99999691e-01 -7.85546291e-04 1.39863050e-02] [ 4.55122330e-03 7.85660254e-04 9.99989334e-01 -3.91791833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7242038220000001 meters Centerline goodness : 0.257882 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.04 [[ 9.99988614e-01 -3.82653098e-07 -4.77194582e-03 7.98698839e-02] [-3.97959460e-06 9.99999582e-01 -9.14134902e-04 1.52397965e-02] [ 4.77194418e-03 9.14143484e-04 9.99988196e-01 -4.04210570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7542038220000001 meters Centerline goodness : 0.257882 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.04 [[ 9.99988614e-01 -3.82653098e-07 -4.77194582e-03 7.98698839e-02] [-3.97959460e-06 9.99999582e-01 -9.14134902e-04 1.52397965e-02] [ 4.77194418e-03 9.14143484e-04 9.99988196e-01 -4.04210570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.784203822 meters Centerline goodness : 0.263217 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.04 [[ 0.99998025 0.00407275 -0.00478706 0.08249329] [-0.00405561 0.99998535 0.00358469 0.0152039 ] [ 0.00480159 -0.0035652 0.99998212 -0.04094264] [ 0. 0. 0. 1. ]] SLAMing on 0.8142038220000001 meters Centerline goodness : 0.258739 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.04 [[ 0.99998016 0.00397044 -0.00488953 0.08393914] [-0.00395416 0.99998662 0.00333513 0.01789951] [ 0.0049027 -0.00331573 0.99998248 -0.04158161] [ 0. 0. 0. 1. ]] SLAMing on 0.8442038220000001 meters Centerline goodness : 0.247640 Centerline is valid? [False, False] Translation: X:0.09, Y:0.02, Z:-0.05 [[ 0.99997945 0.00334747 -0.00546838 0.09216143] [-0.00333228 0.99999057 0.00278482 0.01598892] [ 0.00547765 -0.00276654 0.99998117 -0.04634213] [ 0. 0. 0. 1. ]] SLAMing on 0.8742038220000001 meters Centerline goodness : 0.243656 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:-0.05 [[ 0.99997634 0.00364053 -0.00583722 0.09654594] [-0.00362247 0.99998863 0.00310145 0.01232287] [ 0.00584845 -0.00308023 0.99997815 -0.04854862] [ 0. 0. 0. 1. ]] SLAMing on 0.904203822 meters Centerline goodness : 0.235904 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:-0.07 [[ 0.99998628 0.00449483 0.00269101 0.10488164] [-0.00450505 0.99998262 0.00380192 0.01360647] [-0.00267388 -0.00381399 0.99998915 -0.07333161] [ 0. 0. 0. 1. ]] SLAMing on 0.9342038220000001 meters Centerline goodness : 0.140063 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.07 [[ 0.99995787 0.00872925 0.0028385 0.10730932] [-0.00875221 0.99992822 0.00818228 0.01379882] [-0.00276687 -0.00820678 0.9999625 -0.07379493] [ 0. 0. 0. 1. ]] SLAMing on 0.9642038220000001 meters Centerline goodness : 0.142552 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:-0.07 [[ 0.99995877 0.00868491 0.00265206 0.10929888] [-0.00870537 0.99993168 0.00780116 0.01744699] [-0.00258413 -0.00782392 0.99996605 -0.07462441] [ 0. 0. 0. 1. ]] SLAMing on 0.9942038220000001 meters Centerline goodness : 0.222197 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.08 [[ 0.99996134 0.00849819 0.00225747 0.11554173] [-0.00851463 0.99993658 0.00737188 0.0179219 ] [-0.00219468 -0.00739082 0.99997028 -0.07866924] [ 0. 0. 0. 1. ]] SLAMing on 1.024203822 meters Centerline goodness : 0.222496 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.08 [[ 0.99996088 0.00862633 0.00195477 0.11957136] [-0.00864086 0.99993418 0.00754761 0.01685587] [-0.00188954 -0.00756421 0.99996961 -0.08054026] [ 0. 0. 0. 1. ]] SLAMing on 1.054203822 meters Centerline goodness : 0.225323 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.08 [[ 0.99996237 0.00848851 0.00179155 0.12148934] [-0.00850153 0.99993655 0.00738999 0.01859847] [-0.00172871 -0.00740494 0.99997109 -0.08158291] [ 0. 0. 0. 1. ]] SLAMing on 1.084203822 meters Centerline goodness : 0.145940 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.08 [[ 0.99998193 0.00562742 -0.00211328 0.14847745] [-0.00560987 0.99995047 0.00822154 0.02354945] [ 0.00215944 -0.00820953 0.99996397 -0.0840168 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1142038220000001 meters Centerline goodness : 0.147210 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.09 [[ 0.99999064 0.00317901 -0.00293434 0.15676117] [-0.00316515 0.99998387 0.00471521 0.02688176] [ 0.00294928 -0.00470588 0.99998458 -0.08921366] [ 0. 0. 0. 1. ]] SLAMing on 1.1442038220000001 meters Centerline goodness : 0.115313 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.09 [[ 9.99994342e-01 -8.88282145e-04 -3.24460648e-03 1.60475197e-01] [ 8.89010586e-04 9.99999580e-01 2.23072932e-04 2.88769134e-02] [ 3.24440697e-03 -2.25956159e-04 9.99994711e-01 -9.03484066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1742038220000002 meters Centerline goodness : 0.148803 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.09 [[ 9.99993697e-01 -8.37629058e-04 -3.45029144e-03 1.62608281e-01] [ 8.39206451e-04 9.99999544e-01 4.55754077e-04 2.68364400e-02] [ 3.44990811e-03 -4.58646712e-04 9.99993944e-01 -9.13048101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2042038220000002 meters Centerline goodness : 0.154187 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:-0.09 [[ 9.99992442e-01 -1.02096841e-03 -3.75134503e-03 1.66372622e-01] [ 1.02193261e-03 9.99999445e-01 2.55121988e-04 2.95031809e-02] [ 3.75108248e-03 -2.58953682e-04 9.99992931e-01 -9.31319338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2342038220000002 meters Centerline goodness : 0.157115 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:-0.09 [[ 9.99991723e-01 -1.17478451e-03 -3.89546862e-03 1.68013856e-01] [ 1.17482747e-03 9.99999310e-01 8.74146687e-06 3.17046099e-02] [ 3.89545566e-03 -1.33178981e-05 9.99992413e-01 -9.38701846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.264203822 meters Centerline goodness : 0.157357 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:-0.09 [[ 9.99991689e-01 -1.16462137e-03 -3.90712801e-03 1.70466449e-01] [ 1.16436165e-03 9.99999320e-01 -6.87475746e-05 3.22638045e-02] [ 3.90720542e-03 6.41976932e-05 9.99992365e-01 -9.43592416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.294203822 meters Centerline goodness : 0.160156 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:-0.09 [[ 9.99991317e-01 -1.16181462e-03 -4.00210218e-03 1.72697548e-01] [ 1.16152733e-03 9.99999323e-01 -7.41085853e-05 3.24044828e-02] [ 4.00218557e-03 6.94593907e-05 9.99991989e-01 -9.48348263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.324203822 meters Centerline goodness : 0.162435 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:-0.10 [[ 9.99990516e-01 -1.23426483e-03 -4.17664442e-03 1.74424303e-01] [ 1.23355036e-03 9.99999224e-01 -1.73636017e-04 3.32123599e-02] [ 4.17685549e-03 1.68482269e-04 9.99991263e-01 -9.56214149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3542038220000001 meters Centerline goodness : 0.164471 Centerline is valid? [False, False] Translation: X:0.18, Y:0.04, Z:-0.10 [[ 9.99988606e-01 -1.41633014e-03 -4.55881030e-03 1.78259264e-01] [ 1.41415494e-03 9.99998885e-01 -4.80328990e-04 3.59604922e-02] [ 4.55948552e-03 4.73876653e-04 9.99989493e-01 -9.73446974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3842038220000001 meters Centerline goodness : 0.042413 Centerline is valid? [False, False] Translation: X:0.18, Y:0.04, Z:-0.10 [[ 9.99988132e-01 -1.46589062e-03 -4.64611186e-03 1.79374639e-01] [ 1.46343073e-03 9.99998787e-01 -5.32806429e-04 3.63529664e-02] [ 4.64688726e-03 5.26000843e-04 9.99989065e-01 -9.76377016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4142038220000002 meters Centerline goodness : 0.167810 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:-0.10 [[ 9.99982418e-01 -1.99639710e-03 -5.58373691e-03 1.90192521e-01] [ 1.99176098e-03 9.99997667e-01 -8.35728297e-04 3.73478403e-02] [ 5.58539233e-03 8.24592134e-04 9.99984062e-01 -1.04137459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4442038220000002 meters Centerline goodness : 0.169496 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:-0.11 [[ 9.99981286e-01 -1.99441242e-03 -5.78361333e-03 1.92218375e-01] [ 1.98982772e-03 9.99997702e-01 -7.98351259e-04 3.69534589e-02] [ 5.78519227e-03 7.86827924e-04 9.99982956e-01 -1.05185333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4742038220000002 meters Centerline goodness : 0.168018 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.13 [[ 9.99991405e-01 -3.21693285e-03 2.61576707e-03 2.10794000e-01] [ 3.21944744e-03 9.99994359e-01 -9.57680146e-04 4.02122055e-02] [-2.61267152e-03 9.66093239e-04 9.99996120e-01 -1.32054109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5042038220000002 meters Centerline goodness : 0.115792 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.13 [[ 0.99999174 -0.00338698 0.00224688 0.21494586] [ 0.00338963 0.99999356 -0.00117534 0.04212181] [-0.00224289 0.00118295 0.99999679 -0.13404421] [ 0. 0. 0. 1. ]] SLAMing on 1.534203822 meters Centerline goodness : 0.116888 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:-0.14 [[ 0.9999916 -0.00354291 0.00206269 0.21688462] [ 0.00354582 0.99999272 -0.00140784 0.04383308] [-0.00205769 0.00141514 0.99999688 -0.13509184] [ 0. 0. 0. 1. ]] SLAMing on 1.564203822 meters Centerline goodness : 0.116678 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:-0.14 [[ 0.99999121 -0.00376895 0.0018381 0.21996746] [ 0.00377224 0.99999128 -0.00179163 0.04716394] [-0.00183133 0.00179855 0.99999671 -0.13597316] [ 0. 0. 0. 1. ]] SLAMing on 1.594203822 meters Centerline goodness : 0.176202 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:-0.14 [[ 0.99999123 -0.0038421 0.00166807 0.22152074] [ 0.00384525 0.99999082 -0.00189105 0.04786657] [-0.00166079 0.00189745 0.99999682 -0.1362949 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6242038220000001 meters Centerline goodness : 0.111621 Centerline is valid? [False, False] Translation: X:0.23, Y:0.05, Z:-0.14 [[ 0.99999105 -0.00406626 0.00116629 0.22635882] [ 0.00406837 0.99999009 -0.0018075 0.04593757] [-0.00115892 0.00181223 0.99999769 -0.13826336] [ 0. 0. 0. 1. ]] SLAMing on 1.6542038220000002 meters Centerline goodness : 0.180632 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:-0.14 [[ 9.99991843e-01 -3.91811189e-03 9.80794952e-04 2.27990310e-01] [ 3.91948443e-03 9.99991337e-01 -1.40142355e-03 4.25584720e-02] [-9.75295521e-04 1.40525633e-03 9.99998537e-01 -1.38820722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6842038220000002 meters Centerline goodness : 0.180825 Centerline is valid? [False, False] Translation: X:0.24, Y:0.04, Z:-0.14 [[ 9.99988648e-01 -4.76463090e-03 -4.14331985e-05 2.39360738e-01] [ 4.76456632e-03 9.99987613e-01 -1.43959488e-03 4.17270766e-02] [ 4.82918235e-05 1.43938112e-03 9.99998963e-01 -1.44803440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7142038220000002 meters Centerline goodness : 0.184368 Centerline is valid? [False, False] Translation: X:0.24, Y:0.04, Z:-0.15 [[ 9.99987895e-01 -4.91569989e-03 -2.14276577e-04 2.40829845e-01] [ 4.91535640e-03 9.99986679e-01 -1.57514510e-03 4.34389214e-02] [ 2.22016663e-04 1.57407279e-03 9.99998737e-01 -1.45050430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7442038220000002 meters Centerline goodness : 0.110798 Centerline is valid? [False, False] Translation: X:0.25, Y:0.04, Z:-0.15 [[ 0.99998558 -0.00521513 -0.00128418 0.2526706 ] [ 0.00521343 0.99998553 -0.00132805 0.04157606] [ 0.00129109 0.00132133 0.99999829 -0.15180241] [ 0. 0. 0. 1. ]] SLAMing on 1.7742038220000003 meters Centerline goodness : 0.189065 Centerline is valid? [False, False] Translation: X:0.26, Y:0.03, Z:-0.16 [[ 0.99997834 -0.00615672 -0.00232622 0.26256105] [ 0.00615341 0.99998005 -0.0014293 0.03480441] [ 0.00233497 0.00141496 0.99999627 -0.15688946] [ 0. 0. 0. 1. ]] SLAMing on 1.804203822 meters Centerline goodness : 0.110437 Centerline is valid? [False, False] Translation: X:0.26, Y:0.03, Z:-0.16 [[ 0.99997866 -0.00603911 -0.00249292 0.26408295] [ 0.00603588 0.99998094 -0.00129857 0.03408121] [ 0.00250071 0.00128349 0.99999605 -0.15737235] [ 0. 0. 0. 1. ]] SLAMing on 1.834203822 meters Centerline goodness : 0.082173 Centerline is valid? [False, False] Translation: X:0.27, Y:0.04, Z:-0.16 [[ 0.99998054 -0.00545261 -0.00303247 0.26842528] [ 0.00544862 0.99998428 -0.00132196 0.03614576] [ 0.00303963 0.00130541 0.99999453 -0.15858536] [ 0. 0. 0. 1. ]] SLAMing on 1.8642038220000001 meters Centerline goodness : 0.081734 Centerline is valid? [False, False] Translation: X:0.27, Y:0.04, Z:-0.16 [[ 0.99998019 -0.00534551 -0.00332393 0.27074492] [ 0.0053407 0.99998468 -0.00145479 0.03769204] [ 0.00333165 0.00143701 0.99999342 -0.15954496] [ 0. 0. 0. 1. ]] SLAMing on 1.8942038220000001 meters Centerline goodness : 0.091214 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:-0.16 [[ 9.99988012e-01 -2.73473027e-03 -4.06169649e-03 2.78881725e-01] [ 2.73308941e-03 9.99996181e-01 -4.09477909e-04 3.90055970e-02] [ 4.06280079e-03 3.98372021e-04 9.99991667e-01 -1.64225990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9242038220000002 meters Centerline goodness : 0.091115 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:-0.16 [[ 9.99987327e-01 -2.50621088e-03 -4.36626616e-03 2.81024275e-01] [ 2.50417709e-03 9.99996754e-01 -4.71201721e-04 3.99659253e-02] [ 4.36743291e-03 4.60261846e-04 9.99990357e-01 -1.64798576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9542038220000002 meters Centerline goodness : 0.109199 Centerline is valid? [False, False] Translation: X:0.29, Y:0.04, Z:-0.17 [[ 9.99986095e-01 -1.44397334e-03 -5.07198700e-03 2.86689112e-01] [ 1.44378994e-03 9.99998957e-01 -3.98203669e-05 3.84595512e-02] [ 5.07203920e-03 3.24969294e-05 9.99987137e-01 -1.67133953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9842038220000002 meters Centerline goodness : 0.091758 Centerline is valid? [False, False] Translation: X:0.29, Y:0.04, Z:-0.17 [[ 9.99985116e-01 -1.38309139e-03 -5.27779428e-03 2.88408592e-01] [ 1.38219071e-03 9.99999030e-01 -1.74299490e-04 3.96999233e-02] [ 5.27803023e-03 1.67001977e-04 9.99986057e-01 -1.67845263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0142038220000003 meters Centerline goodness : 0.109918 Centerline is valid? [False, False] Translation: X:0.29, Y:0.04, Z:-0.17 [[ 9.99983085e-01 -8.44470037e-04 -5.75462416e-03 2.91966645e-01] [ 8.42141582e-04 9.99999563e-01 -4.07034460e-04 4.34777982e-02] [ 5.75496537e-03 4.02181367e-04 9.99983359e-01 -1.68643698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.044203822 meters Centerline goodness : 0.108498 Centerline is valid? [False, False] Translation: X:0.31, Y:0.04, Z:-0.19 [[ 9.99997619e-01 4.37156227e-04 2.13780797e-03 3.11361999e-01] [-4.40297682e-04 9.99998824e-01 1.46922506e-03 4.41272979e-02] [-2.13716317e-03 -1.47016283e-03 9.99996636e-01 -1.92764888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0742038220000003 meters Centerline goodness : 0.109655 Centerline is valid? [False, False] Translation: X:0.31, Y:0.04, Z:-0.19 [[ 9.99997908e-01 5.64335400e-04 1.96598848e-03 3.12611888e-01] [-5.67771503e-04 9.99998312e-01 1.74765390e-03 4.21385642e-02] [-1.96499890e-03 -1.74876647e-03 9.99996540e-01 -1.93030875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.104203822 meters Centerline goodness : 0.176515 Centerline is valid? [False, False] Translation: X:0.32, Y:0.04, Z:-0.19 [[ 9.99999143e-01 2.71488879e-04 1.28067147e-03 3.17338541e-01] [-2.74421349e-04 9.99997340e-01 2.29017099e-03 3.65909318e-02] [-1.28004631e-03 -2.29052048e-03 9.99996557e-01 -1.94282447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1342038220000004 meters Centerline goodness : 0.109062 Centerline is valid? [False, False] Translation: X:0.32, Y:0.03, Z:-0.19 [[ 9.99999424e-01 3.82226924e-04 1.00262040e-03 3.19203683e-01] [-3.84933402e-04 9.99996279e-01 2.70060148e-03 3.34648683e-02] [-1.00158443e-03 -2.70098587e-03 9.99995851e-01 -1.94777243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.164203822 meters Centerline goodness : 0.109209 Centerline is valid? [False, False] Translation: X:0.32, Y:0.03, Z:-0.20 [[ 9.99999711e-01 4.63854167e-04 6.01581369e-04 3.22370743e-01] [-4.65704216e-04 9.99995152e-01 3.07882507e-03 3.07892712e-02] [-6.00150327e-04 -3.07910434e-03 9.99995079e-01 -1.95931762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1942038220000004 meters Centerline goodness : 0.109646 Centerline is valid? [False, False] Translation: X:0.32, Y:0.03, Z:-0.20 [[ 9.99999877e-01 3.55338057e-04 3.46108759e-04 3.24228026e-01] [-3.56322236e-04 9.99995882e-01 2.84765343e-03 3.25565420e-02] [-3.45095454e-04 -2.84777641e-03 9.99995886e-01 -1.96659149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.224203822 meters Centerline goodness : 0.109407 Centerline is valid? [False, False] Translation: X:0.33, Y:0.04, Z:-0.20 [[ 9.99999793e-01 6.00338001e-04 -2.29878934e-04 3.28055680e-01] [-5.99738807e-04 9.99996446e-01 2.59782251e-03 3.55052445e-02] [ 2.31437688e-04 -2.59768410e-03 9.99996599e-01 -1.97735782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.254203822 meters Centerline goodness : 0.109107 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.20 [[ 9.99999615e-01 7.21976031e-04 -4.98159444e-04 3.29684797e-01] [-7.20601911e-04 9.99995951e-01 2.75308233e-03 3.44116171e-02] [ 5.00145086e-04 -2.75272229e-03 9.99996086e-01 -1.97933327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2842038220000003 meters Centerline goodness : 0.108598 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.20 [[ 9.99999121e-01 9.48407179e-04 -9.26135634e-04 3.32828127e-01] [-9.45401643e-04 9.99994303e-01 3.24030658e-03 3.05563470e-02] [ 9.29203488e-04 -3.23942816e-03 9.99994321e-01 -1.98586769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.314203822 meters Centerline goodness : 0.108563 Centerline is valid? [False, False] Translation: X:0.34, Y:0.03, Z:-0.20 [[ 0.99999857 0.00106477 -0.00131585 0.33546401] [-0.00106 0.99999288 0.00362213 0.0279292 ] [ 0.0013197 -0.00362073 0.99999257 -0.19862924] [ 0. 0. 0. 1. ]] SLAMing on 2.3442038220000003 meters Centerline goodness : 0.082047 Centerline is valid? [False, False] Translation: X:0.34, Y:0.03, Z:-0.20 [[ 0.99999818 0.00106776 -0.00157936 0.33700868] [-0.00106185 0.99999247 0.00373336 0.02725601] [ 0.00158334 -0.00373168 0.99999178 -0.19876875] [ 0. 0. 0. 1. ]] SLAMing on 2.374203822 meters Centerline goodness : 0.167139 Centerline is valid? [False, False] Translation: X:0.35, Y:0.03, Z:-0.20 [[ 0.99999635 0.00109189 -0.00247085 0.34699116] [-0.00108242 0.99999209 0.00382814 0.0279469 ] [ 0.00247501 -0.00382545 0.99998962 -0.20430639] [ 0. 0. 0. 1. ]] SLAMing on 2.4042038220000004 meters Centerline goodness : 0.082109 Centerline is valid? [False, False] Translation: X:0.35, Y:0.03, Z:-0.20 [[ 0.99999556 0.00120121 -0.00272883 0.34835691] [-0.00118996 0.99999081 0.00411805 0.02602597] [ 0.00273375 -0.00411478 0.9999878 -0.20431939] [ 0. 0. 0. 1. ]] SLAMing on 2.434203822 meters Centerline goodness : 0.108100 Centerline is valid? [False, False] Translation: X:0.35, Y:0.03, Z:-0.21 [[ 9.99991778e-01 -2.39705617e-03 -3.27077459e-03 3.51870219e-01] [ 2.39697882e-03 9.99997127e-01 -2.75692333e-05 2.58938690e-02] [ 3.27083128e-03 1.97290292e-05 9.99994651e-01 -2.05073963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4642038220000004 meters Centerline goodness : 0.081537 Centerline is valid? [False, False] Translation: X:0.35, Y:0.03, Z:-0.21 [[ 9.99990579e-01 -2.32565670e-03 -3.66524257e-03 3.54385616e-01] [ 2.32571469e-03 9.99997295e-01 1.15592967e-05 2.58595312e-02] [ 3.66520577e-03 -2.00834962e-05 9.99993283e-01 -2.05083866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4942038220000002 meters Centerline goodness : 0.089979 Centerline is valid? [False, False] Translation: X:0.36, Y:0.03, Z:-0.21 [[ 9.99989498e-01 -2.37588678e-03 -3.91908594e-03 3.55835458e-01] [ 2.37553074e-03 9.99997174e-01 -9.54998377e-05 2.66619101e-02] [ 3.91930177e-03 8.61889256e-05 9.99992316e-01 -2.05294177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.524203822 meters Centerline goodness : 0.081462 Centerline is valid? [False, False] Translation: X:0.36, Y:0.03, Z:-0.21 [[ 9.99987947e-01 -2.36741480e-03 -4.30126314e-03 3.58344462e-01] [ 2.36724684e-03 9.99997197e-01 -4.41386819e-05 2.63864966e-02] [ 4.30135558e-03 3.39559983e-05 9.99990749e-01 -2.05853932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5542038220000003 meters Centerline goodness : 0.090079 Centerline is valid? [False, False] Translation: X:0.36, Y:0.03, Z:-0.21 [[ 9.99986827e-01 -2.37146879e-03 -4.55213707e-03 3.59815570e-01] [ 2.37114538e-03 9.99997186e-01 -7.64404137e-05 2.66987520e-02] [ 4.55230553e-03 6.56456279e-05 9.99989636e-01 -2.06065320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.584203822 meters Centerline goodness : 0.082828 Centerline is valid? [False, False] Translation: X:0.36, Y:0.03, Z:-0.21 [[ 9.99985276e-01 -2.23565061e-03 -4.94464345e-03 3.62207553e-01] [ 2.23596621e-03 9.99997499e-01 5.82991182e-05 2.58332892e-02] [ 4.94450075e-03 -6.93543154e-05 9.99987773e-01 -2.06262362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6142038220000003 meters Centerline goodness : 0.081653 Centerline is valid? [False, False] Translation: X:0.36, Y:0.03, Z:-0.21 [[ 9.99984216e-01 -2.16419992e-03 -5.18502885e-03 3.63561065e-01] [ 2.16493070e-03 9.99997647e-01 1.35331609e-04 2.53237600e-02] [ 5.18472377e-03 -1.46554701e-04 9.99986548e-01 -2.06579468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.644203822 meters Centerline goodness : 0.081653 Centerline is valid? [False, False] Translation: X:0.36, Y:0.03, Z:-0.21 [[ 9.99984216e-01 -2.16419992e-03 -5.18502885e-03 3.63561065e-01] [ 2.16493070e-03 9.99997647e-01 1.35331609e-04 2.53237600e-02] [ 5.18472377e-03 -1.46554701e-04 9.99986548e-01 -2.06579468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6742038220000004 meters Centerline goodness : 0.082936 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.21 [[ 9.99982175e-01 -2.09703655e-03 -5.59031969e-03 3.66318689e-01] [ 2.09640848e-03 9.99997796e-01 -1.18207268e-04 2.71730212e-02] [ 5.59055525e-03 1.06485567e-04 9.99984367e-01 -2.07631704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.704203822 meters Centerline goodness : 0.146393 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.21 [[ 9.99980667e-01 -2.13371948e-03 -5.84060848e-03 3.67785278e-01] [ 2.13160025e-03 9.99997660e-01 -3.69045400e-04 2.89510361e-02] [ 5.84138225e-03 3.56588423e-04 9.99982875e-01 -2.08046751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7342038220000005 meters Centerline goodness : 0.083134 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.21 [[ 9.99978447e-01 -2.10587343e-03 -6.21853623e-03 3.69976736e-01] [ 2.10126792e-03 9.99997513e-01 -7.47050702e-04 3.18657383e-02] [ 6.22009396e-03 7.33967790e-04 9.99980386e-01 -2.08324256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7642038220000003 meters Centerline goodness : 0.152115 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.21 [[ 0.99997652 -0.00220258 -0.00648972 0.37118357] [ 0.00219598 0.99999706 -0.00102389 0.03378248] [ 0.00649196 0.00100962 0.99997842 -0.208178 ] [ 0. 0. 0. 1. ]] SLAMing on 2.794203822 meters Centerline goodness : 0.129447 Centerline is valid? [False, False] Translation: X:0.37, Y:0.04, Z:-0.21 [[ 0.99997341 -0.0022397 -0.0069404 0.37343009] [ 0.00223139 0.99999679 -0.00120434 0.03518149] [ 0.00694308 0.00118883 0.99997519 -0.20793505] [ 0. 0. 0. 1. ]] SLAMing on 2.8242038220000003 meters Centerline goodness : 0.129925 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.21 [[ 9.99970338e-01 -2.35370129e-03 -7.33368151e-03 3.75583363e-01] [ 2.34681948e-03 9.99996798e-01 -9.46848073e-04 3.30699218e-02] [ 7.33588662e-03 9.29609161e-04 9.99972660e-01 -2.08116218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.854203822 meters Centerline goodness : 0.146341 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.21 [[ 9.99968638e-01 -2.24855166e-03 -7.59390299e-03 3.77031166e-01] [ 2.24480458e-03 9.99997354e-01 -5.01920889e-04 2.99987434e-02] [ 7.59501149e-03 4.84858319e-04 9.99971040e-01 -2.08475736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8842038220000004 meters Centerline goodness : 0.085141 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.21 [[ 9.99965584e-01 -2.30110344e-03 -7.97092463e-03 3.79411741e-01] [ 2.30064504e-03 9.99997351e-01 -6.66782476e-05 2.65651477e-02] [ 7.97105695e-03 4.83376846e-05 9.99968229e-01 -2.09193551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.914203822 meters Centerline goodness : 0.083060 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.21 [[ 9.99963963e-01 -2.38826705e-03 -8.14666448e-03 3.80483441e-01] [ 2.38635545e-03 9.99997123e-01 -2.44360700e-04 2.76482482e-02] [ 8.14722464e-03 2.24911057e-04 9.99966786e-01 -2.09596652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9442038220000004 meters Centerline goodness : 0.115499 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.21 [[ 9.99961207e-01 -2.51321157e-03 -8.44207364e-03 3.82424217e-01] [ 2.50880833e-03 9.99996711e-01 -5.32131896e-04 2.95505815e-02] [ 8.44338324e-03 5.10931708e-04 9.99964223e-01 -2.10302510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.974203822 meters Centerline goodness : 0.156033 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.21 [[ 9.99957961e-01 -2.55377735e-03 -8.80649371e-03 3.84505504e-01] [ 2.55085266e-03 9.99996688e-01 -3.43321801e-04 2.82415578e-02] [ 8.80734130e-03 3.20843300e-04 9.99961163e-01 -2.10705488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0042038220000005 meters Centerline goodness : 0.156017 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:-0.21 [[ 9.99956102e-01 -2.51214516e-03 -9.02682900e-03 3.85671378e-01] [ 2.51012669e-03 9.99996822e-01 -2.34930888e-04 2.75486532e-02] [ 9.02739050e-03 2.12262091e-04 9.99959230e-01 -2.11033127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0342038220000003 meters Centerline goodness : 0.115136 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:-0.21 [[ 9.99952919e-01 -2.43209258e-03 -9.39381519e-03 3.87486480e-01] [ 2.43028210e-03 9.99997026e-01 -2.04142074e-04 2.74477632e-02] [ 9.39428375e-03 1.81302842e-04 9.99955856e-01 -2.10818420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.064203822 meters Centerline goodness : 0.116600 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:-0.21 [[ 9.99950637e-01 -2.53024021e-03 -9.60841768e-03 3.88510131e-01] [ 2.52527348e-03 9.99996672e-01 -5.29011000e-04 2.94546982e-02] [ 9.60972422e-03 5.04721004e-04 9.99953698e-01 -2.10956097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0942038220000003 meters Centerline goodness : 0.114742 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:-0.21 [[ 0.99994667 -0.00244229 -0.01003485 0.39054853] [ 0.00243044 0.99999633 -0.00119291 0.03451314] [ 0.01003773 0.00116846 0.99994894 -0.21099195] [ 0. 0. 0. 1. ]] SLAMing on 3.124203822 meters Centerline goodness : 0.115861 Centerline is valid? [False, False] Translation: X:0.39, Y:0.04, Z:-0.21 [[ 0.9999443 -0.00249934 -0.01025396 0.39134707] [ 0.00248585 0.99999603 -0.00132826 0.03532527] [ 0.01025724 0.0013027 0.99994654 -0.21077943] [ 0. 0. 0. 1. ]] SLAMing on 3.1542038220000004 meters Centerline goodness : 0.114748 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:-0.21 [[ 9.99940194e-01 -2.50048287e-03 -1.06468562e-02 3.93109721e-01] [ 2.48971336e-03 9.99996376e-01 -1.02465429e-03 3.32113630e-02] [ 1.06493797e-02 9.98085392e-04 9.99942796e-01 -2.10567181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.184203822 meters Centerline goodness : 0.110398 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:-0.21 [[ 9.99937623e-01 -2.37945445e-03 -1.09127922e-02 3.94046361e-01] [ 2.37388757e-03 9.99997046e-01 -5.23048638e-04 3.01117131e-02] [ 1.09140045e-02 4.97110270e-04 9.99940317e-01 -2.10247853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2142038220000004 meters Centerline goodness : 0.109636 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.21 [[ 9.99930748e-01 -3.17143232e-03 -1.13331993e-02 3.96096091e-01] [ 3.16905116e-03 9.99994953e-01 -2.28057402e-04 2.58327036e-02] [ 1.13338654e-02 1.92126120e-04 9.99935751e-01 -2.10203583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2442038220000002 meters Centerline goodness : 0.106473 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.21 [[ 9.99925865e-01 -3.48379969e-03 -1.16673896e-02 3.97773094e-01] [ 3.47894190e-03 9.99993853e-01 -4.36625480e-04 2.68962252e-02] [ 1.16688390e-02 3.96002940e-04 9.99931838e-01 -2.10317794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2742038220000005 meters Centerline goodness : 0.102948 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.22 [[ 9.99989123e-01 -3.96995514e-03 2.44828168e-03 4.01041371e-01] [ 3.97175364e-03 9.99991846e-01 -7.30169563e-04 2.70510010e-02] [-2.44536297e-03 7.39885592e-04 9.99996736e-01 -2.17104071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3042038220000003 meters Centerline goodness : 0.098338 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.21 [[ 0.99998058 -0.00571094 0.00249527 0.39762739] [ 0.00571563 0.99998191 -0.00187605 0.02213995] [-0.00248451 0.00189027 0.99999513 -0.21322819] [ 0. 0. 0. 1. ]] SLAMing on 3.334203822 meters Centerline goodness : 0.097301 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.21 [[ 0.99998224 -0.00551904 0.0022492 0.3987958 ] [ 0.00552216 0.9999838 -0.00138354 0.0193572 ] [-0.00224153 0.00139593 0.99999651 -0.21346622] [ 0. 0. 0. 1. ]] SLAMing on 3.3642038220000003 meters Centerline goodness : 0.099199 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.21 [[ 0.99998352 -0.00540628 0.00193403 0.40039488] [ 0.0054087 0.9999846 -0.00124663 0.01876244] [-0.00192726 0.00125707 0.99999735 -0.21386841] [ 0. 0. 0. 1. ]] SLAMing on 3.394203822 meters Centerline goodness : 0.100196 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.21 [[ 0.99998407 -0.00537127 0.00173351 0.40122977] [ 0.00537343 0.99998479 -0.00124637 0.01884258] [-0.00172679 0.00125566 0.99999772 -0.21393717] [ 0. 0. 0. 1. ]] SLAMing on 3.4242038220000004 meters Centerline goodness : 0.101421 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.21 [[ 0.99998654 -0.00501173 0.00134591 0.40293022] [ 0.00501344 0.99998662 -0.00127561 0.01996518] [-0.0013395 0.00128234 0.99999828 -0.21408912] [ 0. 0. 0. 1. ]] SLAMing on 3.454203822 meters Centerline goodness : 0.101538 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.21 [[ 0.99998726 -0.00493434 0.00106182 0.40403908] [ 0.0049358 0.99998687 -0.0013745 0.02068601] [-0.00105502 0.00137972 0.99999849 -0.21416847] [ 0. 0. 0. 1. ]] SLAMing on 3.4842038220000005 meters Centerline goodness : 0.100937 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.22 [[ 9.99996736e-01 -2.55318925e-03 9.99261084e-05 4.11502086e-01] [ 2.55309685e-03 9.99996323e-01 9.14210457e-04 1.81966705e-02] [-1.02259893e-04 -9.13952351e-04 9.99999577e-01 -2.18272097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5142038220000003 meters Centerline goodness : 0.102936 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.21 [[ 9.99999982e-01 -1.70683815e-04 8.74576637e-05 4.07896599e-01] [ 1.70438281e-04 9.99996066e-01 2.79981877e-03 1.78183843e-02] [-8.79352034e-05 -2.79980382e-03 9.99996077e-01 -2.13923389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5442038220000005 meters Centerline goodness : 0.102705 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.21 [[ 9.99999975e-01 -1.29883226e-04 -1.81258685e-04 4.08782051e-01] [ 1.30311973e-04 9.99997189e-01 2.36738341e-03 2.06160260e-02] [ 1.80950692e-04 -2.36740697e-03 9.99997181e-01 -2.13809808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5742038220000003 meters Centerline goodness : 0.097530 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.22 [[ 0.99998699 0.00443309 0.00252296 0.38732744] [-0.00443049 0.99998965 -0.00103505 0.02004872] [-0.00252752 0.00102386 0.99999628 -0.21577256] [ 0. 0. 0. 1. ]] SLAMing on 3.604203822 meters Centerline goodness : 0.104928 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.22 [[ 0.99998775 0.00434988 0.00236209 0.38796914] [-0.00434664 0.99998961 -0.00137652 0.02197538] [-0.00236805 0.00136624 0.99999626 -0.21586728] [ 0. 0. 0. 1. ]] SLAMing on 3.6342038220000004 meters Centerline goodness : 0.102936 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.22 [[ 0.99997601 0.00678694 0.00138804 0.39498296] [-0.00678864 0.9999762 0.00122892 0.02281419] [-0.00137966 -0.00123831 0.99999828 -0.21961147] [ 0. 0. 0. 1. ]] SLAMing on 3.664203822 meters Centerline goodness : 0.102427 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.22 [[ 0.99997622 0.00678082 0.00125987 0.39559139] [-0.00678231 0.9999763 0.00118384 0.02302263] [-0.00125181 -0.00119235 0.99999851 -0.21985741] [ 0. 0. 0. 1. ]] SLAMing on 3.6942038220000004 meters Centerline goodness : 0.102021 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.22 [[ 9.99976893e-01 6.73487568e-03 9.24755875e-04 3.97101730e-01] [-6.73580224e-03 9.99976812e-01 1.00252786e-03 2.39667912e-02] [-9.17982531e-04 -1.00873366e-03 9.99999070e-01 -2.20331670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.724203822 meters Centerline goodness : 0.101975 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.22 [[ 9.99977869e-01 6.60399222e-03 8.05080950e-04 3.97660839e-01] [-6.60457167e-03 9.99977931e-01 7.19218023e-04 2.54426762e-02] [-8.00313473e-04 -7.24519321e-04 9.99999417e-01 -2.20551710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7542038220000005 meters Centerline goodness : 0.101167 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.22 [[ 9.99979010e-01 6.46005909e-03 4.98148028e-04 3.98703390e-01] [-6.46038140e-03 9.99978921e-01 6.48151251e-04 2.55051087e-02] [-4.93950433e-04 -6.51355872e-04 9.99999666e-01 -2.20188998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7842038220000003 meters Centerline goodness : 0.100646 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.22 [[ 9.99980482e-01 6.24204813e-03 2.69756204e-04 3.99357712e-01] [-6.24227350e-03 9.99980162e-01 8.42831779e-04 2.38645710e-02] [-2.64489856e-04 -8.44499221e-04 9.99999608e-01 -2.19452183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8142038220000005 meters Centerline goodness : 0.082849 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.22 [[ 9.99981115e-01 6.14472981e-03 1.05339141e-04 3.99928954e-01] [-6.14480705e-03 9.99980840e-01 7.49271890e-04 2.41620211e-02] [-1.00733049e-04 -7.49905029e-04 9.99999714e-01 -2.19413241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8442038220000003 meters Centerline goodness : 0.082581 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.22 [[ 9.99982656e-01 5.88723095e-03 -1.68503842e-04 4.00961572e-01] [-5.88712575e-03 9.99982480e-01 6.18128065e-04 2.44242471e-02] [ 1.72139953e-04 -6.17125341e-04 9.99999795e-01 -2.19626600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.874203822 meters Centerline goodness : 0.097776 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.22 [[ 9.99982534e-01 5.90054115e-03 -3.38371757e-04 4.01505395e-01] [-5.90027499e-03 9.99982287e-01 7.82256572e-04 2.34480692e-02] [ 3.42981501e-04 -7.80246423e-04 9.99999637e-01 -2.19563492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9042038220000004 meters Centerline goodness : 0.147304 Centerline is valid? [False, False] Translation: X:0.36, Y:0.02, Z:-0.22 [[ 0.99999477 0.0022974 0.0022753 0.35582184] [-0.00229181 0.99999436 -0.00245574 0.02396468] [-0.00228093 0.00245051 0.9999944 -0.21977925] [ 0. 0. 0. 1. ]] SLAMing on 3.934203822 meters Centerline goodness : 0.149318 Centerline is valid? [False, False] Translation: X:0.36, Y:0.02, Z:-0.22 [[ 0.99999512 0.00226828 0.00214807 0.35621393] [-0.00226289 0.99999429 -0.00250959 0.02424835] [-0.00215375 0.00250471 0.99999454 -0.21973652] [ 0. 0. 0. 1. ]] SLAMing on 3.9642038220000004 meters Centerline goodness : 0.094542 Centerline is valid? [False, False] Translation: X:0.38, Y:0.02, Z:-0.22 [[ 9.99989126e-01 -1.98755700e-04 4.65927781e-03 3.77678209e-01] [ 1.73408565e-04 9.99985189e-01 5.43991541e-03 2.38751497e-02] [-4.66029001e-03 -5.43904830e-03 9.99974349e-01 -2.21476047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9942038220000002 meters Centerline goodness : 0.094588 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.22 [[ 9.99990089e-01 -2.98028794e-04 4.44220135e-03 3.78246928e-01] [ 2.74913477e-04 9.99986425e-01 5.20327519e-03 2.50818783e-02] [-4.44369177e-03 -5.20200240e-03 9.99976596e-01 -2.20850202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0242038220000005 meters Centerline goodness : 0.711296 Centerline is valid? [False, False] Translation: X:0.36, Y:0.03, Z:-0.22 [[ 9.99997636e-01 1.94849796e-03 9.64978120e-04 3.58999421e-01] [-1.94516394e-03 9.99992178e-01 -3.44398866e-03 2.85638041e-02] [-9.71681176e-04 3.44210348e-03 9.99993604e-01 -2.19071827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.054203822000001 meters Centerline goodness : 0.384917 Centerline is valid? [False, False] Translation: X:0.31, Y:0.03, Z:-0.22 [[ 9.99994396e-01 8.22693304e-04 3.24513238e-03 3.12960769e-01] [-8.07060923e-04 9.99988079e-01 -4.81554971e-03 3.25322257e-02] [-3.24905541e-03 4.81290370e-03 9.99983140e-01 -2.19850148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.084203822 meters Centerline goodness : 0.148001 Centerline is valid? [False, False] Translation: X:0.35, Y:0.03, Z:-0.21 [[ 9.99994909e-01 2.96352670e-04 -3.17700436e-03 3.50417528e-01] [-2.60006138e-04 9.99934587e-01 1.14348190e-02 2.50704254e-02] [ 3.18018528e-03 -1.14339347e-02 9.99929573e-01 -2.13382757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.114203822 meters Centerline goodness : 0.856420 Centerline is valid? [False, False] Translation: X:0.28, Y:0.03, Z:-0.22 [[ 9.99999673e-01 5.21764409e-04 6.17667082e-04 2.80441741e-01] [-5.20939701e-04 9.99998974e-01 -1.33460719e-03 3.43410165e-02] [-6.18362798e-04 1.33428499e-03 9.99998919e-01 -2.16468519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.144203822000001 meters Centerline goodness : 0.852619 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:-0.22 [[ 9.99999772e-01 3.72923704e-04 5.62333697e-04 2.80799556e-01] [-3.71993535e-04 9.99998564e-01 -1.65332034e-03 3.58352107e-02] [-5.62949452e-04 1.65311078e-03 9.99998475e-01 -2.16916587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.174203822 meters Centerline goodness : 0.876091 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:-0.22 [[ 9.99999875e-01 3.24082019e-05 4.99774469e-04 2.80801808e-01] [-3.12537314e-05 9.99997332e-01 -2.30981772e-03 3.89480185e-02] [-4.99847993e-04 2.30980181e-03 9.99997207e-01 -2.16522506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.204203822 meters Centerline goodness : 0.859894 Centerline is valid? [False, False] Translation: X:0.30, Y:0.04, Z:-0.22 [[ 0.99998264 -0.00293423 0.00510921 0.29572163] [ 0.00290413 0.99997844 0.00588864 0.03902579] [-0.00512638 -0.0058737 0.99996961 -0.21711478] [ 0. 0. 0. 1. ]] SLAMing on 4.2342038220000005 meters Centerline goodness : 0.932811 Centerline is valid? [False, False] Translation: X:0.27, Y:0.05, Z:-0.21 [[ 0.9999983 -0.00139687 0.00120227 0.27383887] [ 0.00140116 0.99999262 -0.0035778 0.04772171] [-0.00119726 0.00357947 0.99999288 -0.21259931] [ 0. 0. 0. 1. ]] SLAMing on 4.264203822000001 meters Centerline goodness : 0.958625 Centerline is valid? [False, True] Translation: X:0.27, Y:0.05, Z:-0.21 [[ 0.99999775 -0.00181297 0.00110347 0.2743005 ] [ 0.00181772 0.999989 -0.00432444 0.05116123] [-0.00109562 0.00432644 0.99999004 -0.21299114] [ 0. 0. 0. 1. ]] SLAMing on 4.294203822 meters Centerline goodness : 0.938469 Centerline is valid? [True, False] Translation: X:0.27, Y:0.05, Z:-0.21 [[ 0.99999765 -0.0019009 0.00104343 0.27452555] [ 0.00190556 0.99998815 -0.00447957 0.05187609] [-0.00103491 0.00448154 0.99998942 -0.213099 ] [ 0. 0. 0. 1. ]] SLAMing on 4.324203822 meters Centerline goodness : 0.105178 Centerline is valid? [False, False] Translation: X:0.27, Y:0.05, Z:-0.21 [[ 9.99997069e-01 -2.22440663e-03 9.55881808e-04 2.74917894e-01] [ 2.22911894e-03 9.99985228e-01 -4.95735072e-03 5.39435913e-02] [-9.44840523e-04 4.95946697e-03 9.99987255e-01 -2.13418651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.354203822000001 meters Centerline goodness : 0.969938 Centerline is valid? [False, True] Translation: X:0.28, Y:0.06, Z:-0.21 [[ 9.99996508e-01 -2.47440916e-03 9.28163809e-04 2.75121044e-01] [ 2.47946043e-03 9.99981905e-01 -5.48112262e-03 5.64162070e-02] [-9.14584474e-04 5.48340483e-03 9.99984548e-01 -2.13661872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.384203822000001 meters Centerline goodness : 0.099966 Centerline is valid? [True, False] Translation: X:0.28, Y:0.06, Z:-0.21 [[ 9.99995315e-01 -2.93692447e-03 8.62273670e-04 2.75417517e-01] [ 2.94241374e-03 9.99974964e-01 -6.43532809e-03 6.09147620e-02] [-8.43352010e-04 6.43783511e-03 9.99978921e-01 -2.13900028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.414203822 meters Centerline goodness : 0.098743 Centerline is valid? [False, False] Translation: X:0.28, Y:0.06, Z:-0.21 [[ 9.99994437e-01 -3.22550149e-03 8.49563563e-04 2.75223683e-01] [ 3.23132142e-03 9.99970693e-01 -6.94059940e-03 6.32636707e-02] [-8.27151751e-04 6.94330600e-03 9.99975553e-01 -2.13391837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.444203822 meters Centerline goodness : 0.099390 Centerline is valid? [False, False] Translation: X:0.28, Y:0.06, Z:-0.21 [[ 9.99999538e-01 4.36844121e-04 8.56660066e-04 2.75079712e-01] [-4.34867301e-04 9.99997246e-01 -2.30641989e-03 5.99937967e-02] [-8.57665252e-04 2.30604629e-03 9.99996973e-01 -2.12953356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.474203822000001 meters Centerline goodness : 0.990227 Centerline is valid? [False, True] Translation: X:0.28, Y:0.06, Z:-0.21 [[ 9.99999648e-01 1.58702152e-04 8.23806281e-04 2.75039142e-01] [-1.56423754e-04 9.99996165e-01 -2.76502339e-03 6.20585867e-02] [-8.24241937e-04 2.76489355e-03 9.99995838e-01 -2.12661209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.504203822 meters Centerline goodness : 0.992503 Centerline is valid? [True, True] Translation: X:0.31, Y:0.06, Z:-0.21 [[ 9.99999441e-01 -7.20806271e-04 7.72993684e-04 3.06082398e-01] [ 7.20795733e-04 9.99999740e-01 1.39114714e-05 6.20432524e-02] [-7.73003510e-04 -1.33542931e-05 9.99999701e-01 -2.10067375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.534203822 meters Centerline goodness : 0.995234 Centerline is valid? [True, True] Translation: X:0.34, Y:0.07, Z:-0.24 [[ 9.99999250e-01 -9.50311332e-04 7.72974917e-04 3.36133258e-01] [ 9.50300065e-04 9.99999548e-01 1.49440739e-05 6.60624512e-02] [-7.72988769e-04 -1.42095046e-05 9.99999701e-01 -2.39792988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5642038220000005 meters Centerline goodness : 0.995234 Centerline is valid? [True, True] Translation: X:0.37, Y:0.07, Z:-0.24 [[ 9.99999250e-01 -9.50310608e-04 7.72991896e-04 3.67110492e-01] [ 9.50300064e-04 9.99999548e-01 1.40070778e-05 6.66244033e-02] [-7.73004858e-04 -1.32724930e-05 9.99999701e-01 -2.39816986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.594203822000001 meters Centerline goodness : 0.994362 Centerline is valid? [True, True] Translation: X:0.40, Y:0.07, Z:-0.21 [[ 9.99998840e-01 -1.31249029e-03 7.72991896e-04 3.97553072e-01] [ 1.31247985e-03 9.99999139e-01 1.40070778e-05 7.02838900e-02] [-7.73009614e-04 -1.29925252e-05 9.99999701e-01 -2.14602236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624203822 meters Centerline goodness : 0.996373 Centerline is valid? [True, True] Translation: X:0.43, Y:0.07, Z:-0.24 [[ 9.99998982e-01 -1.19933947e-03 7.72989511e-04 4.27415341e-01] [ 1.19932890e-03 9.99999281e-01 1.41388129e-05 7.31476902e-02] [-7.73005912e-04 -1.32117298e-05 9.99999701e-01 -2.38394631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.654203822 meters Centerline goodness : 0.997514 Centerline is valid? [True, True] Translation: X:0.46, Y:0.07, Z:-0.23 [[ 9.99997356e-01 -2.16582948e-03 7.72991908e-04 4.57992799e-01] [ 2.16581930e-03 9.99997655e-01 1.40065325e-05 7.34929262e-02] [-7.73020431e-04 -1.23323347e-05 9.99999701e-01 -2.34844981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684203822000001 meters Centerline goodness : 0.997041 Centerline is valid? [True, True] Translation: X:0.49, Y:0.08, Z:-0.22 [[ 9.99998984e-01 -1.19786863e-03 7.72991908e-04 4.85582893e-01] [ 1.19785816e-03 9.99999282e-01 1.40065325e-05 7.54506739e-02] [-7.73008131e-04 -1.30805836e-05 9.99999701e-01 -2.21783408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.714203822 meters Centerline goodness : 0.997737 Centerline is valid? [True, True] Translation: X:0.52, Y:0.08, Z:-0.23 [[ 9.99990780e-01 -4.22403030e-03 7.72906164e-04 5.17351815e-01] [ 4.22401710e-03 9.99991079e-01 1.87028416e-05 8.20128749e-02] [-7.72978270e-04 -1.54379003e-05 9.99999701e-01 -2.31928503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.744203822 meters Centerline goodness : 0.995965 Centerline is valid? [True, True] Translation: X:0.55, Y:0.08, Z:-0.21 [[ 9.99987793e-01 -4.88019692e-03 7.72991399e-04 5.47835014e-01] [ 4.88018756e-03 9.99988092e-01 1.39949908e-05 8.38055912e-02] [-7.73050493e-04 -1.02224769e-05 9.99999701e-01 -2.14472530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7742038220000005 meters Centerline goodness : 0.998080 Centerline is valid? [True, True] Translation: X:0.58, Y:0.08, Z:-0.23 [[ 9.99989821e-01 -4.44517995e-03 7.72992762e-04 5.78152421e-01] [ 4.44517052e-03 9.99990120e-01 1.39197711e-05 8.47622816e-02] [-7.73047001e-04 -1.04835448e-05 9.99999701e-01 -2.33484142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.804203822000001 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:0.61, Y:0.08, Z:-0.23 [[ 9.99992202e-01 -3.87284498e-03 7.72991586e-04 6.08909904e-01] [ 3.87283533e-03 9.99992500e-01 1.39847628e-05 8.43955327e-02] [-7.73039950e-04 -1.09909846e-05 9.99999701e-01 -2.25238172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.834203822 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:0.64, Y:0.09, Z:-0.23 [[ 9.99998439e-01 -1.58869537e-03 7.72991586e-04 6.39397999e-01] [ 1.58868504e-03 9.99998738e-01 1.39847628e-05 8.55197404e-02] [-7.73012828e-04 -1.27567008e-05 9.99999701e-01 -2.27517578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.864203822 meters Centerline goodness : 0.998405 Centerline is valid? [True, True] Translation: X:0.67, Y:0.09, Z:-0.23 [[ 9.99999659e-01 2.90154174e-04 7.72991755e-04 6.69625003e-01] [-2.90165063e-04 9.99999958e-01 1.39754304e-05 8.80384116e-02] [-7.72987667e-04 -1.41997208e-05 9.99999701e-01 -2.25147944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.894203822000001 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:0.70, Y:0.09, Z:-0.23 [[ 9.99991972e-01 3.93161156e-03 7.72991915e-04 7.00058738e-01] [-3.93162353e-03 9.99992271e-01 1.39665802e-05 9.25840938e-02] [-7.72931029e-04 -1.70055813e-05 9.99999701e-01 -2.26038485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924203822000001 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:0.73, Y:0.10, Z:-0.22 [[ 9.99966272e-01 8.17661083e-03 7.72992073e-04 7.30963545e-01] [-8.17662406e-03 9.99966571e-01 1.39578243e-05 9.54698635e-02] [-7.72852105e-04 -2.02778192e-05 9.99999701e-01 -2.21275322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.954203822 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:0.76, Y:0.10, Z:-0.22 [[ 9.99944914e-01 1.04676656e-02 7.72992398e-04 7.62530162e-01] [-1.04676795e-02 9.99945212e-01 1.39398009e-05 9.55769517e-02] [-7.72804130e-04 -2.20304697e-05 9.99999701e-01 -2.22148994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9842038220000005 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:0.79, Y:0.09, Z:-0.22 [[ 9.99897695e-01 1.42829049e-02 7.72992724e-04 7.94225545e-01] [-1.42829200e-02 9.99897994e-01 1.39217018e-05 9.48976983e-02] [-7.72715031e-04 -2.49608708e-05 9.99999701e-01 -2.22273500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.014203822000001 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:0.83, Y:0.10, Z:-0.22 [[ 9.99871738e-01 1.59971879e-02 7.72993048e-04 8.25033616e-01] [-1.59972034e-02 9.99872036e-01 1.39036623e-05 9.70405320e-02] [-7.72671714e-04 -2.62676061e-05 9.99999701e-01 -2.18917930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.044203822 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:0.86, Y:0.10, Z:-0.22 [[ 9.99831173e-01 1.83583405e-02 7.72993771e-04 8.55735862e-01] [-1.83583567e-02 9.99831471e-01 1.38633903e-05 1.01483012e-01] [-7.72608990e-04 -2.80519452e-05 9.99999701e-01 -2.21735903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.074203822 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:0.89, Y:0.10, Z:-0.22 [[ 9.99820614e-01 1.89246388e-02 7.72993936e-04 8.87446323e-01] [-1.89246552e-02 9.99820913e-01 1.38541743e-05 1.01425632e-01] [-7.72593317e-04 -2.84803328e-05 9.99999701e-01 -2.20533730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.104203822000001 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:0.92, Y:0.10, Z:-0.22 [[ 9.99817641e-01 1.90810593e-02 7.72994258e-04 9.18829267e-01] [-1.90810757e-02 9.99817940e-01 1.38361779e-05 9.99066508e-02] [-7.72589517e-04 -2.85832168e-05 9.99999701e-01 -2.17724433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.134203822000001 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:0.95, Y:0.10, Z:-0.22 [[ 9.99819880e-01 1.89634005e-02 7.72994578e-04 9.49377295e-01] [-1.89634168e-02 9.99820178e-01 1.38182601e-05 1.00284376e-01] [-7.72593536e-04 -2.84743895e-05 9.99999701e-01 -2.20608324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164203822 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:0.98, Y:0.10, Z:-0.22 [[ 9.99827151e-01 1.85760606e-02 7.72994737e-04 9.80946262e-01] [-1.85760768e-02 9.99827450e-01 1.38093938e-05 1.01851661e-01] [-7.72604832e-04 -2.81662165e-05 9.99999701e-01 -2.20006195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.194203822 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:1.01, Y:0.11, Z:-0.22 [[ 9.99830457e-01 1.83972847e-02 7.72995053e-04 1.01221669e+00] [-1.83973009e-02 9.99830755e-01 1.37916332e-05 1.05605249e-01] [-7.72610500e-04 -2.80103175e-05 9.99999701e-01 -2.20397224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224203822000001 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:1.04, Y:0.11, Z:-0.22 [[ 9.99835488e-01 1.81217767e-02 7.72995369e-04 1.04396697e+00] [-1.81217927e-02 9.99835787e-01 1.37739395e-05 1.08016612e-01] [-7.72618824e-04 -2.77797353e-05 9.99999701e-01 -2.19681643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.254203822 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:1.07, Y:0.11, Z:-0.22 [[ 9.99848458e-01 1.73914915e-02 7.72995686e-04 1.07383859e+00] [-1.73915073e-02 9.99848756e-01 1.37561006e-05 1.09275904e-01] [-7.72639536e-04 -2.71975760e-05 9.99999701e-01 -2.20169187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.284203822 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:1.11, Y:0.11, Z:-0.22 [[ 9.99864707e-01 1.64307949e-02 7.72996454e-04 1.10564384e+00] [-1.64308105e-02 9.99865005e-01 1.37128064e-05 1.08859431e-01] [-7.72666791e-04 -2.64119094e-05 9.99999701e-01 -2.17760014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3142038220000005 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:1.14, Y:0.11, Z:-0.20 [[ 9.99896585e-01 1.43604278e-02 7.72996767e-04 1.13623820e+00] [-1.43604426e-02 9.99896883e-01 1.36951293e-05 1.11236686e-01] [-7.72720391e-04 -2.47942887e-05 9.99999701e-01 -1.99939078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.344203822000001 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:1.17, Y:0.11, Z:-0.22 [[ 9.99907567e-01 1.35742279e-02 7.73005089e-04 1.16560102e+00] [-1.35742422e-02 9.99907866e-01 1.32248635e-05 1.14978929e-01] [-7.72754351e-04 -2.37165994e-05 9.99999701e-01 -2.17347786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.374203822 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:1.20, Y:0.12, Z:-0.22 [[ 9.99931250e-01 1.17003736e-02 7.72996653e-04 1.19544978e+00] [-1.17003877e-02 9.99931548e-01 1.37008010e-05 1.19336924e-01] [-7.72783436e-04 -2.27442196e-05 9.99999701e-01 -2.22998266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.404203822 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:1.23, Y:0.12, Z:-0.22 [[ 9.99942041e-01 1.07385733e-02 7.72996810e-04 1.22724345e+00] [-1.07385871e-02 9.99942340e-01 1.36919579e-05 1.18919406e-01] [-7.72805206e-04 -2.19920580e-05 9.99999701e-01 -2.20671479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.434203822000001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:1.26, Y:0.12, Z:-0.22 [[ 9.99962499e-01 8.62571555e-03 7.72997122e-04 1.25853858e+00] [-8.62572870e-03 9.99962798e-01 1.36743164e-05 1.17987056e-01] [-7.72850414e-04 -2.03414670e-05 9.99999701e-01 -2.18534814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464203822000001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:1.29, Y:0.12, Z:-0.22 [[ 9.99970582e-01 7.63141870e-03 7.72997434e-04 1.28897688e+00] [-7.63143153e-03 9.99970880e-01 1.36566653e-05 1.22460751e-01] [-7.72870704e-04 -1.95553405e-05 9.99999701e-01 -2.17260912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.494203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:1.32, Y:0.13, Z:-0.22 [[ 9.99968582e-01 7.88912066e-03 7.72997589e-04 1.31910797e+00] [-7.88913357e-03 9.99968880e-01 1.36478736e-05 1.26226929e-01] [-7.72865864e-04 -1.97457261e-05 9.99999701e-01 -2.15165102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5242038220000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.35, Y:0.13, Z:-0.22 [[ 9.99953052e-01 9.65900563e-03 7.72997589e-04 1.34928851e+00] [-9.65901906e-03 9.99953350e-01 1.36478736e-05 1.31562532e-01] [-7.72829704e-04 -2.11136314e-05 9.99999701e-01 -2.16229485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.554203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.38, Y:0.13, Z:-0.22 [[ 9.99932944e-01 1.15546437e-02 7.72997743e-04 1.38007309e+00] [-1.15546577e-02 9.99933243e-01 1.36391177e-05 1.31456940e-01] [-7.72788545e-04 -2.25699274e-05 9.99999701e-01 -2.16204280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.41, Y:0.13, Z:-0.22 [[ 9.99920004e-01 1.26249063e-02 7.72997743e-04 1.41013068e+00] [-1.26249206e-02 9.99920302e-01 1.36391177e-05 1.32413838e-01] [-7.72763945e-04 -2.33970617e-05 9.99999701e-01 -2.17025300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.44, Y:0.14, Z:-0.22 [[ 9.99882311e-01 1.53221084e-02 7.72997896e-04 1.44100353e+00] [-1.53221235e-02 9.99882609e-01 1.36304688e-05 1.40757949e-01] [-7.72698306e-04 -2.54728339e-05 9.99999701e-01 -2.16668828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644203822000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:1.47, Y:0.15, Z:-0.22 [[ 9.99862220e-01 1.65814073e-02 7.72997919e-04 1.47178795e+00] [-1.65814228e-02 9.99862519e-01 1.36291453e-05 1.47052165e-01] [-7.72665656e-04 -2.64446727e-05 9.99999701e-01 -2.15204549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.674203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.50, Y:0.16, Z:-0.22 [[ 9.99824295e-01 1.87291856e-02 7.72997919e-04 1.50119087e+00] [-1.87292017e-02 9.99824593e-01 1.36291453e-05 1.55036566e-01] [-7.72607067e-04 -2.81043845e-05 9.99999701e-01 -2.15991002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:1.53, Y:0.16, Z:-0.21 [[ 9.99816406e-01 1.91456950e-02 7.72997769e-04 1.53125632e+00] [-1.91457113e-02 9.99816704e-01 1.36376662e-05 1.57777610e-01] [-7.72594979e-04 -2.84347545e-05 9.99999701e-01 -2.13440423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7342038220000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.56, Y:0.16, Z:-0.21 [[ 9.99830249e-01 1.84085975e-02 7.72997769e-04 1.56101284e+00] [-1.84086136e-02 9.99830547e-01 1.36376662e-05 1.61027870e-01] [-7.72615732e-04 -2.78651684e-05 9.99999701e-01 -2.14114287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.59, Y:0.17, Z:-0.22 [[ 9.99874791e-01 1.58052116e-02 7.72997876e-04 1.59130168e+00] [-1.58052269e-02 9.99875090e-01 1.36315703e-05 1.66946752e-01] [-7.72685871e-04 -2.58472703e-05 9.99999701e-01 -2.15303693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.62, Y:0.17, Z:-0.22 [[ 9.99901284e-01 1.40294387e-02 7.72997876e-04 1.62081923e+00] [-1.40294535e-02 9.99901582e-01 1.36315703e-05 1.72188783e-01] [-7.72730557e-04 -2.44749624e-05 9.99999701e-01 -2.15010844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.65, Y:0.18, Z:-0.21 [[ 9.99959067e-01 9.01477270e-03 7.72997728e-04 1.65121251e+00] [-9.01478594e-03 9.99959366e-01 1.36399667e-05 1.82288249e-01] [-7.72843357e-04 -2.06078174e-05 9.99999701e-01 -2.13764485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.854203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.68, Y:0.18, Z:-0.22 [[ 9.99980966e-01 6.12127549e-03 7.72997728e-04 1.68134376e+00] [-6.12128786e-03 9.99981265e-01 1.36399667e-05 1.84089773e-01] [-7.72899752e-04 -1.83714487e-05 9.99999701e-01 -2.15948207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.71, Y:0.18, Z:-0.22 [[ 9.99999353e-01 8.34100633e-04 7.72997875e-04 1.71155729e+00] [-8.34111420e-04 9.99999652e-01 1.36316613e-05 1.82843361e-01] [-7.72986236e-04 -1.42764189e-05 9.99999701e-01 -2.18594285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.74, Y:0.18, Z:-0.22 [[ 9.99998808e-01 -1.33636876e-03 7.72998021e-04 1.74222945e+00] [ 1.33635863e-03 9.99999107e-01 1.36233628e-05 1.83979976e-01] [-7.73015537e-04 -1.25903440e-05 9.99999701e-01 -2.17917277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.77, Y:0.19, Z:-0.22 [[ 9.99991621e-01 -4.01996609e-03 7.72998021e-04 1.77368874e+00] [ 4.01995676e-03 9.99991920e-01 1.36233628e-05 1.89754083e-01] [-7.73046541e-04 -1.05158300e-05 9.99999701e-01 -2.15299366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.974203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.80, Y:0.19, Z:-0.22 [[ 9.99978186e-01 -6.55969293e-03 7.72998313e-04 1.80362159e+00] [ 6.55968437e-03 9.99978485e-01 1.36067579e-05 1.93143095e-01] [-7.73070938e-04 -8.53583616e-06 9.99999701e-01 -2.15781706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.84, Y:0.19, Z:-0.22 [[ 9.99966520e-01 -8.14627044e-03 7.72998978e-04 1.83523800e+00] [ 8.14626238e-03 9.99966819e-01 1.35688722e-05 1.94193811e-01] [-7.73083865e-04 -7.27136543e-06 9.99999701e-01 -2.16352636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.87, Y:0.20, Z:-0.22 [[ 9.99938631e-01 -1.10515200e-02 7.72999264e-04 1.86564928e+00] [ 1.10515128e-02 9.99938930e-01 1.35525587e-05 1.97204753e-01] [-7.73101834e-04 -5.00891574e-06 9.99999701e-01 -2.19350527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0642038220000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.90, Y:0.20, Z:-0.22 [[ 9.99923929e-01 -1.23100855e-02 7.72999406e-04 1.89709461e+00] [ 1.23100787e-02 9.99924228e-01 1.35444594e-05 1.98106514e-01] [-7.73107568e-04 -4.02774559e-06 9.99999701e-01 -2.20374403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.094203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.93, Y:0.20, Z:-0.21 [[ 9.99891976e-01 -1.46778207e-02 7.72999690e-04 1.92845111e+00] [ 1.46778147e-02 9.99892275e-01 1.35282245e-05 1.98188262e-01] [-7.73114984e-04 -2.18081689e-06 9.99999701e-01 -2.09277267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.96, Y:0.20, Z:-0.21 [[ 9.99881842e-01 -1.53526555e-02 7.73000025e-04 1.95941126e+00] [ 1.53526497e-02 9.99882141e-01 1.35090696e-05 1.99371055e-01] [-7.73116320e-04 -1.63987476e-06 9.99999701e-01 -2.07629903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.99, Y:0.20, Z:-0.21 [[ 9.99889068e-01 -1.48746326e-02 7.73000361e-04 1.98989997e+00] [ 1.48746267e-02 9.99889367e-01 1.34897982e-05 1.99933995e-01] [-7.73115498e-04 -1.99020997e-06 9.99999701e-01 -2.09354988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.02, Y:0.20, Z:-0.21 [[ 9.99901943e-01 -1.39824022e-02 7.73000528e-04 2.02098579e+00] [ 1.39823959e-02 9.99902241e-01 1.34802427e-05 1.99141614e-01] [-7.73113447e-04 -2.67052137e-06 9.99999701e-01 -2.07164475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.214203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.05, Y:0.20, Z:-0.21 [[ 9.99936012e-01 -1.12860556e-02 7.73000872e-04 2.05147661e+00] [ 1.12860486e-02 9.99936310e-01 1.34605146e-05 2.00192578e-01] [-7.73103556e-04 -4.73552789e-06 9.99999701e-01 -2.09568006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.08, Y:0.20, Z:-0.22 [[ 9.99972536e-01 -7.37089717e-03 7.73001043e-04 2.08182726e+00] [ 7.37088898e-03 9.99972835e-01 1.34506546e-05 2.01909153e-01] [-7.73079188e-04 -7.75258032e-06 9.99999701e-01 -2.21156080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2742038220000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.11, Y:0.20, Z:-0.22 [[ 9.99985375e-01 -5.35286108e-03 7.73001209e-04 2.11303453e+00] [ 5.35285228e-03 9.99985673e-01 1.34411170e-05 2.02453294e-01] [-7.73062083e-04 -9.30315918e-06 9.99999701e-01 -2.22478163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304203822000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.14, Y:0.21, Z:-0.22 [[ 9.99998400e-01 -1.61336143e-03 7.73001490e-04 2.14465796e+00] [ 1.61335154e-03 9.99998698e-01 1.34249120e-05 2.06022171e-01] [-7.73022144e-04 -1.21777674e-05 9.99999701e-01 -2.24113648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.18, Y:0.21, Z:-0.21 [[ 9.99999686e-01 1.73702774e-04 7.73001771e-04 2.17550200e+00] [-1.73713191e-04 9.99999985e-01 1.34087240e-05 2.08144348e-01] [-7.72999430e-04 -1.35430004e-05 9.99999701e-01 -2.12823330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.21, Y:0.21, Z:-0.21 [[ 9.99994566e-01 3.20473947e-03 7.73001938e-04 2.20622322e+00] [-3.20475078e-03 9.99994865e-01 1.33991294e-05 2.10098852e-01] [-7.72955027e-04 -1.58763351e-05 9.99999701e-01 -2.14987467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.394203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.24, Y:0.21, Z:-0.21 [[ 9.99990720e-01 4.23824613e-03 7.73002103e-04 2.23698699e+00] [-4.23825774e-03 9.99991018e-01 1.33895828e-05 2.11546770e-01] [-7.72938412e-04 -1.66656407e-05 9.99999701e-01 -2.10526582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.27, Y:0.21, Z:-0.22 [[ 9.99985214e-01 5.38281895e-03 7.73002274e-04 2.26758162e+00] [-5.38283090e-03 9.99985512e-01 1.33797132e-05 2.13560776e-01] [-7.72919054e-04 -1.75404559e-05 9.99999701e-01 -2.16017842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.30, Y:0.21, Z:-0.21 [[ 9.99989833e-01 4.44254923e-03 7.73003221e-04 2.29833027e+00] [-4.44256086e-03 9.99990132e-01 1.33247630e-05 2.12133303e-01] [-7.72936397e-04 -1.67587414e-05 9.99999701e-01 -2.09838526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4842038220000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.33, Y:0.21, Z:-0.21 [[ 9.99989833e-01 4.44254926e-03 7.73003749e-04 2.32932086e+00] [-4.44256086e-03 9.99990132e-01 1.32940407e-05 2.12666295e-01] [-7.72937062e-04 -1.67280217e-05 9.99999701e-01 -2.09862487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.514203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.36, Y:0.21, Z:-0.21 [[ 9.99994945e-01 3.08417504e-03 7.73003749e-04 2.35937658e+00] [-3.08418624e-03 9.99995244e-01 1.32940407e-05 2.12670579e-01] [-7.72959072e-04 -1.56780610e-05 9.99999701e-01 -2.09082430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.544203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.39, Y:0.21, Z:-0.21 [[ 9.99999398e-01 -7.78939328e-04 7.73003913e-04 2.39027402e+00] [ 7.78929291e-04 9.99999697e-01 1.32845417e-05 2.14664145e-01] [-7.73014026e-04 -1.26824183e-05 9.99999701e-01 -2.06958661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.42, Y:0.22, Z:-0.21 [[ 9.99996535e-01 -2.51658577e-03 7.73003913e-04 2.42065246e+00] [ 2.51657625e-03 9.99996833e-01 1.32845417e-05 2.15704777e-01] [-7.73034896e-04 -1.13391724e-05 9.99999701e-01 -2.07912499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.45, Y:0.22, Z:-0.21 [[ 9.99986924e-01 -5.05504011e-03 7.73004076e-04 2.45139174e+00] [ 5.05503136e-03 9.99987223e-01 1.32750550e-05 2.15358446e-01] [-7.73061305e-04 -9.36732157e-06 9.99999701e-01 -2.08297702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.634203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.48, Y:0.21, Z:-0.21 [[ 9.99985532e-01 -5.32341634e-03 7.73005198e-04 2.48157832e+00] [ 5.32340772e-03 9.99985830e-01 1.32093466e-05 2.11480163e-01] [-7.73064564e-04 -9.09413360e-06 9.99999701e-01 -2.08897834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.51, Y:0.21, Z:-0.21 [[ 9.99987897e-01 -4.85893008e-03 7.73005093e-04 2.51278509e+00] [ 4.85892131e-03 9.99988195e-01 1.32154898e-05 2.08998648e-01] [-7.73060181e-04 -9.45935896e-06 9.99999701e-01 -2.11089412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.694203822 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:2.54, Y:0.21, Z:-0.21 [[ 9.99991091e-01 -4.14968321e-03 7.73005410e-04 2.54374141e+00] [ 4.14967424e-03 9.99991390e-01 1.31969531e-05 2.07740566e-01] [-7.73053517e-04 -9.98911485e-06 9.99999701e-01 -2.12360640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.57, Y:0.21, Z:-0.22 [[ 9.99998946e-01 -1.22910387e-03 7.73005728e-04 2.57432571e+00] [ 1.22909405e-03 9.99999245e-01 1.31782794e-05 2.08041266e-01] [-7.73021342e-04 -1.22281688e-05 9.99999701e-01 -2.16040117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.754203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.61, Y:0.21, Z:-0.21 [[ 9.99994432e-01 3.24617478e-03 7.73005886e-04 2.60544045e+00] [-3.24618593e-03 9.99994731e-01 1.31689956e-05 2.09067935e-01] [-7.72959065e-04 -1.56782431e-05 9.99999701e-01 -2.13064008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.64, Y:0.21, Z:-0.21 [[ 9.99983171e-01 5.74981748e-03 7.73006206e-04 2.63555974e+00] [-5.74982936e-03 9.99983470e-01 1.31501965e-05 2.08851320e-01] [-7.72917817e-04 -1.75946289e-05 9.99999701e-01 -2.13593560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8142038220000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.67, Y:0.21, Z:-0.21 [[ 9.99956078e-01 9.34052110e-03 7.73006365e-04 2.66604832e+00] [-9.34053405e-03 9.99956376e-01 1.31408586e-05 2.06385426e-01] [-7.72849901e-04 -2.03605737e-05 9.99999701e-01 -2.09648827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.70, Y:0.20, Z:-0.21 [[ 9.99943220e-01 1.06281918e-02 7.73006365e-04 2.69621880e+00] [-1.06282051e-02 9.99943519e-01 1.31408586e-05 2.04639873e-01] [-7.72823041e-04 -2.13557826e-05 9.99999701e-01 -2.06943129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.73, Y:0.21, Z:-0.21 [[ 9.99922372e-01 1.24359349e-02 7.73006365e-04 2.72624653e+00] [-1.24359488e-02 9.99922671e-01 1.31408586e-05 2.05495173e-01] [-7.72783170e-04 -2.27529060e-05 9.99999701e-01 -2.05847269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.76, Y:0.21, Z:-0.21 [[ 9.99915403e-01 1.29841869e-02 7.73006365e-04 2.75629415e+00] [-1.29842009e-02 9.99915702e-01 1.31408586e-05 2.07735851e-01] [-7.72770578e-04 -2.31766168e-05 9.99999701e-01 -2.05447769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.934203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.79, Y:0.21, Z:-0.21 [[ 9.99916078e-01 1.29321026e-02 7.73006365e-04 2.78578697e+00] [-1.29321166e-02 9.99916377e-01 1.31408586e-05 2.05643640e-01] [-7.72771785e-04 -2.31363643e-05 9.99999701e-01 -2.08117781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.81, Y:0.20, Z:-0.21 [[ 9.99926579e-01 1.20929599e-02 7.73006203e-04 2.81490645e+00] [-1.20929737e-02 9.99926877e-01 1.31503615e-05 2.04397882e-01] [-7.72790652e-04 -2.24973397e-05 9.99999701e-01 -2.12894150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.85, Y:0.21, Z:-0.21 [[ 9.99929257e-01 1.18694125e-02 7.73006044e-04 2.84572311e+00] [-1.18694262e-02 9.99929556e-01 1.31596952e-05 2.05488317e-01] [-7.72795393e-04 -2.23339025e-05 9.99999701e-01 -2.11748525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0242038220000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.88, Y:0.21, Z:-0.21 [[ 9.99928704e-01 1.19158938e-02 7.73006044e-04 2.87511086e+00] [-1.19159075e-02 9.99929003e-01 1.31596952e-05 2.05805294e-01] [-7.72794354e-04 -2.23698255e-05 9.99999701e-01 -2.13520854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.054203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.91, Y:0.21, Z:-0.21 [[ 9.99924647e-01 1.22516744e-02 7.73005886e-04 2.90569260e+00] [-1.22516883e-02 9.99924945e-01 1.31689743e-05 2.07613400e-01] [-7.72786526e-04 -2.26386091e-05 9.99999701e-01 -2.05756305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.94, Y:0.21, Z:-0.21 [[ 9.99924396e-01 1.22721271e-02 7.73005886e-04 2.93540902e+00] [-1.22721410e-02 9.99924694e-01 1.31689743e-05 2.09691377e-01] [-7.72786063e-04 -2.26544158e-05 9.99999701e-01 -2.09753742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.97, Y:0.21, Z:-0.21 [[ 9.99931643e-01 1.16666924e-02 7.73005720e-04 2.96598845e+00] [-1.16667061e-02 9.99931942e-01 1.31787151e-05 2.12239245e-01] [-7.72799359e-04 -2.21962447e-05 9.99999701e-01 -2.09256736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.00, Y:0.21, Z:-0.21 [[ 9.99937917e-01 1.11159623e-02 7.73005720e-04 2.99657450e+00] [-1.11159758e-02 9.99938216e-01 1.31787151e-05 2.13296048e-01] [-7.72811466e-04 -2.17706098e-05 9.99999701e-01 -2.07402751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.174203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.03, Y:0.22, Z:-0.21 [[ 9.99955683e-01 9.38268507e-03 7.73005720e-04 3.02580965e+00] [-9.38269806e-03 9.99955981e-01 1.31787151e-05 2.15650574e-01] [-7.72848042e-04 -2.04310103e-05 9.99999701e-01 -2.11295175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.06, Y:0.22, Z:-0.21 [[ 9.99981697e-01 6.00067523e-03 7.73005559e-04 3.05590437e+00] [-6.00068722e-03 9.99981996e-01 1.31881411e-05 2.17851491e-01] [-7.72912504e-04 -1.78264643e-05 9.99999701e-01 -2.12299452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2342038220000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.09, Y:0.22, Z:-0.21 [[ 9.99989729e-01 4.46586833e-03 7.73005559e-04 3.08666767e+00] [-4.46587986e-03 9.99990028e-01 1.31881411e-05 2.19170425e-01] [-7.72938954e-04 -1.66401556e-05 9.99999701e-01 -2.09870220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.12, Y:0.22, Z:-0.21 [[ 9.99998217e-01 1.72308719e-03 7.73005559e-04 3.11737804e+00] [-1.72309790e-03 9.99998515e-01 1.31881411e-05 2.21579319e-01] [-7.72981687e-04 -1.45200818e-05 9.99999701e-01 -2.12639864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.294203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.15, Y:0.22, Z:-0.21 [[ 9.99999700e-01 4.35438965e-05 7.73005722e-04 3.14753717e+00] [-4.35540966e-05 9.99999999e-01 1.31785792e-05 2.23275282e-01] [-7.73005148e-04 -1.32122428e-05 9.99999701e-01 -2.11821327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.18, Y:0.23, Z:-0.21 [[ 9.99993477e-01 -3.52826334e-03 7.73005722e-04 3.17811888e+00] [ 3.52825421e-03 9.99993776e-01 1.31785792e-05 2.26443016e-01] [-7.73047408e-04 -1.04511325e-05 9.99999701e-01 -2.09087566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.354203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.21, Y:0.23, Z:-0.21 [[ 9.99986477e-01 -5.14280996e-03 7.73006417e-04 3.20820763e+00] [ 5.14280134e-03 9.99986776e-01 1.31376817e-05 2.28185776e-01] [-7.73063760e-04 -9.16208557e-06 9.99999701e-01 -2.09497649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.24, Y:0.23, Z:-0.21 [[ 9.99967069e-01 -8.07859531e-03 7.73006578e-04 3.23919803e+00] [ 8.07858758e-03 9.99967368e-01 1.31282568e-05 2.29966567e-01] [-7.73087410e-04 -6.88302315e-06 9.99999701e-01 -2.09818718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.27, Y:0.23, Z:-0.21 [[ 9.99960496e-01 -8.85485060e-03 7.73006908e-04 3.26970888e+00] [ 8.85484311e-03 9.99960795e-01 1.31087683e-05 2.29567801e-01] [-7.73092678e-04 -6.26339558e-06 9.99999701e-01 -2.13753270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.30, Y:0.23, Z:-0.21 [[ 9.99949801e-01 -9.98986495e-03 7.73007469e-04 3.30092131e+00] [ 9.98985783e-03 9.99950100e-01 1.30756017e-05 2.28358420e-01] [-7.73099519e-04 -5.35271056e-06 9.99999701e-01 -2.14958563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.474203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.33, Y:0.23, Z:-0.21 [[ 9.99948145e-01 -1.01543431e-02 7.73007787e-04 3.33207240e+00] [ 1.01543360e-02 9.99948443e-01 1.30567553e-05 2.29088064e-01] [-7.73100516e-04 -5.20669746e-06 9.99999701e-01 -2.13383348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.504203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.36, Y:0.23, Z:-0.21 [[ 9.99948065e-01 -1.01621619e-02 7.73008109e-04 3.36256066e+00] [ 1.01621548e-02 9.99948364e-01 1.30376905e-05 2.32172597e-01] [-7.73100685e-04 -5.18158527e-06 9.99999701e-01 -2.12258003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.39, Y:0.23, Z:-0.21 [[ 9.99950842e-01 -9.88517166e-03 7.73008268e-04 3.39418930e+00] [ 9.88516454e-03 9.99951140e-01 1.30282242e-05 2.32013662e-01] [-7.73099286e-04 -5.38626986e-06 9.99999701e-01 -2.13544662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5642038220000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.43, Y:0.23, Z:-0.21 [[ 9.99954269e-01 -9.53221526e-03 7.73008575e-04 3.42534733e+00] [ 9.53220805e-03 9.99954567e-01 1.30099842e-05 2.31932469e-01] [-7.73097470e-04 -5.64091067e-06 9.99999701e-01 -2.11677069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.594203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.46, Y:0.23, Z:-0.21 [[ 9.99965137e-01 -8.31423773e-03 7.73008896e-04 3.45580582e+00] [ 8.31423017e-03 9.99965436e-01 1.29908889e-05 2.29643079e-01] [-7.73090187e-04 -6.56346210e-06 9.99999701e-01 -2.10780770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.49, Y:0.23, Z:-0.21 [[ 9.99971490e-01 -7.51144587e-03 7.73009056e-04 3.48636011e+00] [ 7.51143808e-03 9.99971789e-01 1.29813602e-05 2.27626829e-01] [-7.73084758e-04 -7.17458046e-06 9.99999701e-01 -2.11195423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.52, Y:0.23, Z:-0.21 [[ 9.99982708e-01 -5.82969265e-03 7.73009215e-04 3.51756073e+00] [ 5.82968437e-03 9.99983007e-01 1.29719150e-05 2.26424837e-01] [-7.73071702e-04 -8.46529097e-06 9.99999701e-01 -2.11500917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.684203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.55, Y:0.23, Z:-0.21 [[ 9.99993800e-01 -3.43538903e-03 7.73009530e-04 3.54911187e+00] [ 3.43538004e-03 9.99994099e-01 1.29530916e-05 2.28753480e-01] [-7.73049468e-04 -1.02974298e-05 9.99999701e-01 -2.10111420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.714203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.58, Y:0.23, Z:-0.21 [[ 9.99997130e-01 -2.26750386e-03 7.73009850e-04 3.58006323e+00] [ 2.26749454e-03 9.99997429e-01 1.29339588e-05 2.28595800e-01] [-7.73037191e-04 -1.11811261e-05 9.99999701e-01 -2.10128689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.61, Y:0.23, Z:-0.21 [[ 9.99999216e-01 -9.85590960e-04 7.73010010e-04 3.61030912e+00] [ 9.85581264e-04 9.99999514e-01 1.29243874e-05 2.27925450e-01] [-7.73022373e-04 -1.21625131e-05 9.99999701e-01 -2.10544978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7742038220000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.64, Y:0.23, Z:-0.21 [[ 9.99997835e-01 1.93193116e-03 7.73010170e-04 3.64074931e+00] [-1.93194172e-03 9.99998134e-01 1.29148109e-05 2.26328042e-01] [-7.72983777e-04 -1.44081935e-05 9.99999701e-01 -2.11560313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.67, Y:0.22, Z:-0.21 [[ 9.99990452e-01 4.30088569e-03 7.73010327e-04 3.67181096e+00] [-4.30089695e-03 9.99990751e-01 1.29054183e-05 2.23435292e-01] [-7.72947673e-04 -1.62299328e-05 9.99999701e-01 -2.12147374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.834203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.70, Y:0.22, Z:-0.21 [[ 9.99987882e-01 4.86195042e-03 7.73010486e-04 3.70189960e+00] [-4.86196184e-03 9.99988181e-01 1.28959277e-05 2.23982361e-01] [-7.72938650e-04 -1.66541189e-05 9.99999701e-01 -2.11952080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.73, Y:0.23, Z:-0.21 [[ 9.99977881e-01 6.60604197e-03 7.73010643e-04 3.73174814e+00] [-6.60605390e-03 9.99978180e-01 1.28864913e-05 2.27207742e-01] [-7.72908647e-04 -1.79927562e-05 9.99999701e-01 -2.11360808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.894203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.76, Y:0.23, Z:-0.21 [[ 9.99970790e-01 7.60401404e-03 7.73010796e-04 3.76258111e+00] [-7.60402626e-03 9.99971089e-01 1.28772834e-05 2.27105218e-01] [-7.72890529e-04 -1.87549017e-05 9.99999701e-01 -2.11853157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924203822000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:3.79, Y:0.22, Z:-0.21 [[ 9.99972881e-01 7.32388219e-03 7.73010796e-04 3.79354633e+00] [-7.32389433e-03 9.99973180e-01 1.28772834e-05 2.24445216e-01] [-7.72895752e-04 -1.85383836e-05 9.99999701e-01 -2.11008257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.954203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.82, Y:0.22, Z:-0.21 [[ 9.99985824e-01 5.26817126e-03 7.73010796e-04 3.82355477e+00] [-5.26818279e-03 9.99986123e-01 1.28772834e-05 2.23292436e-01] [-7.72932229e-04 -1.69494631e-05 9.99999701e-01 -2.10989821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9842038220000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.85, Y:0.22, Z:-0.21 [[ 9.99989218e-01 4.57881305e-03 7.73010952e-04 3.85357330e+00] [-4.57882437e-03 9.99989517e-01 1.28679395e-05 2.22133218e-01] [-7.72943928e-04 -1.64072822e-05 9.99999701e-01 -2.12792474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.014203821999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.88, Y:0.22, Z:-0.21 [[ 9.99993131e-01 3.62501704e-03 7.73010952e-04 3.88361795e+00] [-3.62502807e-03 9.99993429e-01 1.28679395e-05 2.23401097e-01] [-7.72959226e-04 -1.56700375e-05 9.99999701e-01 -2.13814990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.91, Y:0.23, Z:-0.21 [[ 9.99987031e-01 5.03397173e-03 7.73011102e-04 3.91378860e+00] [-5.03398318e-03 9.99987329e-01 1.28589074e-05 2.28481346e-01] [-7.72936576e-04 -1.67500656e-05 9.99999701e-01 -2.12851082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.94, Y:0.23, Z:-0.21 [[ 9.99977666e-01 6.63847520e-03 7.73011102e-04 3.94396989e+00] [-6.63848712e-03 9.99977965e-01 1.28589074e-05 2.30101844e-01] [-7.72908705e-04 -1.79902445e-05 9.99999701e-01 -2.13398562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.97, Y:0.23, Z:-0.21 [[ 9.99949874e-01 9.98253555e-03 7.73011254e-04 3.97479751e+00] [-9.98254846e-03 9.99950173e-01 1.28497858e-05 2.30923896e-01] [-7.72844463e-04 -2.05657640e-05 9.99999701e-01 -2.14838617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.01, Y:0.23, Z:-0.22 [[ 9.99936045e-01 1.12831387e-02 7.73011254e-04 4.00559400e+00] [-1.12831520e-02 9.99936343e-01 1.28497858e-05 2.31522863e-01] [-7.72817060e-04 -2.15709675e-05 9.99999701e-01 -2.15753250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.03, Y:0.23, Z:-0.22 [[ 9.99920498e-01 1.25857018e-02 7.73011254e-04 4.03470546e+00] [-1.25857155e-02 9.99920797e-01 1.28497858e-05 2.34030973e-01] [-7.72788305e-04 -2.25776639e-05 9.99999701e-01 -2.17771061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.07, Y:0.24, Z:-0.22 [[ 9.99925733e-01 1.21627110e-02 7.73011100e-04 4.06556065e+00] [-1.21627245e-02 9.99926031e-01 1.28590173e-05 2.36806607e-01] [-7.72797521e-04 -2.22599834e-05 9.99999701e-01 -2.16337175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.10, Y:0.24, Z:-0.21 [[ 9.99943194e-01 1.06306611e-02 7.73011100e-04 4.09616779e+00] [-1.06306742e-02 9.99943493e-01 1.28590173e-05 2.42991207e-01] [-7.72830720e-04 -2.10759161e-05 9.99999701e-01 -2.14147674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.13, Y:0.25, Z:-0.21 [[ 9.99970048e-01 7.70094912e-03 7.73011100e-04 4.12613911e+00] [-7.70096137e-03 9.99970347e-01 1.28590173e-05 2.45723804e-01] [-7.72889151e-04 -1.88115608e-05 9.99999701e-01 -2.13462499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.16, Y:0.24, Z:-0.21 [[ 9.99981628e-01 6.01212978e-03 7.73011100e-04 4.15546707e+00] [-6.01214152e-03 9.99981927e-01 1.28590173e-05 2.44981166e-01] [-7.72919819e-04 -1.75062332e-05 9.99999701e-01 -2.14819114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.19, Y:0.25, Z:-0.22 [[ 9.99994579e-01 3.20080348e-03 7.73010945e-04 4.18560746e+00] [-3.20081438e-03 9.99994877e-01 1.28683504e-05 2.45385250e-01] [-7.72965796e-04 -1.53425452e-05 9.99999701e-01 -2.15273441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.344203821999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.22, Y:0.25, Z:-0.22 [[ 9.99994579e-01 3.20080349e-03 7.73011098e-04 4.21659911e+00] [-3.20081438e-03 9.99994877e-01 1.28591232e-05 2.45900805e-01] [-7.72965979e-04 -1.53333185e-05 9.99999701e-01 -2.15297404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.25, Y:0.25, Z:-0.22 [[ 9.99997588e-01 2.05602202e-03 7.73011098e-04 4.24665600e+00] [-2.05603258e-03 9.99997886e-01 1.28591232e-05 2.47850819e-01] [-7.72983026e-04 -1.44484282e-05 9.99999701e-01 -2.15471342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.28, Y:0.25, Z:-0.21 [[ 9.99999538e-01 5.71022583e-04 7.73011098e-04 4.27645758e+00] [-5.71032694e-04 9.99999837e-01 1.28591232e-05 2.52203907e-01] [-7.73003629e-04 -1.33005319e-05 9.99999701e-01 -2.14498743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.31, Y:0.26, Z:-0.22 [[ 9.99998982e-01 1.19924870e-03 7.73011251e-04 4.30719192e+00] [-1.19925899e-03 9.99999281e-01 1.28499347e-05 2.57314824e-01] [-7.72995285e-04 -1.37769623e-05 9.99999701e-01 -2.15021970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.34, Y:0.26, Z:-0.21 [[ 9.99997669e-01 2.01601829e-03 7.73011402e-04 4.33763335e+00] [-2.01602882e-03 9.99997968e-01 1.28408696e-05 2.58990468e-01] [-7.72983943e-04 -1.43992530e-05 9.99999701e-01 -2.11500076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.37, Y:0.26, Z:-0.21 [[ 9.99993270e-01 3.58644146e-03 7.73011402e-04 4.36798040e+00] [-3.58645245e-03 9.99993569e-01 1.28408696e-05 2.59573771e-01] [-7.72960377e-04 -1.56131518e-05 9.99999701e-01 -2.14604750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.40, Y:0.26, Z:-0.21 [[ 9.99990948e-01 4.18400378e-03 7.73011559e-04 4.39859469e+00] [-4.18401495e-03 9.99991247e-01 1.28313739e-05 2.61540076e-01] [-7.72951106e-04 -1.60655497e-05 9.99999701e-01 -2.13836245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.43, Y:0.27, Z:-0.22 [[ 9.99990249e-01 4.34782380e-03 7.73011559e-04 4.42902918e+00] [-4.34783501e-03 9.99990548e-01 1.28313739e-05 2.66463586e-01] [-7.72948464e-04 -1.61921756e-05 9.99999701e-01 -2.16001954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.46, Y:0.27, Z:-0.21 [[ 9.99995921e-01 2.74964898e-03 7.73012307e-04 4.45976916e+00] [-2.74965969e-03 9.99996220e-01 1.27861774e-05 2.72468698e-01] [-7.72974227e-04 -1.49116460e-05 9.99999701e-01 -2.14755844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.49, Y:0.27, Z:-0.21 [[ 9.99999089e-01 1.10614910e-03 7.73012307e-04 4.49052063e+00] [-1.10615931e-03 9.99999388e-01 1.27861774e-05 2.74851268e-01] [-7.72997690e-04 -1.36412405e-05 9.99999701e-01 -2.14382603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.52, Y:0.28, Z:-0.21 [[ 9.99994989e-01 -3.07006794e-03 7.73012307e-04 4.52104573e+00] [ 3.07005898e-03 9.99995287e-01 1.27861774e-05 2.76105018e-01] [-7.73047918e-04 -1.04129200e-05 9.99999701e-01 -2.12445024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.674203821999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.55, Y:0.28, Z:-0.21 [[ 9.99974522e-01 -7.09632783e-03 7.73012307e-04 4.55273359e+00] [ 7.09632007e-03 9.99974821e-01 1.27861774e-05 2.76865911e-01] [-7.73083578e-04 -7.30030889e-06 9.99999701e-01 -2.09082568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.58, Y:0.28, Z:-0.21 [[ 9.99961365e-01 -8.75623304e-03 7.73012609e-04 4.58423962e+00] [ 8.75622578e-03 9.99961663e-01 1.27678929e-05 2.76850132e-01] [-7.73094773e-04 -5.99872671e-06 9.99999701e-01 -2.08001262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.62, Y:0.28, Z:-0.21 [[ 9.99943586e-01 -1.05937195e-02 7.73012912e-04 4.61591375e+00] [ 1.05937128e-02 9.99943885e-01 1.27495203e-05 2.77256841e-01] [-7.73104599e-04 -4.55972431e-06 9.99999701e-01 -2.06565179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.65, Y:0.28, Z:-0.21 [[ 9.99941375e-01 -1.08004587e-02 7.73013220e-04 4.64633410e+00] [ 1.08004521e-02 9.99941673e-01 1.27308239e-05 2.78754747e-01] [-7.73105631e-04 -4.38118534e-06 9.99999701e-01 -2.06740961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.68, Y:0.28, Z:-0.21 [[ 9.99942749e-01 -1.06724872e-02 7.73013373e-04 4.67691801e+00] [ 1.06724805e-02 9.99943047e-01 1.27215032e-05 2.81342044e-01] [-7.73105118e-04 -4.47080467e-06 9.99999701e-01 -2.09027596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.71, Y:0.28, Z:-0.21 [[ 9.99944310e-01 -1.05251712e-02 7.73013523e-04 4.70863710e+00] [ 1.05251645e-02 9.99944609e-01 1.27123866e-05 2.82596114e-01] [-7.73104505e-04 -4.57558412e-06 9.99999701e-01 -2.08240601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.74, Y:0.28, Z:-0.21 [[ 9.99947118e-01 -1.02549296e-02 7.73013823e-04 4.73920234e+00] [ 1.02549228e-02 9.99947417e-01 1.26941300e-05 2.82972966e-01] [-7.73103353e-04 -4.76626157e-06 9.99999701e-01 -2.10592684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.77, Y:0.28, Z:-0.21 [[ 9.99951535e-01 -9.81478341e-03 7.73014342e-04 4.76959593e+00] [ 9.81477655e-03 9.99951834e-01 1.26624109e-05 2.81334162e-01] [-7.73101388e-04 -5.07483418e-06 9.99999701e-01 -2.12064044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.80, Y:0.28, Z:-0.21 [[ 9.99953037e-01 -9.66057792e-03 7.73014490e-04 4.80141923e+00] [ 9.66057102e-03 9.99953336e-01 1.26534079e-05 2.80994527e-01] [-7.73100657e-04 -5.18505223e-06 9.99999701e-01 -2.12637479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.83, Y:0.28, Z:-0.21 [[ 9.99952322e-01 -9.73427649e-03 7.73014784e-04 4.83184966e+00] [ 9.73426963e-03 9.99952621e-01 1.26353950e-05 2.81847201e-01] [-7.73101156e-04 -5.11005822e-06 9.99999701e-01 -2.13230179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.86, Y:0.28, Z:-0.21 [[ 9.99953353e-01 -9.62783163e-03 7.73014930e-04 4.86270458e+00] [ 9.62782475e-03 9.99953651e-01 1.26264507e-05 2.83010861e-01] [-7.73100667e-04 -5.18340942e-06 9.99999701e-01 -2.12426368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.89, Y:0.28, Z:-0.22 [[ 9.99955451e-01 -9.40732842e-03 7.73015231e-04 4.89344998e+00] [ 9.40732149e-03 9.99955750e-01 1.26079982e-05 2.83365011e-01] [-7.73099633e-04 -5.33543373e-06 9.99999701e-01 -2.16964208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.92, Y:0.28, Z:-0.22 [[ 9.99958942e-01 -9.02868120e-03 7.73015381e-04 4.92482327e+00] [ 9.02867416e-03 9.99959241e-01 1.25987903e-05 2.82516893e-01] [-7.73097624e-04 -5.61896903e-06 9.99999701e-01 -2.16763815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.96, Y:0.28, Z:-0.21 [[ 9.99969295e-01 -7.79813595e-03 7.73015674e-04 4.95588692e+00] [ 7.79812855e-03 9.99969594e-01 1.25808193e-05 2.81428149e-01] [-7.73090277e-04 -6.55235741e-06 9.99999701e-01 -2.14379056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.094203821999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.99, Y:0.28, Z:-0.21 [[ 9.99968739e-01 -7.86919717e-03 7.73015976e-04 4.98758625e+00] [ 7.86918981e-03 9.99969037e-01 1.25622495e-05 2.82723418e-01] [-7.73090896e-04 -6.47884735e-06 9.99999701e-01 -2.14239240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.02, Y:0.28, Z:-0.21 [[ 9.99970874e-01 -7.59304774e-03 7.73016278e-04 5.01932339e+00] [ 7.59304031e-03 9.99971172e-01 1.25436060e-05 2.83458596e-01] [-7.73089238e-04 -6.67369687e-06 9.99999701e-01 -2.13276821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.05, Y:0.28, Z:-0.22 [[ 9.99976415e-01 -6.82439851e-03 7.73016580e-04 5.05017919e+00] [ 6.82439087e-03 9.99976713e-01 1.25249625e-05 2.82887666e-01] [-7.73084055e-04 -7.24929976e-06 9.99999701e-01 -2.15766899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.08, Y:0.28, Z:-0.22 [[ 9.99980928e-01 -6.12743422e-03 7.73016880e-04 5.08132511e+00] [ 6.12742638e-03 9.99981227e-01 1.25064149e-05 2.81364756e-01] [-7.73079001e-04 -7.76957237e-06 9.99999701e-01 -2.17377308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.11, Y:0.28, Z:-0.22 [[ 9.99987351e-01 -4.96990233e-03 7.73017178e-04 5.11241743e+00] [ 4.96989417e-03 9.99987650e-01 1.24879960e-05 2.77106999e-01] [-7.73069695e-04 -8.64602444e-06 9.99999701e-01 -2.19567973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.14, Y:0.28, Z:-0.22 [[ 9.99991486e-01 -4.05338358e-03 7.73017075e-04 5.14279075e+00] [ 4.05337513e-03 9.99991785e-01 1.24943568e-05 2.77727620e-01] [-7.73061369e-04 -9.36092222e-06 9.99999701e-01 -2.19830857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.17, Y:0.28, Z:-0.22 [[ 9.99992605e-01 -3.76726821e-03 7.73017555e-04 5.17432539e+00] [ 3.76725970e-03 9.99992904e-01 1.24646208e-05 2.79728054e-01] [-7.73059027e-04 -9.55237078e-06 9.99999701e-01 -2.17693036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.21, Y:0.28, Z:-0.22 [[ 9.99992691e-01 -3.74430190e-03 7.73017848e-04 5.20551580e+00] [ 3.74429340e-03 9.99992990e-01 1.24463857e-05 2.81084318e-01] [-7.73059032e-04 -9.55188908e-06 9.99999701e-01 -2.16442594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.24, Y:0.28, Z:-0.22 [[ 9.99993369e-01 -3.55864636e-03 7.73018149e-04 5.23610292e+00] [ 3.55863782e-03 9.99993668e-01 1.24276599e-05 2.79847766e-01] [-7.73057480e-04 -9.67668588e-06 9.99999701e-01 -2.18123195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.27, Y:0.28, Z:-0.22 [[ 9.99996092e-01 -2.68657434e-03 7.73018299e-04 5.26623624e+00] [ 2.68656554e-03 9.99996391e-01 1.24183305e-05 2.78027205e-01] [-7.73048872e-04 -1.03415176e-05 9.99999701e-01 -2.17375984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.30, Y:0.28, Z:-0.21 [[ 9.99999116e-01 -1.08159567e-03 7.73018447e-04 5.29793050e+00] [ 1.08158640e-03 9.99999415e-01 1.24091309e-05 2.78219968e-01] [-7.73031416e-04 -1.15730337e-05 9.99999701e-01 -2.12193579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424203821999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.33, Y:0.28, Z:-0.21 [[ 9.99999515e-01 -6.09492541e-04 7.73018736e-04 5.32892520e+00] [ 6.09483144e-04 9.99999814e-01 1.23910686e-05 2.78877695e-01] [-7.73026145e-04 -1.19199207e-05 9.99999701e-01 -2.11700907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.36, Y:0.28, Z:-0.22 [[ 9.99999673e-01 -2.36977839e-04 7.73018608e-04 5.35876645e+00] [ 2.36968325e-04 9.99999972e-01 1.23990565e-05 2.81668918e-01] [-7.73021525e-04 -1.22158715e-05 9.99999701e-01 -2.15512933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.39, Y:0.28, Z:-0.22 [[ 9.99999293e-01 -9.03284821e-04 7.73018758e-04 5.38958355e+00] [ 9.03275513e-04 9.99999592e-01 1.23896926e-05 2.83753123e-01] [-7.73029634e-04 -1.16914349e-05 9.99999701e-01 -2.17062263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.42, Y:0.28, Z:-0.22 [[ 9.99994105e-01 -3.34554297e-03 7.73019044e-04 5.42135842e+00] [ 3.34553440e-03 9.99994404e-01 1.23718276e-05 2.83468721e-01] [-7.73056108e-04 -9.78559289e-06 9.99999701e-01 -2.18783486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.45, Y:0.28, Z:-0.22 [[ 9.99988090e-01 -4.81902231e-03 7.73019334e-04 5.45241996e+00] [ 4.81901420e-03 9.99988388e-01 1.23536742e-05 2.83807047e-01] [-7.73069891e-04 -8.62833594e-06 9.99999701e-01 -2.19432259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.48, Y:0.29, Z:-0.22 [[ 9.99975663e-01 -6.93374126e-03 7.73019627e-04 5.48277309e+00] [ 6.93373380e-03 9.99975961e-01 1.23353233e-05 2.86255511e-01] [-7.73086575e-04 -6.97511073e-06 9.99999701e-01 -2.23321238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.51, Y:0.29, Z:-0.22 [[ 9.99972852e-01 -7.32789933e-03 7.73019773e-04 5.51366818e+00] [ 7.32789199e-03 9.99973151e-01 1.23261958e-05 2.86981647e-01] [-7.73089343e-04 -6.66125578e-06 9.99999701e-01 -2.17260239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.54, Y:0.29, Z:-0.21 [[ 9.99975563e-01 -6.94810573e-03 7.73020168e-04 5.54463104e+00] [ 6.94809829e-03 9.99975862e-01 1.23013672e-05 2.88926192e-01] [-7.73086979e-04 -6.93004648e-06 9.99999701e-01 -2.14418749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.58, Y:0.29, Z:-0.21 [[ 9.99982928e-01 -5.79189873e-03 7.73020451e-04 5.57560773e+00] [ 5.79189096e-03 9.99983227e-01 1.22835277e-05 2.94532827e-01] [-7.73078630e-04 -7.80606784e-06 9.99999701e-01 -2.12803353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.61, Y:0.30, Z:-0.21 [[ 9.99987883e-01 -4.86174925e-03 7.73020736e-04 5.60643854e+00] [ 4.86174122e-03 9.99988182e-01 1.22655615e-05 2.96940468e-01] [-7.73071232e-04 -8.50718610e-06 9.99999701e-01 -2.14506384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.64, Y:0.30, Z:-0.21 [[ 9.99990627e-01 -4.26014138e-03 7.73021164e-04 5.63784428e+00] [ 4.26013319e-03 9.99990926e-01 1.22385758e-05 3.00276523e-01] [-7.73066287e-04 -8.94528797e-06 9.99999701e-01 -2.13337942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.67, Y:0.31, Z:-0.22 [[ 9.99991306e-01 -4.09763802e-03 7.73021456e-04 5.66774623e+00] [ 4.09762980e-03 9.99991605e-01 1.22200451e-05 3.07763565e-01] [-7.73065040e-04 -9.05238314e-06 9.99999701e-01 -2.15581883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.70, Y:0.31, Z:-0.22 [[ 9.99990645e-01 -4.25593021e-03 7.73021602e-04 5.69949615e+00] [ 4.25592204e-03 9.99990943e-01 1.22108009e-05 3.10352390e-01] [-7.73066570e-04 -8.92076701e-06 9.99999701e-01 -2.16395850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.73, Y:0.31, Z:-0.22 [[ 9.99982375e-01 -5.88654998e-03 7.73021883e-04 5.73075068e+00] [ 5.88654231e-03 9.99982674e-01 1.21930289e-05 3.13718479e-01] [-7.73080264e-04 -7.64238799e-06 9.99999701e-01 -2.16299875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.76, Y:0.32, Z:-0.22 [[ 9.99972417e-01 -7.38693559e-03 7.73022170e-04 5.76221490e+00] [ 7.38692838e-03 9.99972716e-01 1.21748202e-05 3.15353751e-01] [-7.73091013e-04 -6.46422496e-06 9.99999701e-01 -2.15955870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.874203822 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:5.79, Y:0.32, Z:-0.21 [[ 9.99949479e-01 -1.00220569e-02 7.73022596e-04 5.79332251e+00] [ 1.00220505e-02 9.99949778e-01 1.21476748e-05 3.17358963e-01] [-7.73105518e-04 -4.39978957e-06 9.99999701e-01 -2.12130978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.83, Y:0.32, Z:-0.21 [[ 9.99936773e-01 -1.12184113e-02 7.73022882e-04 5.82561553e+00] [ 1.12184053e-02 9.99937072e-01 1.21294610e-05 3.19301402e-01] [-7.73110310e-04 -3.45661008e-06 9.99999701e-01 -2.12804587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.86, Y:0.33, Z:-0.22 [[ 9.99903141e-01 -1.38964181e-02 7.73023453e-04 5.85708132e+00] [ 1.38964129e-02 9.99903440e-01 1.20929854e-05 3.26051013e-01] [-7.73116859e-04 -1.34956103e-06 9.99999701e-01 -2.16358674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.89, Y:0.33, Z:-0.22 [[ 9.99853921e-01 -1.70745059e-02 7.73023876e-04 5.88944343e+00] [ 1.70745016e-02 9.99854220e-01 1.20658549e-05 3.31724468e-01] [-7.73117203e-04 1.13490512e-06 9.99999701e-01 -2.16696810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.92, Y:0.33, Z:-0.21 [[ 9.99819730e-01 -1.89712974e-02 7.73024408e-04 5.92035895e+00] [ 1.89712937e-02 9.99820029e-01 1.20316487e-05 3.33732620e-01] [-7.73113542e-04 2.63579339e-06 9.99999701e-01 -2.13694300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.95, Y:0.34, Z:-0.22 [[ 9.99758216e-01 -2.19752361e-02 7.73024695e-04 5.95115509e+00] [ 2.19752334e-02 9.99758515e-01 1.20132076e-05 3.35001057e-01] [-7.73102014e-04 4.97709509e-06 9.99999701e-01 -2.16930675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.98, Y:0.34, Z:-0.21 [[ 9.99733029e-01 -2.30927053e-02 7.73025652e-04 5.98364846e+00] [ 2.30927029e-02 9.99733328e-01 1.19513232e-05 3.35833150e-01] [-7.73095496e-04 5.90311919e-06 9.99999701e-01 -2.12380046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.02, Y:0.34, Z:-0.22 [[ 9.99675710e-01 -2.54534452e-02 7.73026220e-04 6.01527328e+00] [ 2.54534436e-02 9.99676009e-01 1.19144384e-05 3.37195057e-01] [-7.73079030e-04 7.76560466e-06 9.99999701e-01 -2.15488661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.05, Y:0.34, Z:-0.21 [[ 9.99615742e-01 -2.77086647e-02 7.73026643e-04 6.04779923e+00] [ 2.77086637e-02 9.99616041e-01 1.18869238e-05 3.37048751e-01] [-7.73059204e-04 9.53717921e-06 9.99999701e-01 -2.12850291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:6.08, Y:0.34, Z:-0.21 [[ 9.99595446e-01 -2.84314327e-02 7.73027212e-04 6.07932293e+00] [ 2.84314320e-02 9.99595745e-01 1.18498361e-05 3.37186766e-01] [-7.73051620e-04 1.01332285e-05 9.99999701e-01 -2.11538153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.174203821999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.11, Y:0.34, Z:-0.21 [[ 9.99598532e-01 -2.83227435e-02 7.73027634e-04 6.11099499e+00] [ 2.83227428e-02 9.99598831e-01 1.18222618e-05 3.38391613e-01] [-7.73052357e-04 1.00767473e-05 9.99999701e-01 -2.10136456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.14, Y:0.34, Z:-0.21 [[ 9.99624056e-01 -2.74070935e-02 7.73028181e-04 6.14277628e+00] [ 2.74070926e-02 9.99624355e-01 1.17863560e-05 3.39445336e-01] [-7.73060827e-04 9.40452995e-06 9.99999701e-01 -2.11901989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.17, Y:0.34, Z:-0.22 [[ 9.99726114e-01 -2.33901646e-02 7.73028731e-04 6.17286918e+00] [ 2.33901625e-02 9.99726413e-01 1.17501836e-05 3.40909044e-01] [-7.73092079e-04 6.33430226e-06 9.99999701e-01 -2.16061274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.20, Y:0.34, Z:-0.22 [[ 9.99778876e-01 -2.10143161e-02 7.73029003e-04 6.20363593e+00] [ 2.10143133e-02 9.99779175e-01 1.17322381e-05 3.40804143e-01] [-7.73104844e-04 4.51502986e-06 9.99999701e-01 -2.17368036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.24, Y:0.34, Z:-0.22 [[ 9.99779839e-01 -2.09684354e-02 7.73029922e-04 6.23630720e+00] [ 2.09684326e-02 9.99780138e-01 1.16713966e-05 3.41208831e-01] [-7.73104693e-04 4.54039878e-06 9.99999701e-01 -2.17393288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.27, Y:0.34, Z:-0.21 [[ 9.99864924e-01 -1.64175572e-02 7.73030456e-04 6.26800010e+00] [ 1.64175531e-02 9.99865223e-01 1.16359216e-05 3.40493881e-01] [-7.73117302e-04 1.05691867e-06 9.99999701e-01 -2.14719842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.30, Y:0.34, Z:-0.22 [[ 9.99894306e-01 -1.45182108e-02 7.73030729e-04 6.29909065e+00] [ 1.45182062e-02 9.99894605e-01 1.16177668e-05 3.41042828e-01] [-7.73117924e-04 -3.93519357e-07 9.99999701e-01 -2.15616978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.33, Y:0.34, Z:-0.21 [[ 9.99938317e-01 -1.10799144e-02 7.73031599e-04 6.33005520e+00] [ 1.10799088e-02 9.99938616e-01 1.15595948e-05 3.42102617e-01] [-7.73112226e-04 -2.99376220e-06 9.99999701e-01 -2.14979002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.36, Y:0.34, Z:-0.21 [[ 9.99973435e-01 -7.24782082e-03 7.73031865e-04 6.36022222e+00] [ 7.24781406e-03 9.99973734e-01 1.15417659e-05 3.43824867e-01] [-7.73095213e-04 -5.93866810e-06 9.99999701e-01 -2.12928228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.39, Y:0.34, Z:-0.21 [[ 9.99984253e-01 -5.55848579e-03 7.73031997e-04 6.39193636e+00] [ 5.55847853e-03 9.99984551e-01 1.15329070e-05 3.44314034e-01] [-7.73084160e-04 -7.23584362e-06 9.99999701e-01 -2.10900458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.42, Y:0.34, Z:-0.22 [[ 9.99993306e-01 -3.57630151e-03 7.73032277e-04 6.42189744e+00] [ 3.57629368e-03 9.99993605e-01 1.15140897e-05 3.42424698e-01] [-7.73068511e-04 -8.74942221e-06 9.99999701e-01 -2.15239408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.45, Y:0.34, Z:-0.21 [[ 9.99994792e-01 -3.13351385e-03 7.73032781e-04 6.45282434e+00] [ 3.13350591e-03 9.99995090e-01 1.14801480e-05 3.41712076e-01] [-7.73064959e-04 -9.05778540e-06 9.99999701e-01 -2.13137596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.48, Y:0.34, Z:-0.21 [[ 9.99994078e-01 -3.35343593e-03 7.73033054e-04 6.48327140e+00] [ 3.35342808e-03 9.99994377e-01 1.14617183e-05 3.41339590e-01] [-7.73067144e-04 -8.86933968e-06 9.99999701e-01 -2.11410506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.51, Y:0.34, Z:-0.21 [[ 9.99985280e-01 -5.37049202e-03 7.73033190e-04 6.51470919e+00] [ 5.37048477e-03 9.99985579e-01 1.14525742e-05 3.39406453e-01] [-7.73083548e-04 -7.30084264e-06 9.99999701e-01 -2.08492468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.55, Y:0.34, Z:-0.21 [[ 9.99978394e-01 -6.52798413e-03 7.73033463e-04 6.54638667e+00] [ 6.52797725e-03 9.99978692e-01 1.14341057e-05 3.38708695e-01] [-7.73091633e-04 -6.38751376e-06 9.99999701e-01 -2.08284318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.58, Y:0.34, Z:-0.21 [[ 9.99964752e-01 -8.36040388e-03 7.73033734e-04 6.57715261e+00] [ 8.36039755e-03 9.99965051e-01 1.14157480e-05 3.36569692e-01] [-7.73102158e-04 -4.95247629e-06 9.99999701e-01 -2.07547768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.61, Y:0.34, Z:-0.21 [[ 9.99957941e-01 -9.13888841e-03 7.73034139e-04 6.60877304e+00] [ 9.13888234e-03 9.99958239e-01 1.13882504e-05 3.35643131e-01] [-7.73105933e-04 -4.32310338e-06 9.99999701e-01 -2.06823816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.64, Y:0.33, Z:-0.21 [[ 9.99950369e-01 -9.93286759e-03 7.73034405e-04 6.63972798e+00] [ 9.93286177e-03 9.99950668e-01 1.13701988e-05 3.32806393e-01] [-7.73109208e-04 -3.69119060e-06 9.99999701e-01 -2.08151204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.67, Y:0.33, Z:-0.21 [[ 9.99953646e-01 -9.59731928e-03 7.73034802e-04 6.67139714e+00] [ 9.59731338e-03 9.99953945e-01 1.13431089e-05 3.29081067e-01] [-7.73108063e-04 -3.92352584e-06 9.99999701e-01 -2.07964289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.70, Y:0.33, Z:-0.21 [[ 9.99961254e-01 -8.76891636e-03 7.73035066e-04 6.70203975e+00] [ 8.76891023e-03 9.99961552e-01 1.13251215e-05 3.28810515e-01] [-7.73104653e-04 -4.54600755e-06 9.99999701e-01 -2.07621306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.73, Y:0.33, Z:-0.21 [[ 9.99973620e-01 -7.22226973e-03 7.73035498e-04 6.73260372e+00] [ 7.22226316e-03 9.99973919e-01 1.12955539e-05 3.28629989e-01] [-7.73096916e-04 -5.71219017e-06 9.99999701e-01 -2.07102213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.76, Y:0.33, Z:-0.21 [[ 9.99974626e-01 -7.08168036e-03 7.73035627e-04 6.76376360e+00] [ 7.08167375e-03 9.99974925e-01 1.12867033e-05 3.28065136e-01] [-7.73096172e-04 -5.81203079e-06 9.99999701e-01 -2.07462929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.79, Y:0.32, Z:-0.21 [[ 9.99969969e-01 -7.71131818e-03 7.73035886e-04 6.79484844e+00] [ 7.71131178e-03 9.99970267e-01 1.12689788e-05 3.24119546e-01] [-7.73099800e-04 -5.30751965e-06 9.99999701e-01 -2.10456051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.83, Y:0.32, Z:-0.21 [[ 9.99961421e-01 -8.74980776e-03 7.73036271e-04 6.82668614e+00] [ 8.74980169e-03 9.99961720e-01 1.12425032e-05 3.22270209e-01] [-7.73105048e-04 -4.47815536e-06 9.99999701e-01 -2.10728952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.86, Y:0.32, Z:-0.21 [[ 9.99936124e-01 -1.12761144e-02 7.73036525e-04 6.85788537e+00] [ 1.12761091e-02 9.99936423e-01 1.12250074e-05 3.19888728e-01] [-7.73113951e-04 -2.50744620e-06 9.99999701e-01 -2.10758939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.89, Y:0.32, Z:-0.21 [[ 9.99925024e-01 -1.22208111e-02 7.73036791e-04 6.88856588e+00] [ 1.22208061e-02 9.99925323e-01 1.12066214e-05 3.20737650e-01] [-7.73116017e-04 -1.75864847e-06 9.99999701e-01 -2.13085130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.92, Y:0.32, Z:-0.21 [[ 9.99920961e-01 -1.25488587e-02 7.73036924e-04 6.91963756e+00] [ 1.25488538e-02 9.99921260e-01 1.11974326e-05 3.22210501e-01] [-7.73116570e-04 -1.49582018e-06 9.99999701e-01 -2.12297813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.95, Y:0.32, Z:-0.21 [[ 9.99933978e-01 -1.14647815e-02 7.73037196e-04 6.94966540e+00] [ 1.14647762e-02 9.99934277e-01 1.11786435e-05 3.18537145e-01] [-7.73114550e-04 -2.31520694e-06 9.99999701e-01 -2.14259292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.98, Y:0.32, Z:-0.21 [[ 9.99943894e-01 -1.05646499e-02 7.73037662e-04 6.98068651e+00] [ 1.05646445e-02 9.99944193e-01 1.11463533e-05 3.16717077e-01] [-7.73112278e-04 -2.97885989e-06 9.99999701e-01 -2.13753286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.01, Y:0.31, Z:-0.21 [[ 9.99968105e-01 -7.94927082e-03 7.73037921e-04 7.01244392e+00] [ 7.94926459e-03 9.99968404e-01 1.11283128e-05 3.14793842e-01] [-7.73101958e-04 -4.98287486e-06 9.99999701e-01 -2.11959532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.04, Y:0.32, Z:-0.21 [[ 9.99984448e-01 -5.52326872e-03 7.73038182e-04 7.04388623e+00] [ 5.52326178e-03 9.99984747e-01 1.11101852e-05 3.16916345e-01] [-7.73087755e-04 -6.84032019e-06 9.99999701e-01 -2.10395093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.08, Y:0.32, Z:-0.21 [[ 9.99986920e-01 -5.05594123e-03 7.73038442e-04 7.07522366e+00] [ 5.05593417e-03 9.99987219e-01 1.10920627e-05 3.19445129e-01] [-7.73084642e-04 -7.18348612e-06 9.99999701e-01 -2.09580445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.11, Y:0.32, Z:-0.21 [[ 9.99984790e-01 -5.46099349e-03 7.73038701e-04 7.10637788e+00] [ 5.46098656e-03 9.99985089e-01 1.10739625e-05 3.21991629e-01] [-7.73087649e-04 -6.85224014e-06 9.99999701e-01 -2.07836747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.14, Y:0.32, Z:-0.21 [[ 9.99980356e-01 -6.22020031e-03 7.73038962e-04 7.13741310e+00] [ 6.22019362e-03 9.99980654e-01 1.10557382e-05 3.21250036e-01] [-7.73092776e-04 -6.24706902e-06 9.99999701e-01 -2.07145835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.17, Y:0.32, Z:-0.21 [[ 9.99963364e-01 -8.52485463e-03 7.73039228e-04 7.16904361e+00] [ 8.52484865e-03 9.99963663e-01 1.10370876e-05 3.16538117e-01] [-7.73105227e-04 -4.44664081e-06 9.99999701e-01 -2.06742719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.20, Y:0.32, Z:-0.21 [[ 9.99947352e-01 -1.02320729e-02 7.73039496e-04 7.20046510e+00] [ 1.02320675e-02 9.99947651e-01 1.10182513e-05 3.15763420e-01] [-7.73111768e-04 -3.10787896e-06 9.99999701e-01 -2.06716133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.23, Y:0.32, Z:-0.21 [[ 9.99915798e-01 -1.29537037e-02 7.73039897e-04 7.23138290e+00] [ 1.29536990e-02 9.99916097e-01 1.09901063e-05 3.18580050e-01] [-7.73117399e-04 -9.75454755e-07 9.99999701e-01 -2.07228331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.26, Y:0.32, Z:-0.21 [[ 9.99890450e-01 -1.47813887e-02 7.73040160e-04 7.26356844e+00] [ 1.47813846e-02 9.99890749e-01 1.09715647e-05 3.18456282e-01] [-7.73117880e-04 4.56241143e-07 9.99999701e-01 -2.09393342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.29, Y:0.32, Z:-0.21 [[ 9.99881548e-01 -1.53717832e-02 7.73040685e-04 7.29354386e+00] [ 1.53717793e-02 9.99881847e-01 1.09344633e-05 3.18319679e-01] [-7.73117430e-04 9.49842751e-07 9.99999701e-01 -2.10591622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.32, Y:0.32, Z:-0.21 [[ 9.99864241e-01 -1.64590997e-02 7.73040815e-04 7.32475579e+00] [ 1.64590962e-02 9.99864540e-01 1.09252299e-05 3.16574010e-01] [-7.73115918e-04 1.79980644e-06 9.99999701e-01 -2.12217269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.35, Y:0.32, Z:-0.21 [[ 9.99859131e-01 -1.67666738e-02 7.73041077e-04 7.35470935e+00] [ 1.67666704e-02 9.99859429e-01 1.09066542e-05 3.15576684e-01] [-7.73115279e-04 2.05620714e-06 9.99999701e-01 -2.12778087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.39, Y:0.32, Z:-0.21 [[ 9.99871414e-01 -1.60174018e-02 7.73041207e-04 7.38578578e+00] [ 1.60173982e-02 9.99871713e-01 1.08974266e-05 3.16241917e-01] [-7.73116585e-04 1.48608347e-06 9.99999701e-01 -2.11218819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.42, Y:0.32, Z:-0.21 [[ 9.99887042e-01 -1.50102106e-02 7.73041463e-04 7.41699302e+00] [ 1.50102067e-02 9.99887340e-01 1.08792552e-05 3.17382620e-01] [-7.73117672e-04 7.25485841e-07 9.99999701e-01 -2.12394788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.45, Y:0.32, Z:-0.21 [[ 9.99916901e-01 -1.28683358e-02 7.73041718e-04 7.44876442e+00] [ 1.28683312e-02 9.99917200e-01 1.08610850e-05 3.16748951e-01] [-7.73117474e-04 -9.12425537e-07 9.99999701e-01 -2.13183414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.48, Y:0.32, Z:-0.21 [[ 9.99928813e-01 -1.19067556e-02 7.73041978e-04 7.47934724e+00] [ 1.19067508e-02 9.99929112e-01 1.08425772e-05 3.16091009e-01] [-7.73116278e-04 -1.63738721e-06 9.99999701e-01 -2.12566042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.51, Y:0.32, Z:-0.21 [[ 9.99937165e-01 -1.11833986e-02 7.73042107e-04 7.50989637e+00] [ 1.11833935e-02 9.99937464e-01 1.08333580e-05 3.17442072e-01] [-7.73114918e-04 -2.18744323e-06 9.99999701e-01 -2.10562207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.54, Y:0.32, Z:-0.21 [[ 9.99939101e-01 -1.10089713e-02 7.73042234e-04 7.54009045e+00] [ 1.10089663e-02 9.99939399e-01 1.08242770e-05 3.20607315e-01] [-7.73114552e-04 -2.31322188e-06 9.99999701e-01 -2.10981301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.57, Y:0.32, Z:-0.21 [[ 9.99940115e-01 -1.09164313e-02 7.73042360e-04 7.57059352e+00] [ 1.09164262e-02 9.99940414e-01 1.08153000e-05 3.21303652e-01] [-7.73114362e-04 -2.37579247e-06 9.99999701e-01 -2.11426581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.60, Y:0.32, Z:-0.21 [[ 9.99940312e-01 -1.08984173e-02 7.73042484e-04 7.60240257e+00] [ 1.08984122e-02 9.99940610e-01 1.08063996e-05 3.21402944e-01] [-7.73114346e-04 -2.38081892e-06 9.99999701e-01 -2.12273318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.63, Y:0.32, Z:-0.22 [[ 9.99941788e-01 -1.07620848e-02 7.73042746e-04 7.63313365e+00] [ 1.07620797e-02 9.99942087e-01 1.07876505e-05 3.20939075e-01] [-7.73114074e-04 -2.46747494e-06 9.99999701e-01 -2.15679407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.66, Y:0.32, Z:-0.22 [[ 9.99953197e-01 -9.64395765e-03 7.73042876e-04 7.66455507e+00] [ 9.64395220e-03 9.99953496e-01 1.07783062e-05 3.23214047e-01] [-7.73110872e-04 -3.32261323e-06 9.99999701e-01 -2.16526443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.69, Y:0.33, Z:-0.22 [[ 9.99960650e-01 -8.83748834e-03 7.73043118e-04 7.69441270e+00] [ 8.83748266e-03 9.99960949e-01 1.07609156e-05 3.27472636e-01] [-7.73108029e-04 -3.92873696e-06 9.99999701e-01 -2.17465659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.73, Y:0.33, Z:-0.22 [[ 9.99972568e-01 -7.36655168e-03 7.73043239e-04 7.72562200e+00] [ 7.36654557e-03 9.99972867e-01 1.07522491e-05 3.33805259e-01] [-7.73101470e-04 -5.05729589e-06 9.99999701e-01 -2.19369682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.76, Y:0.33, Z:-0.22 [[ 9.99972057e-01 -7.43550952e-03 7.73043477e-04 7.75716604e+00] [ 7.43550345e-03 9.99972356e-01 1.07350797e-05 3.34930263e-01] [-7.73101928e-04 -4.98681232e-06 9.99999701e-01 -2.17176530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.79, Y:0.34, Z:-0.22 [[ 9.99968891e-01 -7.84985997e-03 7.73043732e-04 7.78892473e+00] [ 7.84985403e-03 9.99969189e-01 1.07167103e-05 3.36761446e-01] [-7.73104039e-04 -4.64809646e-06 9.99999701e-01 -2.15202352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.82, Y:0.34, Z:-0.22 [[ 9.99953620e-01 -9.59997420e-03 7.73043995e-04 7.82006582e+00] [ 9.59996880e-03 9.99953919e-01 1.06976736e-05 3.40980877e-01] [-7.73111070e-04 -3.27597917e-06 9.99999701e-01 -2.15524804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.85, Y:0.34, Z:-0.21 [[ 9.99940166e-01 -1.09117676e-02 7.73044388e-04 7.85254452e+00] [ 1.09117626e-02 9.99940465e-01 1.06692486e-05 3.42760837e-01] [-7.73114785e-04 -2.23333338e-06 9.99999701e-01 -2.14886360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.88, Y:0.35, Z:-0.21 [[ 9.99900301e-01 -1.40993359e-02 7.73044887e-04 7.88457005e+00] [ 1.40993319e-02 9.99900599e-01 1.06329682e-05 3.46484871e-01] [-7.73117963e-04 2.67508324e-07 9.99999701e-01 -2.10478482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.92, Y:0.35, Z:-0.21 [[ 9.99871202e-01 -1.60306599e-02 7.73045395e-04 7.91594443e+00] [ 1.60306565e-02 9.99871501e-01 1.05959110e-05 3.48384785e-01] [-7.73115918e-04 1.79787891e-06 9.99999701e-01 -2.08717316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.95, Y:0.35, Z:-0.21 [[ 9.99811303e-01 -1.94103396e-02 7.73045771e-04 7.94743935e+00] [ 1.94103373e-02 9.99811602e-01 1.05683361e-05 3.47989969e-01] [-7.73105266e-04 4.43873729e-06 9.99999701e-01 -2.07090063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.98, Y:0.35, Z:-0.21 [[ 9.99787978e-01 -2.05767125e-02 7.73046145e-04 7.97816317e+00] [ 2.05767105e-02 9.99788277e-01 1.05409278e-05 3.48137617e-01] [-7.73099371e-04 5.36805388e-06 9.99999701e-01 -2.08127400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.01, Y:0.35, Z:-0.21 [[ 9.99774954e-01 -2.12000673e-02 7.73046948e-04 8.00986012e+00] [ 2.12000655e-02 9.99775253e-01 1.04817250e-05 3.50071563e-01] [-7.73095421e-04 5.90927983e-06 9.99999701e-01 -2.07781651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.04, Y:0.35, Z:-0.21 [[ 9.99809181e-01 -1.95193098e-02 7.73047420e-04 8.04161026e+00] [ 1.95193075e-02 9.99809480e-01 1.04467724e-05 3.50423276e-01] [-7.73104053e-04 4.64457138e-06 9.99999701e-01 -2.09606428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.07, Y:0.35, Z:-0.21 [[ 9.99862394e-01 -1.65709380e-02 7.73047671e-04 8.07191163e+00] [ 1.65709349e-02 9.99862693e-01 1.04282241e-05 3.53821254e-01] [-7.73114331e-04 2.38333351e-06 9.99999701e-01 -2.12797654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.10, Y:0.36, Z:-0.21 [[ 9.99887847e-01 -1.49564455e-02 7.73047794e-04 8.10346069e+00] [ 1.49564419e-02 9.99888146e-01 1.04190268e-05 3.56629149e-01] [-7.73117158e-04 1.14418619e-06 9.99999701e-01 -2.12965342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.14, Y:0.36, Z:-0.21 [[ 9.99922545e-01 -1.24220131e-02 7.73048162e-04 8.13509447e+00] [ 1.24220088e-02 9.99922844e-01 1.03916773e-05 3.61180194e-01] [-7.73117602e-04 -7.88061387e-07 9.99999701e-01 -2.11359356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.17, Y:0.36, Z:-0.21 [[ 9.99922829e-01 -1.23991650e-02 7.73048398e-04 8.16692959e+00] [ 1.23991607e-02 9.99923127e-01 1.03740959e-05 3.61562572e-01] [-7.73117602e-04 -7.88143994e-07 9.99999701e-01 -2.11383968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.20, Y:0.36, Z:-0.21 [[ 9.99933349e-01 -1.15195806e-02 7.73048635e-04 8.19790172e+00] [ 1.15195760e-02 9.99933647e-01 1.03564319e-05 3.63613173e-01] [-7.73116643e-04 -1.45054910e-06 9.99999701e-01 -2.10282612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.23, Y:0.36, Z:-0.21 [[ 9.99947118e-01 -1.02549569e-02 7.73048879e-04 8.22818351e+00] [ 1.02549520e-02 9.99947417e-01 1.03381414e-05 3.64522587e-01] [-7.73114247e-04 -2.41001559e-06 9.99999701e-01 -2.12886941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.26, Y:0.36, Z:-0.21 [[ 9.99950087e-01 -9.96125916e-03 7.73049001e-04 8.26084423e+00] [ 9.96125415e-03 9.99950385e-01 1.03290546e-05 3.64460220e-01] [-7.73113537e-04 -2.62800150e-06 9.99999701e-01 -2.12143776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.29, Y:0.37, Z:-0.21 [[ 9.99950160e-01 -9.95384180e-03 7.73049496e-04 8.29216655e+00] [ 9.95383682e-03 9.99950459e-01 1.02918741e-05 3.67155337e-01] [-7.73113642e-04 -2.59655265e-06 9.99999701e-01 -2.12447902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304203822 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:8.32, Y:0.37, Z:-0.21 [[ 9.99945212e-01 -1.04391577e-02 7.73049865e-04 8.32323713e+00] [ 1.04391529e-02 9.99945511e-01 1.02640738e-05 3.68696617e-01] [-7.73114890e-04 -2.19352566e-06 9.99999701e-01 -2.13274283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.334203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.35, Y:0.37, Z:-0.21 [[ 9.99924442e-01 -1.22684002e-02 7.73050226e-04 8.35497899e+00] [ 1.22683959e-02 9.99924740e-01 1.02367734e-05 3.68622379e-01] [-7.73117636e-04 -7.51913734e-07 9.99999701e-01 -2.14458322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.39, Y:0.37, Z:-0.22 [[ 9.99883695e-01 -1.52315164e-02 7.73050708e-04 8.38725041e+00] [ 1.52315130e-02 9.99883994e-01 1.02002434e-05 3.70633259e-01] [-7.73116395e-04 1.57567488e-06 9.99999701e-01 -2.15406379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.42, Y:0.37, Z:-0.22 [[ 9.99860115e-01 -1.67078458e-02 7.73051208e-04 8.41849468e+00] [ 1.67078429e-02 9.99860414e-01 1.01622246e-05 3.72086846e-01] [-7.73113090e-04 2.75521509e-06 9.99999701e-01 -2.17323376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.45, Y:0.37, Z:-0.22 [[ 9.99820634e-01 -1.89235845e-02 7.73051983e-04 8.45057541e+00] [ 1.89235823e-02 9.99820933e-01 1.01029669e-05 3.69738875e-01] [-7.73104739e-04 4.52775808e-06 9.99999701e-01 -2.18336411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.48, Y:0.37, Z:-0.22 [[ 9.99806536e-01 -1.96543563e-02 7.73052453e-04 8.48234330e+00] [ 1.96543544e-02 9.99806834e-01 1.00668579e-05 3.67250975e-01] [-7.73100983e-04 5.12893658e-06 9.99999701e-01 -2.17203104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.51, Y:0.37, Z:-0.22 [[ 9.99785486e-01 -2.06974299e-02 7.73052942e-04 8.51336018e+00] [ 2.06974284e-02 9.99785785e-01 1.00291334e-05 3.67066647e-01] [-7.73094920e-04 5.97322589e-06 9.99999701e-01 -2.17586002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.54, Y:0.37, Z:-0.22 [[ 9.99788259e-01 -2.05630576e-02 7.73053748e-04 8.54449514e+00] [ 2.05630561e-02 9.99788558e-01 9.96665200e-06 3.70396999e-01] [-7.73095237e-04 5.93180592e-06 9.99999701e-01 -2.20479584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.58, Y:0.37, Z:-0.22 [[ 9.99793026e-01 -2.03299835e-02 7.73053981e-04 8.57612330e+00] [ 2.03299819e-02 9.99793325e-01 9.94856149e-06 3.69790733e-01] [-7.73096463e-04 5.76967100e-06 9.99999701e-01 -2.21710937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.61, Y:0.37, Z:-0.22 [[ 9.99801662e-01 -1.99007129e-02 7.73054213e-04 8.60756652e+00] [ 1.99007112e-02 9.99801961e-01 9.93048833e-06 3.67931550e-01] [-7.73098742e-04 5.45580989e-06 9.99999701e-01 -2.22052653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.64, Y:0.36, Z:-0.22 [[ 9.99829296e-01 -1.84602815e-02 7.73054558e-04 8.63907731e+00] [ 1.84602794e-02 9.99829594e-01 9.90351070e-06 3.63833188e-01] [-7.73105647e-04 4.36898301e-06 9.99999701e-01 -2.20596104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.67, Y:0.36, Z:-0.22 [[ 9.99853689e-01 -1.70881151e-02 7.73054786e-04 8.67090890e+00] [ 1.70881126e-02 9.99853987e-01 9.88572829e-06 3.61676416e-01] [-7.73110839e-04 3.32576532e-06 9.99999701e-01 -2.18310780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.70, Y:0.36, Z:-0.22 [[ 9.99863890e-01 -1.64804259e-02 7.73055012e-04 8.70202978e+00] [ 1.64804232e-02 9.99864189e-01 9.86801408e-06 3.62468812e-01] [-7.73112651e-04 2.87360284e-06 9.99999701e-01 -2.18027206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.73, Y:0.37, Z:-0.22 [[ 9.99882862e-01 -1.52860617e-02 7.73055350e-04 8.73373901e+00] [ 1.52860586e-02 9.99883161e-01 9.84143795e-06 3.65410796e-01] [-7.73115464e-04 1.97668425e-06 9.99999701e-01 -2.16835142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.76, Y:0.37, Z:-0.22 [[ 9.99894854e-01 -1.44804623e-02 7.73055584e-04 8.76486898e+00] [ 1.44804590e-02 9.99895153e-01 9.82300130e-06 3.65677282e-01] [-7.73116773e-04 1.37223128e-06 9.99999701e-01 -2.18635640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.754203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.80, Y:0.36, Z:-0.22 [[ 9.99922579e-01 -1.24192503e-02 7.73055934e-04 8.79606752e+00] [ 1.24192465e-02 9.99922878e-01 9.79541063e-06 3.62195896e-01] [-7.73117966e-04 -1.93880097e-07 9.99999701e-01 -2.22026590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.83, Y:0.36, Z:-0.23 [[ 9.99944128e-01 -1.05424711e-02 7.73056169e-04 8.82687899e+00] [ 1.05424667e-02 9.99944427e-01 9.77682155e-06 3.58161675e-01] [-7.73116280e-04 -1.62635640e-06 9.99999701e-01 -2.25074350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.86, Y:0.36, Z:-0.22 [[ 9.99953027e-01 -9.66162815e-03 7.73056286e-04 8.85680555e+00] [ 9.66162349e-03 9.99953325e-01 9.76756523e-06 3.58403494e-01] [-7.73114575e-04 -2.29812765e-06 9.99999701e-01 -2.24217143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.89, Y:0.36, Z:-0.22 [[ 9.99959526e-01 -8.96375301e-03 7.73056400e-04 8.88726982e+00] [ 8.96374814e-03 9.99959825e-01 9.75855120e-06 3.59602361e-01] [-7.73112815e-04 -2.82867336e-06 9.99999701e-01 -2.22375211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.92, Y:0.36, Z:-0.22 [[ 9.99954917e-01 -9.46399814e-03 7.73056513e-04 8.91817035e+00] [ 9.46399343e-03 9.99955215e-01 9.74960886e-06 3.59236582e-01] [-7.73114162e-04 -2.43296755e-06 9.99999701e-01 -2.21494493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.95, Y:0.36, Z:-0.22 [[ 9.99929101e-01 -1.18825811e-02 7.73056849e-04 8.95043051e+00] [ 1.18825772e-02 9.99929400e-01 9.72286880e-06 3.59132896e-01] [-7.73117804e-04 -5.36271787e-07 9.99999701e-01 -2.18779583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.98, Y:0.36, Z:-0.22 [[ 9.99917106e-01 -1.28523409e-02 7.73057310e-04 8.98072046e+00] [ 1.28523372e-02 9.99917405e-01 9.68607275e-06 3.58646799e-01] [-7.73117948e-04 2.50323395e-07 9.99999701e-01 -2.20504497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:9.01, Y:0.36, Z:-0.22 [[ 9.99901104e-01 -1.40422287e-02 7.73057424e-04 9.01250415e+00] [ 1.40422254e-02 9.99901403e-01 9.67694741e-06 3.55502045e-01] [-7.73117089e-04 1.17945621e-06 9.99999701e-01 -2.21362924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.04, Y:0.36, Z:-0.22 [[ 9.99899002e-01 -1.41911369e-02 7.73057658e-04 9.04306172e+00] [ 1.41911337e-02 9.99899301e-01 9.65823799e-06 3.55252562e-01] [-7.73116873e-04 1.31330202e-06 9.99999701e-01 -2.22572156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.07, Y:0.36, Z:-0.22 [[ 9.99902793e-01 -1.39214836e-02 7.73057774e-04 9.07443298e+00] [ 1.39214803e-02 9.99903091e-01 9.64896206e-06 3.55481277e-01] [-7.73117186e-04 1.11408449e-06 9.99999701e-01 -2.23430593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.11, Y:0.36, Z:-0.22 [[ 9.99904893e-01 -1.37697875e-02 7.73057999e-04 9.10581059e+00] [ 1.37697841e-02 9.99905192e-01 9.63090991e-06 3.56251390e-01] [-7.73117322e-04 1.01484781e-06 9.99999701e-01 -2.23307697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.14, Y:0.36, Z:-0.22 [[ 9.99906215e-01 -1.36734596e-02 7.73058225e-04 9.13595846e+00] [ 1.36734562e-02 9.99906514e-01 9.61272175e-06 3.57350764e-01] [-7.73117394e-04 9.58557590e-07 9.99999701e-01 -2.22765270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.17, Y:0.36, Z:-0.22 [[ 9.99902493e-01 -1.39429782e-02 7.73058337e-04 9.16771925e+00] [ 1.39429749e-02 9.99902792e-01 9.60367236e-06 3.58047042e-01] [-7.73117094e-04 1.17599708e-06 9.99999701e-01 -2.20834346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.20, Y:0.36, Z:-0.22 [[ 9.99899260e-01 -1.41729059e-02 7.73058555e-04 9.19896339e+00] [ 1.41729027e-02 9.99899559e-01 9.58608485e-06 3.57596578e-01] [-7.73116771e-04 1.37136457e-06 9.99999701e-01 -2.21288718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.23, Y:0.36, Z:-0.22 [[ 9.99886498e-01 -1.50464088e-02 7.73058778e-04 9.22987427e+00] [ 1.50464059e-02 9.99886796e-01 9.56807473e-06 3.57703135e-01] [-7.73115230e-04 2.06476746e-06 9.99999701e-01 -2.24928641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.26, Y:0.36, Z:-0.23 [[ 9.99886942e-01 -1.50168622e-02 7.73059002e-04 9.26141455e+00] [ 1.50168593e-02 9.99887241e-01 9.54996412e-06 3.57438264e-01] [-7.73115243e-04 2.06003387e-06 9.99999701e-01 -2.26556283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.29, Y:0.36, Z:-0.23 [[ 9.99890427e-01 -1.47829741e-02 7.73059229e-04 9.29264026e+00] [ 1.47829711e-02 9.99890726e-01 9.53152344e-06 3.55379718e-01] [-7.73115658e-04 1.89763322e-06 9.99999701e-01 -2.29098358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.32, Y:0.36, Z:-0.23 [[ 9.99908652e-01 -1.34940627e-02 7.73059456e-04 9.32410860e+00] [ 1.34940594e-02 9.99908951e-01 9.51309954e-06 3.56002618e-01] [-7.73117440e-04 9.19479646e-07 9.99999701e-01 -2.27470396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.35, Y:0.36, Z:-0.23 [[ 9.99918453e-01 -1.27471416e-02 7.73059794e-04 9.35489082e+00] [ 1.27471380e-02 9.99918752e-01 9.48552610e-06 3.57186924e-01] [-7.73117898e-04 3.69547325e-07 9.99999701e-01 -2.28689652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.39, Y:0.36, Z:-0.23 [[ 9.99935654e-01 -1.13177302e-02 7.73059903e-04 9.38648353e+00] [ 1.13177262e-02 9.99935952e-01 9.47666445e-06 3.57883323e-01] [-7.73117645e-04 -7.26774305e-07 9.99999701e-01 -2.29208070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.42, Y:0.36, Z:-0.23 [[ 9.99944761e-01 -1.04822273e-02 7.73060120e-04 9.41804054e+00] [ 1.04822232e-02 9.99945060e-01 9.45893346e-06 3.57267292e-01] [-7.73116799e-04 -1.35502227e-06 9.99999701e-01 -2.31348365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.45, Y:0.36, Z:-0.23 [[ 9.99950722e-01 -9.89723003e-03 7.73060349e-04 9.44842043e+00] [ 9.89722569e-03 9.99951021e-01 9.44015582e-06 3.58100862e-01] [-7.73115917e-04 -1.78853788e-06 9.99999701e-01 -2.32462867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.414203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.48, Y:0.36, Z:-0.23 [[ 9.99956459e-01 -9.29962177e-03 7.73060715e-04 9.47962183e+00] [ 9.29961728e-03 9.99956758e-01 9.41013589e-06 3.59313847e-01] [-7.73114796e-04 -2.22055738e-06 9.99999701e-01 -2.29428985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.51, Y:0.36, Z:-0.23 [[ 9.99962397e-01 -8.63751967e-03 7.73060938e-04 9.50952352e+00] [ 8.63751499e-03 9.99962696e-01 9.39177243e-06 3.58861282e-01] [-7.73113221e-04 -2.71409383e-06 9.99999701e-01 -2.31555131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.54, Y:0.36, Z:-0.24 [[ 9.99976473e-01 -6.81583542e-03 7.73061049e-04 9.53971186e+00] [ 6.81583020e-03 9.99976772e-01 9.38262484e-06 3.62119782e-01] [-7.73107043e-04 -4.11335125e-06 9.99999701e-01 -2.35078905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.57, Y:0.37, Z:-0.23 [[ 9.99979073e-01 -6.42302837e-03 7.73061157e-04 9.57133532e+00] [ 6.42302304e-03 9.99979372e-01 9.37366661e-06 3.65235473e-01] [-7.73105418e-04 -4.40808082e-06 9.99999701e-01 -2.32760533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.60, Y:0.37, Z:-0.23 [[ 9.99978987e-01 -6.43640689e-03 7.73061484e-04 9.60245587e+00] [ 6.43640159e-03 9.99979286e-01 9.34667213e-06 3.70121708e-01] [-7.73105630e-04 -4.37074157e-06 9.99999701e-01 -2.34344373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.63, Y:0.37, Z:-0.23 [[ 9.99967599e-01 -8.01271172e-03 7.73061808e-04 9.63377794e+00] [ 8.01270691e-03 9.99967898e-01 9.31980443e-06 3.72570775e-01] [-7.73111668e-04 -3.12518477e-06 9.99999701e-01 -2.30634382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.66, Y:0.37, Z:-0.23 [[ 9.99956482e-01 -9.29708649e-03 7.73062022e-04 9.66485863e+00] [ 9.29708208e-03 9.99956781e-01 9.30199054e-06 3.73937261e-01] [-7.73115093e-04 -2.11436467e-06 9.99999701e-01 -2.28789490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.70, Y:0.38, Z:-0.23 [[ 9.99919556e-01 -1.26603302e-02 7.73062241e-04 9.69747791e+00] [ 1.26603268e-02 9.99919855e-01 9.28376954e-06 3.77149477e-01] [-7.73117819e-04 5.04197886e-07 9.99999701e-01 -2.29443932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.73, Y:0.38, Z:-0.23 [[ 9.99897291e-01 -1.43111989e-02 7.73062683e-04 9.72857874e+00] [ 1.43111960e-02 9.99897590e-01 9.24680260e-06 3.78524471e-01] [-7.73115846e-04 1.81759870e-06 9.99999701e-01 -2.33546411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.76, Y:0.38, Z:-0.24 [[ 9.99861866e-01 -1.66027668e-02 7.73063012e-04 9.76001184e+00] [ 1.66027646e-02 9.99862165e-01 9.21917886e-06 3.83225350e-01] [-7.73109521e-04 3.61707783e-06 9.99999701e-01 -2.37106396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.79, Y:0.39, Z:-0.24 [[ 9.99843108e-01 -1.76963547e-02 7.73063226e-04 9.79098830e+00] [ 1.76963528e-02 9.99843407e-01 9.20125450e-06 3.88445577e-01] [-7.73104998e-04 4.48058871e-06 9.99999701e-01 -2.39915800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.82, Y:0.39, Z:-0.24 [[ 9.99838633e-01 -1.79474450e-02 7.73063439e-04 9.82328942e+00] [ 1.79474433e-02 9.99838932e-01 9.18328238e-06 3.88347464e-01] [-7.73103740e-04 4.69271175e-06 9.99999701e-01 -2.39487137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.86, Y:0.39, Z:-0.24 [[ 9.99850645e-01 -1.72652586e-02 7.73063865e-04 9.85582900e+00] [ 1.72652567e-02 9.99850944e-01 9.14733569e-06 3.89471757e-01] [-7.73106566e-04 4.20117656e-06 9.99999701e-01 -2.36473588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.89, Y:0.39, Z:-0.24 [[ 9.99864123e-01 -1.64662519e-02 7.73064291e-04 9.88679188e+00] [ 1.64662497e-02 9.99864422e-01 9.11116411e-06 3.92487448e-01] [-7.73109507e-04 3.61954356e-06 9.99999701e-01 -2.36265397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.834203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.92, Y:0.40, Z:-0.23 [[ 9.99873426e-01 -1.58913528e-02 7.73064609e-04 9.91795722e+00] [ 1.58913506e-02 9.99873724e-01 9.08409731e-06 3.97701622e-01] [-7.73111348e-04 3.20209321e-06 9.99999701e-01 -2.31799296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.95, Y:0.40, Z:-0.23 [[ 9.99873831e-01 -1.58658117e-02 7.73064822e-04 9.95034245e+00] [ 1.58658094e-02 9.99874130e-01 9.06595911e-06 4.00003105e-01] [-7.73111355e-04 3.20048386e-06 9.99999701e-01 -2.31425903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.98, Y:0.40, Z:-0.23 [[ 9.99864008e-01 -1.64732759e-02 7.73065246e-04 9.98266172e+00] [ 1.64732738e-02 9.99864306e-01 9.02962261e-06 4.02645822e-01] [-7.73109094e-04 3.70652084e-06 9.99999701e-01 -2.34429820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.01, Y:0.40, Z:-0.24 [[ 9.99856819e-01 -1.69039441e-02 7.73065683e-04 1.00137475e+01] [ 1.69039422e-02 9.99857118e-01 8.99210731e-06 4.03613671e-01] [-7.73107228e-04 4.07703784e-06 9.99999701e-01 -2.37970614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.04, Y:0.40, Z:-0.24 [[ 9.99861372e-01 -1.66324791e-02 7.73066008e-04 1.00447684e+01] [ 1.66324771e-02 9.99861671e-01 8.96400544e-06 4.04466831e-01] [-7.73108164e-04 3.89523991e-06 9.99999701e-01 -2.38629868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.08, Y:0.41, Z:-0.24 [[ 9.99886923e-01 -1.50180843e-02 7.73066317e-04 1.00772627e+01] [ 1.50180819e-02 9.99887222e-01 8.93732650e-06 4.08126620e-01] [-7.73113354e-04 2.67365739e-06 9.99999701e-01 -2.36054009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.11, Y:0.41, Z:-0.24 [[ 9.99905588e-01 -1.37192036e-02 7.73066741e-04 1.01096048e+01] [ 1.37192009e-02 9.99905887e-01 8.90049652e-06 4.12182344e-01] [-7.73116093e-04 1.70620168e-06 9.99999701e-01 -2.36077212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.14, Y:0.42, Z:-0.24 [[ 9.99932196e-01 -1.16192363e-02 7.73067160e-04 1.01403597e+01] [ 1.16192330e-02 9.99932494e-01 8.86394285e-06 4.19841302e-01] [-7.73117966e-04 1.19105589e-07 9.99999701e-01 -2.40725797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.17, Y:0.42, Z:-0.24 [[ 9.99932463e-01 -1.15961680e-02 7.73067368e-04 1.01721931e+01] [ 1.15961647e-02 9.99932762e-01 8.84576577e-06 4.20161248e-01] [-7.73117966e-04 1.19448136e-07 9.99999701e-01 -2.40750406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.20, Y:0.42, Z:-0.24 [[ 9.99940908e-01 -1.08435638e-02 7.73067572e-04 1.02034102e+01] [ 1.08435602e-02 9.99941207e-01 8.82793120e-06 4.22733282e-01] [-7.73117847e-04 -4.44604802e-07 9.99999701e-01 -2.42781357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.23, Y:0.42, Z:-0.25 [[ 9.99938777e-01 -1.10383042e-02 7.73067780e-04 1.02341951e+01] [ 1.10383007e-02 9.99939076e-01 8.80964421e-06 4.22969300e-01] [-7.73117925e-04 -2.75750214e-07 9.99999701e-01 -2.45351835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.27, Y:0.42, Z:-0.24 [[ 9.99918208e-01 -1.27663466e-02 7.73068092e-04 1.02668469e+01] [ 1.27663436e-02 9.99918507e-01 8.78219513e-06 4.21406590e-01] [-7.73117209e-04 1.08777607e-06 9.99999701e-01 -2.44556913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.30, Y:0.42, Z:-0.25 [[ 9.99909077e-01 -1.34625122e-02 7.73068618e-04 1.02979279e+01] [ 1.34625095e-02 9.99909376e-01 8.73565015e-06 4.21101686e-01] [-7.73116163e-04 1.67258774e-06 9.99999701e-01 -2.47600457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.33, Y:0.42, Z:-0.24 [[ 9.99889895e-01 -1.48189073e-02 7.73068931e-04 1.03303600e+01] [ 1.48189050e-02 9.99890194e-01 8.70786474e-06 4.24251579e-01] [-7.73113084e-04 2.74912911e-06 9.99999701e-01 -2.44950613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.254203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.36, Y:0.43, Z:-0.24 [[ 9.99891095e-01 -1.47377405e-02 7.73069334e-04 1.03623715e+01] [ 1.47377382e-02 9.99891394e-01 8.67194724e-06 4.26735613e-01] [-7.73113178e-04 2.72229065e-06 9.99999701e-01 -2.43101195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.39, Y:0.43, Z:-0.24 [[ 9.99895355e-01 -1.44457985e-02 7.73069735e-04 1.03935726e+01] [ 1.44457961e-02 9.99895654e-01 8.63598799e-06 4.27154248e-01] [-7.73113822e-04 2.53252352e-06 9.99999701e-01 -2.42133473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.43, Y:0.42, Z:-0.24 [[ 9.99909434e-01 -1.34359670e-02 7.73070035e-04 1.04258567e+01] [ 1.34359644e-02 9.99909733e-01 8.60906503e-06 4.24145275e-01] [-7.73115924e-04 1.77865608e-06 9.99999701e-01 -2.42298508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.46, Y:0.42, Z:-0.24 [[ 9.99915388e-01 -1.29853537e-02 7.73070427e-04 1.04571762e+01] [ 1.29853510e-02 9.99915687e-01 8.57375251e-06 4.23694198e-01] [-7.73116580e-04 1.46556376e-06 9.99999701e-01 -2.42868436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.49, Y:0.42, Z:-0.24 [[ 9.99921404e-01 -1.25135150e-02 7.73070718e-04 1.04889194e+01] [ 1.25135121e-02 9.99921703e-01 8.54737658e-06 4.24163026e-01] [-7.73117147e-04 1.12712502e-06 9.99999701e-01 -2.42976396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.52, Y:0.42, Z:-0.24 [[ 9.99921048e-01 -1.25418969e-02 7.73071104e-04 1.05213992e+01] [ 1.25418941e-02 9.99921347e-01 8.51240202e-06 4.24856638e-01] [-7.73117061e-04 1.18404593e-06 9.99999701e-01 -2.42454266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.55, Y:0.43, Z:-0.25 [[ 9.99923007e-01 -1.23847320e-02 7.73071498e-04 1.05522778e+01] [ 1.23847292e-02 9.99923306e-01 8.47646234e-06 4.26119329e-01] [-7.73117187e-04 1.09847140e-06 9.99999701e-01 -2.47977214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.58, Y:0.43, Z:-0.25 [[ 9.99939256e-01 -1.09948610e-02 7.73071790e-04 1.05830934e+01] [ 1.09948577e-02 9.99939555e-01 8.44968070e-06 4.26570097e-01] [-7.73117965e-04 5.06469365e-08 9.99999701e-01 -2.52747000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.494203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.61, Y:0.43, Z:-0.25 [[ 9.99952050e-01 -9.76217606e-03 7.73071981e-04 1.06142336e+01] [ 9.76217246e-03 9.99952349e-01 8.43224552e-06 4.26224127e-01] [-7.73117460e-04 -8.84979202e-07 9.99999701e-01 -2.49862960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.65, Y:0.43, Z:-0.25 [[ 9.99980674e-01 -6.16878516e-03 7.73072180e-04 1.06454828e+01] [ 6.16878050e-03 9.99980973e-01 8.41395454e-06 4.26700484e-01] [-7.73109374e-04 -3.64487934e-06 9.99999701e-01 -2.54789760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.68, Y:0.43, Z:-0.25 [[ 9.99989948e-01 -4.41667776e-03 7.73072476e-04 1.06766282e+01] [ 4.41667259e-03 9.99990246e-01 8.38661180e-06 4.28419107e-01] [-7.73101977e-04 -4.97211947e-06 9.99999701e-01 -2.54771246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.71, Y:0.43, Z:-0.26 [[ 9.99997815e-01 -1.94210847e-03 7.73072667e-04 1.07081183e+01] [ 1.94210258e-03 9.99998114e-01 8.36900394e-06 4.33901568e-01] [-7.73087462e-04 -6.86759923e-06 9.99999701e-01 -2.55715344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.74, Y:0.44, Z:-0.26 [[ 9.99999283e-01 -9.14244559e-04 7.73072868e-04 1.07388963e+01] [ 9.14238377e-04 9.99999582e-01 8.35038912e-06 4.36891146e-01] [-7.73080179e-04 -7.64361025e-06 9.99999701e-01 -2.58515512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.77, Y:0.44, Z:-0.26 [[ 9.99999665e-01 -2.69325023e-04 7.73073067e-04 1.07705005e+01] [ 2.69318662e-04 9.99999964e-01 8.33193129e-06 4.41675872e-01] [-7.73075283e-04 -8.12372550e-06 9.99999701e-01 -2.57791454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.80, Y:0.45, Z:-0.26 [[ 9.99999343e-01 8.46881368e-04 7.73073264e-04 1.08007795e+01] [-8.46888048e-04 9.99999641e-01 8.31363396e-06 4.47408801e-01] [-7.73065946e-04 -8.96833500e-06 9.99999701e-01 -2.59590292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.83, Y:0.45, Z:-0.25 [[ 9.99999472e-01 6.77273750e-04 7.73073362e-04 1.08315852e+01] [-6.77280372e-04 9.99999771e-01 8.30450334e-06 4.49648696e-01] [-7.73067560e-04 -8.82808636e-06 9.99999701e-01 -2.54249810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.86, Y:0.45, Z:-0.26 [[ 9.99999701e-01 -3.21235946e-07 7.73073362e-04 1.08619769e+01] [ 3.14816000e-07 1.00000000e+00 8.30450334e-06 4.50920365e-01] [-7.73073364e-04 -8.30425748e-06 9.99999701e-01 -2.59271153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.89, Y:0.46, Z:-0.26 [[ 9.99996927e-01 -2.35568632e-03 7.73073462e-04 1.08934434e+01] [ 2.35568061e-03 9.99997225e-01 8.29512672e-06 4.57172491e-01] [-7.73090858e-04 -6.47398706e-06 9.99999701e-01 -2.58654428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.92, Y:0.46, Z:-0.26 [[ 9.99992182e-01 -3.87805251e-03 7.73073658e-04 1.09242962e+01] [ 3.87804727e-03 9.99992480e-01 8.27689024e-06 4.60896612e-01] [-7.73099942e-04 -5.27880934e-06 9.99999701e-01 -2.56566314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.96, Y:0.47, Z:-0.26 [[ 9.99978900e-01 -6.44997724e-03 7.73073855e-04 1.09558686e+01] [ 6.44997279e-03 9.99979199e-01 8.25836879e-06 4.67760055e-01] [-7.73111041e-04 -3.27188921e-06 9.99999701e-01 -2.55703813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.99, Y:0.47, Z:-0.26 [[ 9.99971532e-01 -7.50584808e-03 7.73075114e-04 1.09867856e+01] [ 7.50584404e-03 9.99971831e-01 8.13882571e-06 4.71119494e-01] [-7.73114426e-04 -2.33601278e-06 9.99999701e-01 -2.55978639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.02, Y:0.47, Z:-0.25 [[ 9.99955709e-01 -9.37987655e-03 7.73075395e-04 1.10186107e+01] [ 9.37987308e-03 9.99956008e-01 8.11203781e-06 4.73864208e-01] [-7.73117476e-04 -8.60329432e-07 9.99999701e-01 -2.52940369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.914203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.05, Y:0.47, Z:-0.25 [[ 9.99942382e-01 -1.07067939e-02 7.73075772e-04 1.10495715e+01] [ 1.07067909e-02 9.99942681e-01 8.07591783e-06 4.74708912e-01] [-7.73117927e-04 2.01708107e-07 9.99999701e-01 -2.54194783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.08, Y:0.48, Z:-0.25 [[ 9.99900923e-01 -1.40551147e-02 7.73076053e-04 1.10815998e+01] [ 1.40551127e-02 9.99901222e-01 8.04897077e-06 4.81196872e-01] [-7.73112819e-04 2.81749771e-06 9.99999701e-01 -2.51127252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.11, Y:0.49, Z:-0.26 [[ 9.99858062e-01 -1.68303010e-02 7.73076429e-04 1.11123223e+01] [ 1.68302998e-02 9.99858360e-01 8.01269887e-06 4.87882215e-01] [-7.73101787e-04 4.99954651e-06 9.99999701e-01 -2.55985936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.14, Y:0.49, Z:-0.26 [[ 9.99838375e-01 -1.79617769e-02 7.73076709e-04 1.11449998e+01] [ 1.79617761e-02 9.99838674e-01 7.98557585e-06 4.89106348e-01] [-7.73095427e-04 5.90154557e-06 9.99999701e-01 -2.57473862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.18, Y:0.49, Z:-0.26 [[ 9.99795429e-01 -2.02114680e-02 7.73077171e-04 1.11758385e+01] [ 2.02114679e-02 9.99795727e-01 7.94059952e-06 4.90653612e-01] [-7.73079744e-04 7.68604932e-06 9.99999701e-01 -2.60991368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.21, Y:0.49, Z:-0.26 [[ 9.99784221e-01 -2.07584597e-02 7.73077447e-04 1.12076140e+01] [ 2.07584598e-02 9.99784520e-01 7.91366163e-06 4.92183912e-01] [-7.73075139e-04 8.13594304e-06 9.99999701e-01 -2.58405309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.24, Y:0.50, Z:-0.26 [[ 9.99777177e-01 -2.10949910e-02 7.73077824e-04 1.12385654e+01] [ 2.10949912e-02 9.99777476e-01 7.87667319e-06 4.96680533e-01] [-7.73071954e-04 8.43315177e-06 9.99999701e-01 -2.61339045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.27, Y:0.50, Z:-0.26 [[ 9.99777799e-01 -2.10654905e-02 7.73078360e-04 1.12693771e+01] [ 2.10654908e-02 9.99778098e-01 7.82369405e-06 5.00341833e-01] [-7.73071622e-04 8.46331944e-06 9.99999701e-01 -2.60934874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.30, Y:0.50, Z:-0.26 [[ 9.99782497e-01 -2.08413146e-02 7.73078620e-04 1.13017781e+01] [ 2.08413148e-02 9.99782796e-01 7.79792916e-06 5.01562261e-01] [-7.73073223e-04 8.31574183e-06 9.99999701e-01 -2.59844036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.33, Y:0.50, Z:-0.26 [[ 9.99788644e-01 -2.05443147e-02 7.73078973e-04 1.13340728e+01] [ 2.05443149e-02 9.99788943e-01 7.76278136e-06 5.03202051e-01] [-7.73075290e-04 8.12123718e-06 9.99999701e-01 -2.56867347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.36, Y:0.50, Z:-0.26 [[ 9.99795577e-01 -2.02041259e-02 7.73079334e-04 1.13649962e+01] [ 2.02041260e-02 9.99795876e-01 7.72657423e-06 5.03645159e-01] [-7.73077639e-04 7.89439754e-06 9.99999701e-01 -2.57302954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.40, Y:0.50, Z:-0.26 [[ 9.99812963e-01 -1.93246529e-02 7.73079604e-04 1.13966853e+01] [ 1.93246528e-02 9.99813261e-01 7.69946788e-06 5.02423669e-01] [-7.73084030e-04 7.24146712e-06 9.99999701e-01 -2.61071420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.43, Y:0.50, Z:-0.26 [[ 9.99840190e-01 -1.78604857e-02 7.73079956e-04 1.14291719e+01] [ 1.78604851e-02 9.99840489e-01 7.66403365e-06 5.00538523e-01] [-7.73093524e-04 6.14477419e-06 9.99999701e-01 -2.60037952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.46, Y:0.50, Z:-0.26 [[ 9.99866831e-01 -1.63009799e-02 7.73080313e-04 1.14605516e+01] [ 1.63009789e-02 9.99867130e-01 7.62784887e-06 5.00492423e-01] [-7.73101935e-04 4.97513280e-06 9.99999701e-01 -2.64140784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.334203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.49, Y:0.50, Z:-0.26 [[ 9.99921309e-01 -1.25211193e-02 7.73080579e-04 1.14929277e+01] [ 1.25211171e-02 9.99921608e-01 7.60078893e-06 5.00662180e-01] [-7.73115146e-04 2.07964168e-06 9.99999701e-01 -2.62495454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.52, Y:0.50, Z:-0.26 [[ 9.99950199e-01 -9.94999579e-03 7.73080930e-04 1.15240982e+01] [ 9.94999292e-03 9.99950498e-01 7.56494429e-06 5.01184098e-01] [-7.73117931e-04 1.27582232e-07 9.99999701e-01 -2.63084981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.55, Y:0.50, Z:-0.26 [[ 9.99992115e-01 -3.89516791e-03 7.73081191e-04 1.15548754e+01] [ 3.89516325e-03 9.99992414e-01 7.53810883e-06 5.02765219e-01] [-7.73104689e-04 -4.52677195e-06 9.99999701e-01 -2.58382981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.59, Y:0.50, Z:-0.26 [[ 9.99999343e-01 -8.46689735e-04 7.73081280e-04 1.15850054e+01] [ 8.46684168e-04 9.99999642e-01 7.52901913e-06 5.03096420e-01] [-7.73087377e-04 -6.87445850e-06 9.99999701e-01 -2.61353543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.62, Y:0.50, Z:-0.26 [[ 9.99987021e-01 5.03595529e-03 7.73081456e-04 1.16161105e+01] [-5.03596260e-03 9.99987319e-01 7.51092798e-06 5.04957198e-01] [-7.73033828e-04 -1.14040398e-05 9.99999701e-01 -2.62234567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.65, Y:0.51, Z:-0.26 [[ 9.99964626e-01 8.37556466e-03 7.73081631e-04 1.16461606e+01] [-8.37557296e-03 9.99964924e-01 7.49281063e-06 5.06884348e-01] [-7.72991758e-04 -1.39675472e-05 9.99999701e-01 -2.60745713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.67, Y:0.51, Z:-0.26 [[ 9.99953008e-01 9.66352182e-03 7.73081610e-04 1.16742346e+01] [-9.66353051e-03 9.99953307e-01 7.49500501e-06 5.08687012e-01] [-7.72973084e-04 -1.49653505e-05 9.99999701e-01 -2.59084901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.70, Y:0.51, Z:-0.26 [[ 9.99950949e-01 9.87433549e-03 7.73081572e-04 1.17033799e+01] [-9.87434424e-03 9.99951247e-01 7.49889496e-06 5.09973421e-01] [-7.72969836e-04 -1.51322007e-05 9.99999701e-01 -2.57678610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.574203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.73, Y:0.51, Z:-0.26 [[ 9.99961728e-01 8.71460584e-03 7.73081375e-04 1.17320157e+01] [-8.71461426e-03 9.99962027e-01 7.51915491e-06 5.10447594e-01] [-7.72986492e-04 -1.42559731e-05 9.99999701e-01 -2.57874716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.76, Y:0.51, Z:-0.25 [[ 9.99970936e-01 7.58476959e-03 7.73081168e-04 1.17608669e+01] [-7.58477769e-03 9.99971235e-01 7.54038246e-06 5.09580154e-01] [-7.73001738e-04 -1.34038121e-05 9.99999701e-01 -2.54982392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.79, Y:0.51, Z:-0.26 [[ 9.99990080e-01 4.38655707e-03 7.73080808e-04 1.17900073e+01] [-4.38656423e-03 9.99990379e-01 7.57714313e-06 5.09475627e-01] [-7.73040132e-04 -1.09682366e-05 9.99999701e-01 -2.57412105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.82, Y:0.51, Z:-0.26 [[ 9.99996576e-01 2.50022046e-03 7.73080629e-04 1.18193172e+01] [-2.50022708e-03 9.99996874e-01 7.59536259e-06 5.10580514e-01] [-7.73059222e-04 -9.52821370e-06 9.99999701e-01 -2.56868421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.85, Y:0.51, Z:-0.26 [[ 9.99999390e-01 -7.89491224e-04 7.73080450e-04 1.18486101e+01] [ 7.89485574e-04 9.99999688e-01 7.61348415e-06 5.10815862e-01] [-7.73086220e-04 -7.00314364e-06 9.99999701e-01 -2.56345044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.88, Y:0.51, Z:-0.25 [[ 9.99997741e-01 -1.98003423e-03 7.73080361e-04 1.18801526e+01] [ 1.98002893e-03 9.99998040e-01 7.62251810e-06 5.09186382e-01] [-7.73093939e-04 -6.09177940e-06 9.99999701e-01 -2.52842299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.754203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.91, Y:0.50, Z:-0.26 [[ 9.99993273e-01 -3.58561575e-03 7.73080541e-04 1.19107344e+01] [ 3.58561094e-03 9.99993572e-01 7.60423202e-06 5.03463755e-01] [-7.73102837e-04 -4.83221482e-06 9.99999701e-01 -2.59357581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.94, Y:0.50, Z:-0.26 [[ 9.99992548e-01 -3.78226867e-03 7.73080630e-04 1.19420054e+01] [ 3.78226393e-03 9.99992847e-01 7.59513355e-06 5.02529157e-01] [-7.73103828e-04 -4.67108197e-06 9.99999701e-01 -2.57677772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.97, Y:0.50, Z:-0.26 [[ 9.99994309e-01 -3.28382005e-03 7.73080803e-04 1.19730375e+01] [ 3.28381517e-03 9.99994608e-01 7.57756081e-06 5.04611212e-01] [-7.73101518e-04 -5.03886322e-06 9.99999701e-01 -2.59413517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.00, Y:0.50, Z:-0.26 [[ 9.99997212e-01 -2.23125264e-03 7.73080977e-04 1.20039828e+01] [ 2.23124746e-03 9.99997511e-01 7.55968566e-06 5.04585572e-01] [-7.73095921e-04 -5.83472962e-06 9.99999701e-01 -2.60336275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.03, Y:0.50, Z:-0.26 [[ 9.99998527e-01 -1.53243735e-03 7.73081152e-04 1.20349677e+01] [ 1.53243198e-03 9.99998826e-01 7.54180839e-06 5.03361856e-01] [-7.73091801e-04 -6.35710299e-06 9.99999701e-01 -2.60489633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.07, Y:0.50, Z:-0.27 [[ 9.99999701e-01 -1.09032056e-05 7.73081327e-04 1.20659474e+01] [ 1.08973922e-05 1.00000000e+00 7.52386163e-06 4.98752661e-01] [-7.73081408e-04 -7.51543481e-06 9.99999701e-01 -2.65372801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.934203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:12.10, Y:0.50, Z:-0.26 [[ 9.99999359e-01 8.26783245e-04 7.73081500e-04 1.20975951e+01] [-8.26789295e-04 9.99999658e-01 7.50598922e-06 4.96617496e-01] [-7.73075030e-04 -8.14515992e-06 9.99999701e-01 -2.64500735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:12.13, Y:0.50, Z:-0.26 [[ 9.99999359e-01 8.26783259e-04 7.73081671e-04 1.21285821e+01] [-8.26789295e-04 9.99999658e-01 7.48829353e-06 4.96917657e-01] [-7.73075216e-04 -8.12746439e-06 9.99999701e-01 -2.64524689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.994203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.16, Y:0.50, Z:-0.26 [[ 9.99999303e-01 8.92615932e-04 7.73081671e-04 1.21586717e+01] [-8.92621987e-04 9.99999602e-01 7.48829353e-06 4.96700391e-01] [-7.73074679e-04 -8.17835801e-06 9.99999701e-01 -2.62778470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.19, Y:0.49, Z:-0.27 [[ 9.99999698e-01 8.48117777e-05 7.73081671e-04 1.21886701e+01] [-8.48175921e-05 9.99999996e-01 7.48829353e-06 4.94008669e-01] [-7.73081034e-04 -7.55386219e-06 9.99999701e-01 -2.66444394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.22, Y:0.49, Z:-0.27 [[ 9.99999460e-01 -6.94333053e-04 7.73082143e-04 1.22187411e+01] [ 6.94327509e-04 9.99999759e-01 7.43933971e-06 4.90990868e-01] [-7.73087122e-04 -6.90256350e-06 9.99999701e-01 -2.69545103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.25, Y:0.49, Z:-0.27 [[ 9.99998281e-01 -1.68523416e-03 7.73082227e-04 1.22501186e+01] [ 1.68522892e-03 9.99998580e-01 7.43056528e-06 4.86402179e-01] [-7.73093651e-04 -6.12773198e-06 9.99999701e-01 -2.68220482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.114203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.28, Y:0.48, Z:-0.27 [[ 9.99999082e-01 -1.11325386e-03 7.73082402e-04 1.22808513e+01] [ 1.11324846e-03 9.99999380e-01 7.41233873e-06 4.84909568e-01] [-7.73090174e-04 -6.55169913e-06 9.99999701e-01 -2.67431767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.31, Y:0.48, Z:-0.27 [[ 9.99999697e-01 -9.07661426e-05 7.73082576e-04 1.23124270e+01] [ 9.07604534e-05 9.99999996e-01 7.39406206e-06 4.83787190e-01] [-7.73083244e-04 -7.32389449e-06 9.99999701e-01 -2.66010621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.174203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.34, Y:0.48, Z:-0.27 [[ 9.99995506e-01 2.89674192e-03 7.73082749e-04 1.23428952e+01] [-2.89674848e-03 9.99995804e-01 7.37600435e-06 4.81477335e-01] [-7.73058139e-04 -9.61539748e-06 9.99999701e-01 -2.66444752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.37, Y:0.48, Z:-0.27 [[ 9.99988139e-01 4.80868993e-03 7.73082837e-04 1.23726272e+01] [-4.80869706e-03 9.99988438e-01 7.36673035e-06 4.82198344e-01] [-7.73038474e-04 -1.10841641e-05 9.99999701e-01 -2.68496369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.40, Y:0.48, Z:-0.27 [[ 9.99961266e-01 8.76746219e-03 7.73082749e-04 1.24024270e+01] [-8.76747051e-03 9.99961565e-01 7.37601032e-06 4.84981999e-01] [-7.72988366e-04 -1.41537048e-05 9.99999701e-01 -2.72953351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264203822000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:12.43, Y:0.48, Z:-0.27 [[ 9.99944915e-01 1.04675352e-02 7.73082796e-04 1.24322083e+01] [-1.04675441e-02 9.99945214e-01 7.37107199e-06 4.84525606e-01] [-7.72963284e-04 -1.54629442e-05 9.99999701e-01 -2.69976690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.294203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.46, Y:0.49, Z:-0.27 [[ 9.99944366e-01 1.05198856e-02 7.73082618e-04 1.24604322e+01] [-1.05198945e-02 9.99944664e-01 7.38963607e-06 4.85114291e-01] [-7.72962101e-04 -1.55219725e-05 9.99999701e-01 -2.71388673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.49, Y:0.48, Z:-0.27 [[ 9.99961867e-01 8.69872849e-03 7.73082264e-04 1.24898920e+01] [-8.69873683e-03 9.99962165e-01 7.42655370e-06 4.84769635e-01] [-7.72988413e-04 -1.41511097e-05 9.99999701e-01 -2.70010676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.354203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.52, Y:0.48, Z:-0.27 [[ 9.99974344e-01 7.12139959e-03 7.73082088e-04 1.25198857e+01] [-7.12140747e-03 9.99974642e-01 7.44481235e-06 4.84751627e-01] [-7.73009467e-04 -1.29500539e-05 9.99999701e-01 -2.70837003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.55, Y:0.49, Z:-0.27 [[ 9.99994237e-01 3.30589849e-03 7.73081911e-04 1.25496323e+01] [-3.30590525e-03 9.99994535e-01 7.46316401e-06 4.88198256e-01] [-7.73053014e-04 -1.00188565e-05 9.99999701e-01 -2.67680652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.58, Y:0.49, Z:-0.27 [[ 9.99999482e-01 -6.62660464e-04 7.73081727e-04 1.25786622e+01] [ 6.62654878e-04 9.99999780e-01 7.48217743e-06 4.87316608e-01] [-7.73086515e-04 -6.96988717e-06 9.99999701e-01 -2.71418690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.61, Y:0.49, Z:-0.28 [[ 9.99995784e-01 -2.79886304e-03 7.73081635e-04 1.26089080e+01] [ 2.79885808e-03 9.99996083e-01 7.49162195e-06 4.85346200e-01] [-7.73099575e-04 -5.32784459e-06 9.99999701e-01 -2.76698189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.474203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.64, Y:0.48, Z:-0.27 [[ 9.99979491e-01 -6.35762105e-03 7.73081722e-04 1.26403191e+01] [ 6.35761716e-03 9.99979790e-01 7.48258904e-06 4.84906065e-01] [-7.73113670e-04 -2.56747796e-06 9.99999701e-01 -2.74746805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.67, Y:0.49, Z:-0.28 [[ 9.99969890e-01 -7.72155248e-03 7.73081897e-04 1.26726591e+01] [ 7.72154902e-03 9.99970188e-01 7.46449788e-06 4.85208340e-01] [-7.73116488e-04 -1.49488336e-06 9.99999701e-01 -2.75433938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.534203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.71, Y:0.48, Z:-0.28 [[ 9.99952965e-01 -9.66797074e-03 7.73082246e-04 1.27050065e+01] [ 9.66796789e-03 9.99953264e-01 7.42816311e-06 4.84067256e-01] [-7.73117931e-04 4.63206067e-08 9.99999701e-01 -2.76542675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.74, Y:0.49, Z:-0.27 [[ 9.99948398e-01 -1.01293343e-02 7.73082596e-04 1.27372992e+01] [ 1.01293316e-02 9.99948697e-01 7.39157311e-06 4.86631396e-01] [-7.73117806e-04 4.39618314e-07 9.99999701e-01 -2.73826510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.77, Y:0.49, Z:-0.27 [[ 9.99948192e-01 -1.01496544e-02 7.73082948e-04 1.27684798e+01] [ 1.01496517e-02 9.99948491e-01 7.35453755e-06 4.88760246e-01] [-7.73117774e-04 4.92366132e-07 9.99999701e-01 -2.73945859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.80, Y:0.49, Z:-0.27 [[ 9.99939949e-01 -1.09315998e-02 7.73083210e-04 1.28006724e+01] [ 1.09315974e-02 9.99940248e-01 7.32693624e-06 4.86898898e-01] [-7.73117112e-04 1.12453816e-06 9.99999701e-01 -2.70576614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.654203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.83, Y:0.49, Z:-0.27 [[ 9.99932828e-01 -1.15646990e-02 7.73083555e-04 1.28324585e+01] [ 1.15646968e-02 9.99933127e-01 7.29034619e-06 4.85626838e-01] [-7.73116167e-04 1.65062044e-06 9.99999701e-01 -2.69630141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.86, Y:0.49, Z:-0.28 [[ 9.99906612e-01 -1.36444040e-02 7.73083905e-04 1.28632240e+01] [ 1.36444024e-02 9.99906911e-01 7.25307450e-06 4.85551878e-01] [-7.73110903e-04 3.29587076e-06 9.99999701e-01 -2.76775487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.90, Y:0.49, Z:-0.27 [[ 9.99877487e-01 -1.56337058e-02 7.73084166e-04 1.28954431e+01] [ 1.56337049e-02 9.99877786e-01 7.22514502e-06 4.86091071e-01] [-7.73102640e-04 4.86190984e-06 9.99999701e-01 -2.70218386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.93, Y:0.49, Z:-0.27 [[ 9.99861868e-01 -1.66026339e-02 7.73084504e-04 1.29275936e+01] [ 1.66026333e-02 9.99862167e-01 7.18881766e-06 4.85500308e-01] [-7.73097300e-04 5.64741385e-06 9.99999701e-01 -2.67266738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.96, Y:0.48, Z:-0.27 [[ 9.99831998e-01 -1.83133090e-02 7.73084842e-04 1.29592315e+01] [ 1.83133090e-02 9.99832297e-01 7.15228599e-06 4.79189825e-01] [-7.73086175e-04 7.00665717e-06 9.99999701e-01 -2.65048967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.99, Y:0.47, Z:-0.27 [[ 9.99826803e-01 -1.85947700e-02 7.73085094e-04 1.29909243e+01] [ 1.85947700e-02 9.99827102e-01 7.12486872e-06 4.74690755e-01] [-7.73083915e-04 7.25170481e-06 9.99999701e-01 -2.65894741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.834203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.02, Y:0.47, Z:-0.27 [[ 9.99836230e-01 -1.80808123e-02 7.73085427e-04 1.30218913e+01] [ 1.80808122e-02 9.99836529e-01 7.08856638e-06 4.74566882e-01] [-7.73087217e-04 6.89060695e-06 9.99999701e-01 -2.71382940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.05, Y:0.47, Z:-0.27 [[ 9.99873630e-01 -1.58784816e-02 7.73085592e-04 1.30537358e+01] [ 1.58784809e-02 9.99873929e-01 7.07055410e-06 4.73229807e-01] [-7.73100398e-04 5.20576419e-06 9.99999701e-01 -2.72081995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.09, Y:0.47, Z:-0.27 [[ 9.99920326e-01 -1.25993283e-02 7.73085839e-04 1.30850102e+01] [ 1.25993266e-02 9.99920625e-01 7.04345936e-06 4.72580092e-01] [-7.73113218e-04 2.69746281e-06 9.99999701e-01 -2.65520625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.12, Y:0.47, Z:-0.27 [[ 9.99940682e-01 -1.08643551e-02 7.73086005e-04 1.31160036e+01] [ 1.08643529e-02 9.99940981e-01 7.02510681e-06 4.71836485e-01] [-7.73116702e-04 1.37438909e-06 9.99999701e-01 -2.68921041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.954203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.15, Y:0.47, Z:-0.27 [[ 9.99968044e-01 -7.95695357e-03 7.73086535e-04 1.31465495e+01] [ 7.95695056e-03 9.99968343e-01 6.96632385e-06 4.67592937e-01] [-7.73117492e-04 -8.14689893e-07 9.99999701e-01 -2.67396833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.18, Y:0.47, Z:-0.26 [[ 9.99980460e-01 -6.20341365e-03 7.73086613e-04 1.31781933e+01] [ 6.20341013e-03 9.99980759e-01 6.95766148e-06 4.66489735e-01] [-7.73114899e-04 -2.16175220e-06 9.99999701e-01 -2.64325850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.014203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.21, Y:0.47, Z:-0.26 [[ 9.99995818e-01 -2.78669003e-03 7.73086772e-04 1.32093982e+01] [ 2.78668550e-03 9.99996117e-01 6.93996204e-06 4.65138975e-01] [-7.73103110e-04 -4.78558332e-06 9.99999701e-01 -2.62045297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.24, Y:0.47, Z:-0.26 [[ 9.99998506e-01 -1.54627005e-03 7.73086931e-04 1.32405354e+01] [ 1.54626516e-03 9.99998805e-01 6.92224117e-06 4.66194819e-01] [-7.73096710e-04 -5.72683344e-06 9.99999701e-01 -2.57256973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.27, Y:0.47, Z:-0.26 [[ 9.99998540e-01 -1.52393716e-03 7.73087099e-04 1.32718831e+01] [ 1.52393228e-03 9.99998839e-01 6.90342797e-06 4.66991638e-01] [-7.73096721e-04 -5.72528551e-06 9.99999701e-01 -2.57523263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.30, Y:0.47, Z:-0.27 [[ 9.99996159e-01 -2.66161622e-03 7.73087267e-04 1.33026303e+01] [ 2.66161170e-03 9.99996458e-01 6.88447250e-06 4.65420840e-01] [-7.73102853e-04 -4.82678794e-06 9.99999701e-01 -2.65895423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.134203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.33, Y:0.46, Z:-0.27 [[ 9.99990402e-01 -4.31266842e-03 7.73087435e-04 1.33341336e+01] [ 4.31266440e-03 9.99990700e-01 6.86561882e-06 4.63566764e-01] [-7.73109855e-04 -3.53148626e-06 9.99999701e-01 -2.67617884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.37, Y:0.46, Z:-0.27 [[ 9.99992353e-01 -3.83364580e-03 7.73087596e-04 1.33653589e+01] [ 3.83364165e-03 9.99992652e-01 6.84739566e-06 4.63145774e-01] [-7.73108166e-04 -3.88360248e-06 9.99999701e-01 -2.68467269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.194203822000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.40, Y:0.46, Z:-0.27 [[ 9.99996097e-01 -2.68482138e-03 7.73087759e-04 1.33965104e+01] [ 2.68481691e-03 9.99996396e-01 6.82894786e-06 4.63141481e-01] [-7.73103307e-04 -4.75332212e-06 9.99999701e-01 -2.71148835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.224203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.43, Y:0.47, Z:-0.27 [[ 9.99999560e-01 5.30496725e-04 7.73088003e-04 1.34283414e+01] [-5.30502142e-04 9.99999859e-01 6.80124562e-06 4.66657667e-01] [-7.73084286e-04 -7.21136748e-06 9.99999701e-01 -2.70134123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.46, Y:0.47, Z:-0.27 [[ 9.99997759e-01 1.97093685e-03 7.73088241e-04 1.34588290e+01] [-1.97094267e-03 9.99998058e-01 6.77405731e-06 4.69025581e-01] [-7.73073388e-04 -8.29775474e-06 9.99999701e-01 -2.71850280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.49, Y:0.47, Z:-0.27 [[ 9.99991062e-01 4.15667374e-03 7.73088320e-04 1.34898281e+01] [-4.15668021e-03 9.99991361e-01 6.76505588e-06 4.71177404e-01] [-7.73053521e-04 -9.97847633e-06 9.99999701e-01 -2.71457499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.314203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.52, Y:0.48, Z:-0.27 [[ 9.99985124e-01 5.39943765e-03 7.73088400e-04 1.35204035e+01] [-5.39944449e-03 9.99985423e-01 6.75594874e-06 4.75476195e-01] [-7.73040652e-04 -1.09300961e-05 9.99999701e-01 -2.73722910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.55, Y:0.48, Z:-0.28 [[ 9.99984894e-01 5.44187959e-03 7.73088400e-04 1.35495283e+01] [-5.44188644e-03 9.99985193e-01 6.75594874e-06 4.79072773e-01] [-7.73040187e-04 -1.09629060e-05 9.99999701e-01 -2.76858444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.374203822000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:13.58, Y:0.48, Z:-0.27 [[ 9.99988472e-01 4.73891031e-03 7.73088320e-04 1.35794866e+01] [-4.73891695e-03 9.99988771e-01 6.76502389e-06 4.84527178e-01] [-7.73047580e-04 -1.04285472e-05 9.99999701e-01 -2.72569199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.404203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.61, Y:0.49, Z:-0.27 [[ 9.99995531e-01 2.88800323e-03 7.73088377e-04 1.36093743e+01] [-2.88800931e-03 9.99995830e-01 6.75846807e-06 4.88572794e-01] [-7.73065635e-04 -8.99112430e-06 9.99999701e-01 -2.71371024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.64, Y:0.49, Z:-0.27 [[ 9.99998568e-01 1.50551993e-03 7.73088298e-04 1.36391251e+01] [-1.50552561e-03 9.99998867e-01 6.76750271e-06 4.90846869e-01] [-7.73077234e-04 -7.93139725e-06 9.99999701e-01 -2.71272038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464203822 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:13.67, Y:0.50, Z:-0.27 [[ 9.99994448e-01 -3.24133273e-03 7.73088298e-04 1.36690224e+01] [ 3.24132846e-03 9.99994747e-01 6.76750271e-06 4.95421659e-01] [-7.73106173e-04 -4.26163203e-06 9.99999701e-01 -2.70652961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.494203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.70, Y:0.50, Z:-0.26 [[ 9.99965844e-01 -8.22884439e-03 7.73088298e-04 1.37006291e+01] [ 8.22884161e-03 9.99966142e-01 6.76750271e-06 4.97946994e-01] [-7.73117812e-04 -4.05650395e-07 9.99999701e-01 -2.63254918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.73, Y:0.50, Z:-0.26 [[ 9.99946086e-01 -1.03550687e-02 7.73088458e-04 1.37331079e+01] [ 1.03550666e-02 9.99946385e-01 6.74918211e-06 4.99766165e-01] [-7.73116897e-04 1.25656425e-06 9.99999701e-01 -2.63397463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.554203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:13.76, Y:0.50, Z:-0.26 [[ 9.99889818e-01 -1.48241415e-02 7.73088776e-04 1.37645281e+01] [ 1.48241407e-02 9.99890116e-01 6.71258164e-06 5.03490142e-01] [-7.73103335e-04 4.74853476e-06 9.99999701e-01 -2.64653180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.80, Y:0.50, Z:-0.26 [[ 9.99852037e-01 -1.71845091e-02 7.73089012e-04 1.37964588e+01] [ 1.71845090e-02 9.99852335e-01 6.68527047e-06 5.04070022e-01] [-7.73089737e-04 6.60087381e-06 9.99999701e-01 -2.58674979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.614203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.83, Y:0.50, Z:-0.26 [[ 9.99787319e-01 -2.06087315e-02 7.73089338e-04 1.38277541e+01] [ 2.06087325e-02 9.99787617e-01 6.64738124e-06 5.03993522e-01] [-7.73062142e-04 9.28642394e-06 9.99999701e-01 -2.58464762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.86, Y:0.50, Z:-0.26 [[ 9.99741659e-01 -2.27160244e-02 7.73089580e-04 1.38588660e+01] [ 2.27160261e-02 9.99741958e-01 6.61907694e-06 5.01403921e-01] [-7.73040450e-04 1.09441561e-05 9.99999701e-01 -2.59289241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.674203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.89, Y:0.50, Z:-0.26 [[ 9.99726240e-01 -2.33847575e-02 7.73089812e-04 1.38900600e+01] [ 2.33847594e-02 9.99726539e-01 6.59189553e-06 5.00164413e-01] [-7.73032552e-04 1.14884283e-05 9.99999701e-01 -2.63704867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.92, Y:0.50, Z:-0.26 [[ 9.99732229e-01 -2.31273137e-02 7.73090341e-04 1.39222828e+01] [ 2.31273155e-02 9.99732528e-01 6.52930921e-06 5.00186489e-01] [-7.73034566e-04 1.13519434e-05 9.99999701e-01 -2.58866346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.95, Y:0.50, Z:-0.26 [[ 9.99767689e-01 -2.15399665e-02 7.73090643e-04 1.39532691e+01] [ 2.15399679e-02 9.99767988e-01 6.49330717e-06 5.00498821e-01] [-7.73051142e-04 1.01605489e-05 9.99999701e-01 -2.56542585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.99, Y:0.50, Z:-0.25 [[ 9.99862468e-01 -1.65664430e-02 7.73090868e-04 1.39852212e+01] [ 1.65664430e-02 9.99862767e-01 6.46641466e-06 5.01684065e-01] [-7.73091900e-04 6.34184046e-06 9.99999701e-01 -2.53908698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.794203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.02, Y:0.50, Z:-0.26 [[ 9.99936059e-01 -1.12818887e-02 7.73091256e-04 1.40169196e+01] [ 1.12818871e-02 9.99936357e-01 6.41973950e-06 5.02577412e-01] [-7.73114481e-04 2.30259927e-06 9.99999701e-01 -2.58937156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.05, Y:0.50, Z:-0.26 [[ 9.99972555e-01 -7.36829788e-03 7.73091564e-04 1.40489760e+01] [ 7.36829515e-03 9.99972854e-01 6.38237480e-06 5.01036201e-01] [-7.73117605e-04 -6.85832818e-07 9.99999701e-01 -2.57356006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.854203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.08, Y:0.50, Z:-0.26 [[ 9.99980989e-01 -6.11746229e-03 7.73091866e-04 1.40797313e+01] [ 6.11745922e-03 9.99981288e-01 6.34564132e-06 5.00984486e-01] [-7.73116219e-04 -1.61616273e-06 9.99999701e-01 -2.59815856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.11, Y:0.50, Z:-0.26 [[ 9.99985484e-01 -5.33238190e-03 7.73092090e-04 1.41118752e+01] [ 5.33237861e-03 9.99985783e-01 6.31813971e-06 5.02063549e-01] [-7.73114790e-04 -2.19562826e-06 9.99999701e-01 -2.58447587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.14, Y:0.50, Z:-0.26 [[ 9.99985738e-01 -5.28456377e-03 7.73092391e-04 1.41445438e+01] [ 5.28456050e-03 9.99986037e-01 6.28109327e-06 5.02243053e-01] [-7.73114789e-04 -2.19555018e-06 9.99999701e-01 -2.58472836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.18, Y:0.50, Z:-0.26 [[ 9.99984001e-01 -5.60362801e-03 7.73092690e-04 1.41759311e+01] [ 5.60362486e-03 9.99984300e-01 6.24412491e-06 5.03515839e-01] [-7.73115542e-04 -1.91190359e-06 9.99999701e-01 -2.60757784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.974203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.21, Y:0.51, Z:-0.26 [[ 9.99976408e-01 -6.82534832e-03 7.73092912e-04 1.42077853e+01] [ 6.82534556e-03 9.99976707e-01 6.21652324e-06 5.05865219e-01] [-7.73117334e-04 -9.39750312e-07 9.99999701e-01 -2.58543640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.24, Y:0.50, Z:-0.26 [[ 9.99964555e-01 -8.38400647e-03 7.73093203e-04 1.42403953e+01] [ 8.38400420e-03 9.99964854e-01 6.18010999e-06 5.01763458e-01] [-7.73117846e-04 3.01725720e-07 9.99999701e-01 -2.58880727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.034203822000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:14.27, Y:0.50, Z:-0.26 [[ 9.99958625e-01 -9.06374566e-03 7.73093501e-04 1.42714231e+01] [ 9.06374362e-03 9.99958923e-01 6.14258264e-06 4.99474902e-01] [-7.73117420e-04 8.64792796e-07 9.99999701e-01 -2.62250911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.30, Y:0.50, Z:-0.26 [[ 9.99948189e-01 -1.01499555e-02 7.73093996e-04 1.43028900e+01] [ 1.01499538e-02 9.99948488e-01 6.07965868e-06 5.00230796e-01] [-7.73115881e-04 1.76752467e-06 9.99999701e-01 -2.64411206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.34, Y:0.50, Z:-0.26 [[ 9.99943179e-01 -1.06320669e-02 7.73094209e-04 1.43355302e+01] [ 1.06320654e-02 9.99943478e-01 6.05242084e-06 5.01047274e-01] [-7.73114862e-04 2.16751122e-06 9.99999701e-01 -2.60353295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.37, Y:0.50, Z:-0.26 [[ 9.99926417e-01 -1.21063135e-02 7.73094492e-04 1.43679951e+01] [ 1.21063124e-02 9.99926716e-01 6.01614810e-06 5.00663170e-01] [-7.73110669e-04 3.34361805e-06 9.99999701e-01 -2.59352416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.154203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.40, Y:0.50, Z:-0.26 [[ 9.99905725e-01 -1.37092266e-02 7.73094773e-04 1.43987468e+01] [ 1.37092261e-02 9.99906024e-01 5.97979013e-06 5.02475627e-01] [-7.73104099e-04 4.61930462e-06 9.99999701e-01 -2.60230912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.43, Y:0.50, Z:-0.26 [[ 9.99899136e-01 -1.41816826e-02 7.73094982e-04 1.44314015e+01] [ 1.41816822e-02 9.99899435e-01 5.95265902e-06 5.00979856e-01] [-7.73101654e-04 5.01172876e-06 9.99999701e-01 -2.56563610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.46, Y:0.50, Z:-0.26 [[ 9.99896403e-01 -1.43730875e-02 7.73095260e-04 1.44633529e+01] [ 1.43730872e-02 9.99896702e-01 5.91624568e-06 4.95390619e-01] [-7.73100436e-04 5.19613284e-06 9.99999701e-01 -2.57784862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.49, Y:0.50, Z:-0.26 [[ 9.99900976e-01 -1.40513234e-02 7.73095476e-04 1.44946697e+01] [ 1.40513231e-02 9.99901275e-01 5.88799053e-06 4.97061757e-01] [-7.73101886e-04 4.97560680e-06 9.99999701e-01 -2.58124411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.53, Y:0.50, Z:-0.26 [[ 9.99904039e-01 -1.38316785e-02 7.73095689e-04 1.45256508e+01] [ 1.38316782e-02 9.99904338e-01 5.85978314e-06 4.98070476e-01] [-7.73102784e-04 4.83398993e-06 9.99999701e-01 -2.62337021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.56, Y:0.49, Z:-0.26 [[ 9.99901361e-01 -1.40239481e-02 7.73095895e-04 1.45578417e+01] [ 1.40239477e-02 9.99901660e-01 5.83252078e-06 4.93218975e-01] [-7.73101663e-04 5.00991097e-06 9.99999701e-01 -2.60203734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.334203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.59, Y:0.49, Z:-0.26 [[ 9.99910935e-01 -1.33237922e-02 7.73096164e-04 1.45895425e+01] [ 1.33237917e-02 9.99911234e-01 5.79661429e-06 4.88483587e-01] [-7.73104773e-04 4.50447423e-06 9.99999701e-01 -2.56869706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.62, Y:0.49, Z:-0.26 [[ 9.99921698e-01 -1.24900092e-02 7.73096368e-04 1.46206787e+01] [ 1.24900085e-02 9.99921997e-01 5.76935191e-06 4.87257844e-01] [-7.73108123e-04 3.88708003e-06 9.99999701e-01 -2.60326575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.65, Y:0.48, Z:-0.26 [[ 9.99944292e-01 -1.05269089e-02 7.73096570e-04 1.46531562e+01] [ 1.05269076e-02 9.99944591e-01 5.74213091e-06 4.82544946e-01] [-7.73114180e-04 2.39650513e-06 9.99999701e-01 -2.57560661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.68, Y:0.48, Z:-0.25 [[ 9.99957737e-01 -9.16116172e-03 7.73096837e-04 1.46848021e+01] [ 9.16116005e-03 9.99958036e-01 5.70596774e-06 4.80897610e-01] [-7.73116668e-04 1.37673726e-06 9.99999701e-01 -2.52528448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.72, Y:0.48, Z:-0.26 [[ 9.99979782e-01 -6.31167695e-03 7.73097046e-04 1.47157887e+01] [ 6.31167445e-03 9.99980081e-01 5.67748755e-06 4.77994746e-01] [-7.73117481e-04 -7.97835886e-07 9.99999701e-01 -2.56365191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.75, Y:0.48, Z:-0.26 [[ 9.99995128e-01 -3.02420794e-03 7.73097253e-04 1.47472016e+01] [ 3.02420448e-03 9.99995427e-01 5.64911381e-06 4.75159095e-01] [-7.73110802e-04 -3.31108212e-06 9.99999701e-01 -2.57452412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.514203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.78, Y:0.47, Z:-0.25 [[ 9.99999154e-01 -1.04589851e-03 7.73097385e-04 1.47786352e+01] [ 1.04589447e-03 9.99999453e-01 5.63096982e-06 4.74888283e-01] [-7.73102852e-04 -4.82238678e-06 9.99999701e-01 -2.53109720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.81, Y:0.47, Z:-0.25 [[ 9.99996220e-01 2.63849567e-03 7.73097523e-04 1.48098954e+01] [-2.63850080e-03 9.99996519e-01 5.61198533e-06 4.71137195e-01] [-7.73080025e-04 -7.65178255e-06 9.99999701e-01 -2.52850446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.574203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:14.84, Y:0.46, Z:-0.26 [[ 9.99989195e-01 4.58400257e-03 7.73097660e-04 1.48399190e+01] [-4.58400826e-03 9.99989493e-01 5.59301315e-06 4.64519272e-01] [-7.73063899e-04 -9.13683878e-06 9.99999701e-01 -2.58603841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.87, Y:0.46, Z:-0.25 [[ 9.99986049e-01 5.22536727e-03 7.73097729e-04 1.48699815e+01] [-5.22537315e-03 9.99986348e-01 5.58357838e-06 4.63151600e-01] [-7.73057998e-04 -9.62322460e-06 9.99999701e-01 -2.53465804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.634203822000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:14.90, Y:0.46, Z:-0.26 [[ 9.99984640e-01 5.48834282e-03 7.73097658e-04 1.48994688e+01] [-5.48834879e-03 9.99984939e-01 5.59328873e-06 4.63500632e-01] [-7.73055317e-04 -9.83623242e-06 9.99999701e-01 -2.55532440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.93, Y:0.46, Z:-0.26 [[ 9.99983427e-01 5.70512107e-03 7.73097588e-04 1.49297000e+01] [-5.70512711e-03 9.99983726e-01 5.60293781e-06 4.61664137e-01] [-7.73053041e-04 -1.00134650e-05 9.99999701e-01 -2.55102275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.694203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.96, Y:0.46, Z:-0.26 [[ 9.99977897e-01 6.60358883e-03 7.73097588e-04 1.49601354e+01] [-6.60359514e-03 9.99978196e-01 5.60293781e-06 4.60023277e-01] [-7.73043732e-04 -1.07080374e-05 9.99999701e-01 -2.56631205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.99, Y:0.46, Z:-0.26 [[ 9.99962600e-01 8.61402087e-03 7.73097588e-04 1.49893291e+01] [-8.61402778e-03 9.99962899e-01 5.60293781e-06 4.57136694e-01] [-7.73020642e-04 -1.22622124e-05 9.99999701e-01 -2.57808957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.02, Y:0.46, Z:-0.26 [[ 9.99944524e-01 1.05047776e-02 7.73097521e-04 1.50190476e+01] [-1.05047851e-02 9.99944823e-01 5.61218664e-06 4.55083065e-01] [-7.72995909e-04 -1.37330986e-05 9.99999701e-01 -2.61132639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.05, Y:0.46, Z:-0.26 [[ 9.99938180e-01 1.10922311e-02 7.73097454e-04 1.50489708e+01] [-1.10922388e-02 9.99938479e-01 5.62138824e-06 4.56031891e-01] [-7.72987539e-04 -1.41964223e-05 9.99999701e-01 -2.59650367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.814203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.08, Y:0.46, Z:-0.26 [[ 9.99920775e-01 1.25636532e-02 7.73097321e-04 1.50776416e+01] [-1.25636613e-02 9.99921074e-01 5.63967903e-06 4.61056264e-01] [-7.72965449e-04 -1.53521651e-05 9.99999701e-01 -2.62518854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.11, Y:0.46, Z:-0.26 [[ 9.99925837e-01 1.21541064e-02 7.73097121e-04 1.51076865e+01] [-1.21541144e-02 9.99926136e-01 5.66693673e-06 4.61012662e-01] [-7.72971141e-04 -1.50628273e-05 9.99999701e-01 -2.60353243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.874203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.14, Y:0.46, Z:-0.26 [[ 9.99935711e-01 1.13126135e-02 7.73096985e-04 1.51377029e+01] [-1.13126213e-02 9.99936010e-01 5.68541764e-06 4.59633003e-01] [-7.72983198e-04 -1.44308055e-05 9.99999701e-01 -2.58306921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.17, Y:0.46, Z:-0.26 [[ 9.99955979e-01 9.35104943e-03 7.73096848e-04 1.51666985e+01] [-9.35105664e-03 9.99956278e-01 5.70403455e-06 4.59234729e-01] [-7.73009708e-04 -1.29330559e-05 9.99999701e-01 -2.62895570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.20, Y:0.46, Z:-0.26 [[ 9.99983098e-01 5.76252234e-03 7.73096642e-04 1.51963853e+01] [-5.76252849e-03 9.99983396e-01 5.73185914e-06 4.60897320e-01] [-7.73050775e-04 -1.01867537e-05 9.99999701e-01 -2.57484955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.23, Y:0.46, Z:-0.26 [[ 9.99991289e-01 4.10185843e-03 7.73096502e-04 1.52266544e+01] [-4.10186411e-03 9.99991587e-01 5.75057936e-06 4.62091670e-01] [-7.73066410e-04 -8.92166606e-06 9.99999701e-01 -2.56543877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.994203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.26, Y:0.46, Z:-0.26 [[ 9.99999350e-01 8.37925001e-04 7.73096502e-04 1.52561096e+01] [-8.37929697e-04 9.99999649e-01 5.75057936e-06 4.63186606e-01] [-7.73091412e-04 -6.39837614e-06 9.99999701e-01 -2.64068031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024203822000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:15.29, Y:0.47, Z:-0.26 [[ 9.99997960e-01 -1.86597583e-03 7.73096433e-04 1.52867031e+01] [ 1.86597194e-03 9.99998259e-01 5.75990489e-06 4.66680530e-01] [-7.73105835e-04 -4.31731690e-06 9.99999701e-01 -2.61928926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.054203822 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:15.32, Y:0.47, Z:-0.26 [[ 9.99993005e-01 -3.65964476e-03 7.73096433e-04 1.53179958e+01] [ 3.65964140e-03 9.99993303e-01 5.75990489e-06 4.69090989e-01] [-7.73112335e-04 -2.93060889e-06 9.99999701e-01 -2.60198757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.35, Y:0.47, Z:-0.26 [[ 9.99975913e-01 -6.89757752e-03 7.73096570e-04 1.53495088e+01] [ 6.89757514e-03 9.99976211e-01 5.74143361e-06 4.69977630e-01] [-7.73117781e-04 -4.08803635e-07 9.99999701e-01 -2.62402196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.114203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.38, Y:0.47, Z:-0.26 [[ 9.99959461e-01 -8.97093739e-03 7.73097110e-04 1.53818139e+01] [ 8.97093568e-03 9.99959760e-01 5.66776085e-06 4.72149077e-01] [-7.73116846e-04 1.26787336e-06 9.99999701e-01 -2.59716399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.41, Y:0.47, Z:-0.26 [[ 9.99953374e-01 -9.62564507e-03 7.73097386e-04 1.54127988e+01] [ 9.62564360e-03 9.99953672e-01 5.62983297e-06 4.74064041e-01] [-7.73115761e-04 1.81198943e-06 9.99999701e-01 -2.63890793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.174203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.44, Y:0.48, Z:-0.27 [[ 9.99935865e-01 -1.12990084e-02 7.73097878e-04 1.54432626e+01] [ 1.12990075e-02 9.99936164e-01 5.56144725e-06 4.78276278e-01] [-7.73111366e-04 3.17414814e-06 9.99999701e-01 -2.71157198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.48, Y:0.48, Z:-0.27 [[ 9.99926715e-01 -1.20816556e-02 7.73098223e-04 1.54751212e+01] [ 1.20816549e-02 9.99927014e-01 5.51317285e-06 4.81220920e-01] [-7.73108406e-04 3.82753715e-06 9.99999701e-01 -2.65305352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.234203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:15.51, Y:0.49, Z:-0.26 [[ 9.99916507e-01 -1.28988622e-02 7.73098486e-04 1.55064966e+01] [ 1.28988618e-02 9.99916806e-01 5.47600050e-06 4.85127243e-01] [-7.73104803e-04 4.49654724e-06 9.99999701e-01 -2.59044406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.54, Y:0.49, Z:-0.26 [[ 9.99907857e-01 -1.35528678e-02 7.73098616e-04 1.55381215e+01] [ 1.35528676e-02 9.99908156e-01 5.45757960e-06 4.87430236e-01] [-7.73101577e-04 5.02062647e-06 9.99999701e-01 -2.61509121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.294203822000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.57, Y:0.49, Z:-0.26 [[ 9.99909243e-01 -1.34502342e-02 7.73099018e-04 1.55697579e+01] [ 1.34502340e-02 9.99909541e-01 5.40003844e-06 4.89776114e-01] [-7.73101716e-04 4.99881436e-06 9.99999701e-01 -2.62971060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.60, Y:0.49, Z:-0.27 [[ 9.99909621e-01 -1.34221072e-02 7.73099144e-04 1.56020738e+01] [ 1.34221071e-02 9.99909919e-01 5.38190445e-06 4.92691816e-01] [-7.73101739e-04 4.99520147e-06 9.99999701e-01 -2.65940884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.354203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.63, Y:0.50, Z:-0.26 [[ 9.99920381e-01 -1.25950042e-02 7.73099395e-04 1.56341474e+01] [ 1.25950038e-02 9.99920680e-01 5.34554627e-06 4.98016998e-01] [-7.73105400e-04 4.39206920e-06 9.99999701e-01 -2.59651898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.66, Y:0.50, Z:-0.26 [[ 9.99928302e-01 -1.19495936e-02 7.73099655e-04 1.56648741e+01] [ 1.19495930e-02 9.99928601e-01 5.30771646e-06 5.03532336e-01] [-7.73107882e-04 3.93089035e-06 9.99999701e-01 -2.61465065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.70, Y:0.51, Z:-0.26 [[ 9.99929523e-01 -1.18469723e-02 7.73099849e-04 1.56975230e+01] [ 1.18469717e-02 9.99929822e-01 5.27939557e-06 5.05130357e-01] [-7.73108139e-04 3.87986856e-06 9.99999701e-01 -2.60856342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.73, Y:0.51, Z:-0.26 [[ 9.99929589e-01 -1.18414588e-02 7.73100098e-04 1.57298897e+01] [ 1.18414583e-02 9.99929887e-01 5.24255110e-06 5.07554757e-01] [-7.73107974e-04 3.91245059e-06 9.99999701e-01 -2.58950781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.474203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.76, Y:0.51, Z:-0.26 [[ 9.99912018e-01 -1.32422812e-02 7.73100348e-04 1.57615196e+01] [ 1.32422811e-02 9.99912317e-01 5.20552514e-06 5.06519336e-01] [-7.73101493e-04 5.03254499e-06 9.99999701e-01 -2.59066225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.79, Y:0.51, Z:-0.26 [[ 9.99901294e-01 -1.40286962e-02 7.73100533e-04 1.57922104e+01] [ 1.40286964e-02 9.99901593e-01 5.17792320e-06 5.06739436e-01] [-7.73097094e-04 5.66818056e-06 9.99999701e-01 -2.58431532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.534203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.82, Y:0.51, Z:-0.26 [[ 9.99875478e-01 -1.57617168e-02 7.73100956e-04 1.58247274e+01] [ 1.57617176e-02 9.99875776e-01 5.11387054e-06 5.10281752e-01] [-7.73085522e-04 7.07216518e-06 9.99999701e-01 -2.58896294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.564203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.86, Y:0.51, Z:-0.26 [[ 9.99862996e-01 -1.65345346e-02 7.73101193e-04 1.58574247e+01] [ 1.65345356e-02 9.99863295e-01 5.07775928e-06 5.11323040e-01] [-7.73079465e-04 7.70580559e-06 9.99999701e-01 -2.56684552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.89, Y:0.51, Z:-0.26 [[ 9.99851812e-01 -1.71975899e-02 7.73101498e-04 1.58898871e+01] [ 1.71975911e-02 9.99852110e-01 5.03089395e-06 5.10182940e-01] [-7.73073684e-04 8.26533505e-06 9.99999701e-01 -2.56656284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.92, Y:0.51, Z:-0.26 [[ 9.99853776e-01 -1.70829721e-02 7.73101742e-04 1.59210453e+01] [ 1.70829733e-02 9.99854075e-01 4.99325077e-06 5.08852899e-01] [-7.73074227e-04 8.21435578e-06 9.99999701e-01 -2.60726384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.654203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.95, Y:0.51, Z:-0.26 [[ 9.99849974e-01 -1.73040837e-02 7.73101922e-04 1.59527429e+01] [ 1.73040850e-02 9.99850273e-01 4.96512155e-06 5.08179773e-01] [-7.73072085e-04 8.41344474e-06 9.99999701e-01 -2.56573997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.98, Y:0.51, Z:-0.26 [[ 9.99848530e-01 -1.73873508e-02 7.73102157e-04 1.59838471e+01] [ 1.73873522e-02 9.99848829e-01 4.92825635e-06 5.09368062e-01] [-7.73070976e-04 8.51468962e-06 9.99999701e-01 -2.57450557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.02, Y:0.51, Z:-0.26 [[ 9.99853599e-01 -1.70933844e-02 7.73102527e-04 1.60157590e+01] [ 1.70933858e-02 9.99853897e-01 4.86951860e-06 5.09344251e-01] [-7.73072811e-04 8.34613405e-06 9.99999701e-01 -2.56127731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.05, Y:0.51, Z:-0.25 [[ 9.99874654e-01 -1.58138847e-02 7.73102751e-04 1.60478085e+01] [ 1.58138857e-02 9.99874953e-01 4.83370711e-06 5.07516098e-01] [-7.73082516e-04 7.39265731e-06 9.99999701e-01 -2.52070788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.774203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.08, Y:0.50, Z:-0.25 [[ 9.99900986e-01 -1.40506068e-02 7.73102978e-04 1.60792020e+01] [ 1.40506073e-02 9.99901285e-01 4.79720753e-06 5.04149853e-01] [-7.73094065e-04 6.06583381e-06 9.99999701e-01 -2.51607390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.11, Y:0.50, Z:-0.25 [[ 9.99901639e-01 -1.40041251e-02 7.73103311e-04 1.61118729e+01] [ 1.40041256e-02 9.99901937e-01 4.74291448e-06 5.04263790e-01] [-7.73093919e-04 6.08418791e-06 9.99999701e-01 -2.51632637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.834203822000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:16.14, Y:0.50, Z:-0.25 [[ 9.99916184e-01 -1.29238912e-02 7.73103529e-04 1.61437873e+01] [ 1.29238915e-02 9.99916483e-01 4.70697577e-06 5.04323160e-01] [-7.73099795e-04 5.28492485e-06 9.99999701e-01 -2.49885772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.17, Y:0.51, Z:-0.25 [[ 9.99932252e-01 -1.16143556e-02 7.73103749e-04 1.61744908e+01] [ 1.16143554e-02 9.99932551e-01 4.67060481e-06 5.09467283e-01] [-7.73105850e-04 4.30881333e-06 9.99999701e-01 -2.50238856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.21, Y:0.51, Z:-0.25 [[ 9.99948857e-01 -1.00839661e-02 7.73104101e-04 1.62066512e+01] [ 1.00839655e-02 9.99949156e-01 4.61157430e-06 5.12047375e-01] [-7.73111296e-04 3.18461668e-06 9.99999701e-01 -2.47833248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.24, Y:0.51, Z:-0.25 [[ 9.99957093e-01 -9.23117860e-03 7.73104317e-04 1.62381839e+01] [ 9.23117782e-03 9.99957392e-01 4.57510500e-06 5.10726660e-01] [-7.73113610e-04 2.56175473e-06 9.99999701e-01 -2.49245602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.954203822000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:16.27, Y:0.51, Z:-0.25 [[ 9.99970956e-01 -7.58221572e-03 7.73104478e-04 1.62691213e+01] [ 7.58221447e-03 9.99971255e-01 4.54775163e-06 5.09134137e-01] [-7.73116737e-04 1.31422442e-06 9.99999701e-01 -2.48190698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.30, Y:0.51, Z:-0.25 [[ 9.99971308e-01 -7.53563873e-03 7.73104584e-04 1.63006744e+01] [ 7.53563748e-03 9.99971607e-01 4.52962252e-06 5.11046453e-01] [-7.73116767e-04 1.29634332e-06 9.99999701e-01 -2.53741329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.014203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.33, Y:0.51, Z:-0.25 [[ 9.99969253e-01 -7.80357247e-03 7.73104743e-04 1.63324185e+01] [ 7.80357132e-03 9.99969552e-01 4.50244249e-06 5.11982856e-01] [-7.73116338e-04 1.53067395e-06 9.99999701e-01 -2.52525709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.36, Y:0.51, Z:-0.25 [[ 9.99966836e-01 -8.10736415e-03 7.73104945e-04 1.63646368e+01] [ 8.10736312e-03 9.99967135e-01 4.46743382e-06 5.14841501e-01] [-7.73115756e-04 1.80055686e-06 9.99999701e-01 -2.48847478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.40, Y:0.51, Z:-0.25 [[ 9.99969911e-01 -7.71871194e-03 7.73105156e-04 1.63960029e+01] [ 7.71871082e-03 9.99970210e-01 4.43055554e-06 5.13798342e-01] [-7.73116324e-04 1.53695290e-06 9.99999701e-01 -2.53499403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.43, Y:0.51, Z:-0.25 [[ 9.99966078e-01 -8.20035402e-03 7.73105313e-04 1.64286071e+01] [ 8.20035307e-03 9.99966377e-01 4.40302085e-06 5.10442028e-01] [-7.73115425e-04 1.93686504e-06 9.99999701e-01 -2.51845427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.134203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.46, Y:0.51, Z:-0.25 [[ 9.99955565e-01 -9.39525575e-03 7.73105519e-04 1.64602693e+01] [ 9.39525519e-03 9.99955864e-01 4.36656413e-06 5.09728083e-01] [-7.73112422e-04 2.89715353e-06 9.99999701e-01 -2.48685024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:16.49, Y:0.51, Z:-0.25 [[ 9.99951099e-01 -9.85912868e-03 7.73105674e-04 1.64917369e+01] [ 9.85912827e-03 9.99951398e-01 4.33888850e-06 5.12833090e-01] [-7.73110877e-04 3.28347169e-06 9.99999701e-01 -2.48511297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.194203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.52, Y:0.51, Z:-0.25 [[ 9.99951196e-01 -9.84929449e-03 7.73105827e-04 1.65236233e+01] [ 9.84929410e-03 9.99951495e-01 4.31142088e-06 5.10995445e-01] [-7.73110792e-04 3.30333620e-06 9.99999701e-01 -2.50072354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.56, Y:0.51, Z:-0.25 [[ 9.99965814e-01 -8.23239272e-03 7.73106027e-04 1.65560250e+01] [ 8.23239187e-03 9.99966113e-01 4.27528708e-06 5.08573531e-01] [-7.73115025e-04 2.08937085e-06 9.99999701e-01 -2.48757094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.59, Y:0.51, Z:-0.25 [[ 9.99979330e-01 -6.38287273e-03 7.73106228e-04 1.65870996e+01] [ 6.38287136e-03 9.99979629e-01 4.23861947e-06 5.10301551e-01] [-7.73117534e-04 6.96105745e-07 9.99999701e-01 -2.47241356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.62, Y:0.51, Z:-0.24 [[ 9.99984089e-01 -5.58781079e-03 7.73106377e-04 1.66174149e+01] [ 5.58780920e-03 9.99984388e-01 4.21134169e-06 5.11368339e-01] [-7.73117839e-04 1.08696243e-07 9.99999701e-01 -2.44576497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.314203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.65, Y:0.51, Z:-0.24 [[ 9.99987521e-01 -4.93559864e-03 7.73106425e-04 1.66497013e+01] [ 4.93559686e-03 9.99987820e-01 4.20241154e-06 5.12111827e-01] [-7.73117750e-04 -3.86617446e-07 9.99999701e-01 -2.44468932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.68, Y:0.51, Z:-0.25 [[ 9.99986807e-01 -5.07814076e-03 7.73106622e-04 1.66810914e+01] [ 5.07813905e-03 9.99987106e-01 4.16590924e-06 5.08909794e-01] [-7.73117809e-04 -2.39911354e-07 9.99999701e-01 -2.49262360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.374203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.71, Y:0.51, Z:-0.25 [[ 9.99988154e-01 -4.80570054e-03 7.73106719e-04 1.67133970e+01] [ 4.80569877e-03 9.99988453e-01 4.14775881e-06 5.08372589e-01] [-7.73117725e-04 -4.32391659e-07 9.99999701e-01 -2.49170224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.404203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.74, Y:0.51, Z:-0.25 [[ 9.99991071e-01 -4.15465624e-03 7.73106912e-04 1.67448125e+01] [ 4.15465430e-03 9.99991369e-01 4.11148548e-06 5.08262169e-01] [-7.73117322e-04 -8.99456811e-07 9.99999701e-01 -2.45538912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.434203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.78, Y:0.51, Z:-0.24 [[ 9.99992035e-01 -3.91567203e-03 7.73107008e-04 1.67758945e+01] [ 3.91567004e-03 9.99992334e-01 4.09342224e-06 5.09892450e-01] [-7.73117110e-04 -1.06615768e-06 9.99999701e-01 -2.44021878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.81, Y:0.51, Z:-0.25 [[ 9.99990739e-01 -4.23374726e-03 7.73107104e-04 1.68069085e+01] [ 4.23374537e-03 9.99991038e-01 4.07512920e-06 5.10079657e-01] [-7.73117429e-04 -8.01952839e-07 9.99999701e-01 -2.45741266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.494203822000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:16.84, Y:0.51, Z:-0.25 [[ 9.99984658e-01 -5.48508673e-03 7.73107248e-04 1.68383640e+01] [ 5.48508523e-03 9.99984957e-01 4.04777573e-06 5.06899481e-01] [-7.73117820e-04 1.92845518e-07 9.99999701e-01 -2.47951117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.87, Y:0.50, Z:-0.25 [[ 9.99974443e-01 -7.10744714e-03 7.73107342e-04 1.68706112e+01] [ 7.10744615e-03 9.99974742e-01 4.02971129e-06 5.02621946e-01] [-7.73116455e-04 1.46521050e-06 9.99999701e-01 -2.50165969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.554203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:16.90, Y:0.50, Z:-0.25 [[ 9.99969094e-01 -7.82386155e-03 7.73107529e-04 1.69032378e+01] [ 7.82386080e-03 9.99969393e-01 3.99351279e-06 5.00638183e-01] [-7.73115111e-04 2.05529632e-06 9.99999701e-01 -2.48847941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.94, Y:0.50, Z:-0.25 [[ 9.99963083e-01 -8.55779369e-03 7.73107716e-04 1.69354585e+01] [ 8.55779319e-03 9.99963381e-01 3.95684511e-06 4.99150885e-01] [-7.73113268e-04 2.65939691e-06 9.99999701e-01 -2.47785609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.614203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.97, Y:0.50, Z:-0.25 [[ 9.99966987e-01 -8.08876189e-03 7.73107905e-04 1.69667386e+01] [ 8.08876128e-03 9.99967285e-01 3.91967231e-06 4.96391511e-01] [-7.73114318e-04 2.33394238e-06 9.99999701e-01 -2.49414901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.00, Y:0.49, Z:-0.25 [[ 9.99978359e-01 -6.53336000e-03 7.73108045e-04 1.69979433e+01] [ 6.53335894e-03 9.99978657e-01 3.89186786e-06 4.92760036e-01] [-7.73116972e-04 1.15920872e-06 9.99999701e-01 -2.47539126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.674203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.03, Y:0.49, Z:-0.25 [[ 9.99985912e-01 -5.25150520e-03 7.73108179e-04 1.70302523e+01] [ 5.25150378e-03 9.99986211e-01 3.86501502e-06 4.91820172e-01] [-7.73117816e-04 1.95019953e-07 9.99999701e-01 -2.45074746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.06, Y:0.49, Z:-0.24 [[ 9.99996624e-01 -2.48082138e-03 7.73108360e-04 1.70615419e+01] [ 2.48081916e-03 9.99996923e-01 3.82844669e-06 4.88361833e-01] [-7.73115479e-04 -1.91049173e-06 9.99999701e-01 -2.44491716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.09, Y:0.48, Z:-0.25 [[ 9.99999567e-01 5.17385521e-04 7.73108450e-04 1.70925032e+01] [-5.17388622e-04 9.99999866e-01 3.81032251e-06 4.82524507e-01] [-7.73106375e-04 -4.21031837e-06 9.99999701e-01 -2.46630251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.12, Y:0.48, Z:-0.25 [[ 9.99997675e-01 2.01313394e-03 7.73108539e-04 1.71227244e+01] [-2.01313748e-03 9.99997974e-01 3.79211680e-06 4.80382903e-01] [-7.73099338e-04 -5.34848176e-06 9.99999701e-01 -2.49071398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.794203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.15, Y:0.48, Z:-0.25 [[ 9.99992142e-01 3.88808993e-03 7.73108700e-04 1.71536381e+01] [-3.88809400e-03 9.99992441e-01 3.75895589e-06 4.80843256e-01] [-7.73088241e-04 -6.76484565e-06 9.99999701e-01 -2.45419969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:17.18, Y:0.48, Z:-0.25 [[ 9.99989003e-01 4.62552392e-03 7.73108700e-04 1.71832915e+01] [-4.62552821e-03 9.99989302e-01 3.75895589e-06 4.81596543e-01] [-7.73083042e-04 -7.33495066e-06 9.99999701e-01 -2.47527518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.854203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.21, Y:0.48, Z:-0.25 [[ 9.99989449e-01 4.52825347e-03 7.73108654e-04 1.72126948e+01] [-4.52825773e-03 9.99989747e-01 3.76837773e-06 4.80385602e-01] [-7.73083664e-04 -7.26917321e-06 9.99999701e-01 -2.51810842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.24, Y:0.48, Z:-0.25 [[ 9.99992333e-01 3.83889795e-03 7.73108731e-04 1.72425161e+01] [-3.83890200e-03 9.99992631e-01 3.75265128e-06 4.76543029e-01] [-7.73088628e-04 -6.72051115e-06 9.99999701e-01 -2.54783611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.27, Y:0.47, Z:-0.25 [[ 9.99994957e-01 3.08037386e-03 7.73108688e-04 1.72726443e+01] [-3.08037769e-03 9.99995256e-01 3.76146522e-06 4.73647080e-01] [-7.73093433e-04 -6.14291301e-06 9.99999701e-01 -2.53832059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.30, Y:0.47, Z:-0.25 [[ 9.99998906e-01 1.26114064e-03 7.73108688e-04 1.73028748e+01] [-1.26114393e-03 9.99999205e-01 3.76146522e-06 4.69505325e-01] [-7.73103329e-04 -4.73646243e-06 9.99999701e-01 -2.49658170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.974203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.33, Y:0.47, Z:-0.25 [[ 9.99999395e-01 7.82663466e-04 7.73108731e-04 1.73330987e+01] [-7.82666601e-04 9.99999694e-01 3.75262624e-06 4.68558400e-01] [-7.73105557e-04 -4.35771035e-06 9.99999701e-01 -2.47774483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.36, Y:0.47, Z:-0.25 [[ 9.99999690e-01 -1.46181878e-04 7.73108731e-04 1.73633796e+01] [ 1.46179020e-04 9.99999989e-01 3.75262624e-06 4.67805662e-01] [-7.73109271e-04 -3.63961280e-06 9.99999701e-01 -2.45193293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.034203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.40, Y:0.47, Z:-0.25 [[ 9.99998813e-01 -1.33289510e-03 7.73108731e-04 1.73951577e+01] [ 1.33289260e-03 9.99999112e-01 3.75262624e-06 4.66644842e-01] [-7.73113046e-04 -2.72215088e-06 9.99999701e-01 -2.46015799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.43, Y:0.47, Z:-0.25 [[ 9.99997867e-01 -1.91525295e-03 7.73108820e-04 1.74259851e+01] [ 1.91525064e-03 9.99998166e-01 3.73416756e-06 4.65369390e-01] [-7.73114554e-04 -2.25346243e-06 9.99999701e-01 -2.48326290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.46, Y:0.47, Z:-0.25 [[ 9.99998273e-01 -1.68994057e-03 7.73108908e-04 1.74575510e+01] [ 1.68993820e-03 9.99998572e-01 3.71575283e-06 4.65338017e-01] [-7.73114084e-04 -2.40924013e-06 9.99999701e-01 -2.49004582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124203822000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.49, Y:0.47, Z:-0.25 [[ 9.99999588e-01 4.75424514e-04 7.73108997e-04 1.74883813e+01] [-4.75427514e-04 9.99999887e-01 3.69728770e-06 4.65537958e-01] [-7.73107151e-04 -4.06484346e-06 9.99999701e-01 -2.49457702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.154203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.52, Y:0.47, Z:-0.25 [[ 9.99996295e-01 2.60986608e-03 7.73109084e-04 1.75187766e+01] [-2.60986970e-03 9.99996594e-01 3.67894488e-06 4.67981339e-01] [-7.73096849e-04 -5.69664523e-06 9.99999701e-01 -2.47477716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.55, Y:0.47, Z:-0.25 [[ 9.99994481e-01 3.23129180e-03 7.73109084e-04 1.75488020e+01] [-3.23129561e-03 9.99994779e-01 3.67894488e-06 4.69700604e-01] [-7.73093160e-04 -6.17706857e-06 9.99999701e-01 -2.48230938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.58, Y:0.47, Z:-0.25 [[ 9.99993379e-01 3.55578737e-03 7.73109281e-04 1.75790930e+01] [-3.55579124e-03 9.99993678e-01 3.63712680e-06 4.70053909e-01] [-7.73091460e-04 -6.38611793e-06 9.99999701e-01 -2.48191228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.61, Y:0.47, Z:-0.25 [[ 9.99993778e-01 3.44174968e-03 7.73109281e-04 1.76082425e+01] [-3.44175352e-03 9.99994077e-01 3.63712680e-06 4.69373712e-01] [-7.73092183e-04 -6.29795576e-06 9.99999701e-01 -2.51772509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.64, Y:0.47, Z:-0.25 [[ 9.99996262e-01 2.62282020e-03 7.73109236e-04 1.76384670e+01] [-2.62282380e-03 9.99996560e-01 3.64646971e-06 4.71271712e-01] [-7.73097013e-04 -5.67418539e-06 9.99999701e-01 -2.50237154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.67, Y:0.47, Z:-0.25 [[ 9.99997631e-01 2.03491086e-03 7.73109236e-04 1.76690088e+01] [-2.03491428e-03 9.99997930e-01 3.64646971e-06 4.73803674e-01] [-7.73100216e-04 -5.21967210e-06 9.99999701e-01 -2.53784298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.334203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.70, Y:0.48, Z:-0.25 [[ 9.99999485e-01 6.56748162e-04 7.73109457e-04 1.76992812e+01] [-6.56751141e-04 9.99999784e-01 3.59914512e-06 4.76078646e-01] [-7.73106926e-04 -4.10688379e-06 9.99999701e-01 -2.50376273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.73, Y:0.48, Z:-0.25 [[ 9.99996944e-01 -2.34824756e-03 7.73109457e-04 1.77291544e+01] [ 2.34824548e-03 9.99997243e-01 3.59914512e-06 4.75806693e-01] [-7.73115777e-04 -1.78368334e-06 9.99999701e-01 -2.48091323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.76, Y:0.48, Z:-0.25 [[ 9.99988436e-01 -4.74668221e-03 7.73109457e-04 1.77601178e+01] [ 4.74668084e-03 9.99988734e-01 3.59914512e-06 4.75244033e-01] [-7.73117831e-04 7.06003481e-08 9.99999701e-01 -2.47382411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.79, Y:0.47, Z:-0.25 [[ 9.99949857e-01 -9.98428202e-03 7.73109542e-04 1.77910031e+01] [ 9.98428223e-03 9.99950156e-01 3.58082525e-06 4.73110500e-01] [-7.73106759e-04 4.13829817e-06 9.99999701e-01 -2.53472681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.82, Y:0.47, Z:-0.25 [[ 9.99886762e-01 -1.50287938e-02 7.73110072e-04 1.78235379e+01] [ 1.50287957e-02 9.99887061e-01 3.46244349e-06 4.72427510e-01] [-7.73074794e-04 8.15686188e-06 9.99999701e-01 -2.54671684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.86, Y:0.47, Z:-0.25 [[ 9.99829651e-01 -1.84410186e-02 7.73110231e-04 1.78555151e+01] [ 1.84410214e-02 9.99829950e-01 3.42664140e-06 4.67435885e-01] [-7.73041954e-04 1.08308847e-05 9.99999701e-01 -2.51336234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.514203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.89, Y:0.47, Z:-0.25 [[ 9.99812375e-01 -1.93550146e-02 7.73110394e-04 1.78877620e+01] [ 1.93550178e-02 9.99812674e-01 3.38937898e-06 4.65040584e-01] [-7.73031172e-04 1.15748224e-05 9.99999701e-01 -2.51279285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.92, Y:0.46, Z:-0.25 [[ 9.99812753e-01 -1.93354977e-02 7.73110556e-04 1.79186493e+01] [ 1.93355009e-02 9.99813052e-01 3.35207957e-06 4.62328355e-01] [-7.73030838e-04 1.15970279e-05 9.99999701e-01 -2.53788865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.95, Y:0.46, Z:-0.25 [[ 9.99830829e-01 -1.83770375e-02 7.73110675e-04 1.79496589e+01] [ 1.83770404e-02 9.99831128e-01 3.32420043e-06 4.60222495e-01] [-7.73041208e-04 1.08838481e-05 9.99999701e-01 -2.49333118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.98, Y:0.46, Z:-0.25 [[ 9.99839604e-01 -1.78932539e-02 7.73110733e-04 1.79817324e+01] [ 1.78932567e-02 9.99839903e-01 3.31068431e-06 4.58090021e-01] [-7.73046199e-04 1.05233155e-05 9.99999701e-01 -2.48779459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.634203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.01, Y:0.45, Z:-0.25 [[ 9.99861327e-01 -1.66351994e-02 7.73110889e-04 1.80140413e+01] [ 1.66352018e-02 9.99861625e-01 3.27397299e-06 4.53763633e-01] [-7.73058373e-04 9.58733671e-06 9.99999701e-01 -2.48517306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.05, Y:0.45, Z:-0.25 [[ 9.99898168e-01 -1.42497776e-02 7.73111045e-04 1.80457223e+01] [ 1.42497794e-02 9.99898467e-01 3.23669999e-06 4.50854225e-01] [-7.73078671e-04 7.78029141e-06 9.99999701e-01 -2.47073402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.694203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.08, Y:0.45, Z:-0.25 [[ 9.99912538e-01 -1.32029841e-02 7.73111288e-04 1.80765595e+01] [ 1.32029856e-02 9.99912837e-01 3.17753264e-06 4.48282505e-01] [-7.73085854e-04 7.03012245e-06 9.99999701e-01 -2.50261344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.11, Y:0.45, Z:-0.25 [[ 9.99912846e-01 -1.31796681e-02 7.73111403e-04 1.81083908e+01] [ 1.31796696e-02 9.99913144e-01 3.14931662e-06 4.48368634e-01] [-7.73085761e-04 7.04031073e-06 9.99999701e-01 -2.50285949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.14, Y:0.45, Z:-0.25 [[ 9.99928742e-01 -1.19127154e-02 7.73111476e-04 1.81398448e+01] [ 1.19127166e-02 9.99929041e-01 3.13128923e-06 4.45086435e-01] [-7.73093919e-04 6.07879178e-06 9.99999701e-01 -2.51329776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.17, Y:0.44, Z:-0.25 [[ 9.99938305e-01 -1.10810408e-02 7.73111549e-04 1.81713719e+01] [ 1.10810417e-02 9.99938603e-01 3.11318119e-06 4.44100621e-01] [-7.73098580e-04 5.45389217e-06 9.99999701e-01 -2.50818360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.814203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.20, Y:0.44, Z:-0.25 [[ 9.99953358e-01 -9.62730919e-03 7.73111781e-04 1.82024208e+01] [ 9.62730971e-03 9.99953656e-01 3.05443366e-06 4.40334353e-01] [-7.73105358e-04 4.38869536e-06 9.99999701e-01 -2.47313093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844203822000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:18.23, Y:0.44, Z:-0.25 [[ 9.99967610e-01 -8.01130492e-03 7.73111853e-04 1.82339315e+01] [ 8.01130496e-03 9.99967909e-01 3.03606262e-06 4.37756815e-01] [-7.73111366e-04 3.15767054e-06 9.99999701e-01 -2.48729767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.874203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.26, Y:0.44, Z:-0.25 [[ 9.99976874e-01 -6.75682057e-03 7.73111925e-04 1.82640571e+01] [ 6.75682026e-03 9.99977172e-01 3.01755844e-06 4.36004438e-01] [-7.73114666e-04 2.20628966e-06 9.99999701e-01 -2.51277497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.30, Y:0.43, Z:-0.25 [[ 9.99989169e-01 -4.58966209e-03 7.73111961e-04 1.82957230e+01] [ 4.58966114e-03 9.99989467e-01 3.00835519e-06 4.30887426e-01] [-7.73117626e-04 5.39999320e-07 9.99999701e-01 -2.51346743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.934203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.33, Y:0.43, Z:-0.25 [[ 9.99995879e-01 -2.76467684e-03 7.73112032e-04 1.83269650e+01] [ 2.76467536e-03 9.99996178e-01 2.98995713e-06 4.30106172e-01] [-7.73117344e-04 -8.52541024e-07 9.99999701e-01 -2.51478720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.36, Y:0.43, Z:-0.25 [[ 9.99997305e-01 -2.18900565e-03 7.73112138e-04 1.83576989e+01] [ 2.18900401e-03 9.99997604e-01 2.96245480e-06 4.30031818e-01] [-7.73116770e-04 -1.27010125e-06 9.99999701e-01 -2.51901111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.994203822000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:18.39, Y:0.43, Z:-0.25 [[ 9.99998637e-01 -1.45913201e-03 7.73112250e-04 1.83894234e+01] [ 1.45913018e-03 9.99998935e-01 2.93299112e-06 4.28568435e-01] [-7.73115706e-04 -1.80491571e-06 9.99999701e-01 -2.51880126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.42, Y:0.43, Z:-0.25 [[ 9.99998102e-01 -1.78826651e-03 7.73112318e-04 1.84201063e+01] [ 1.78826479e-03 9.99998401e-01 2.91488925e-06 4.29249646e-01] [-7.73116294e-04 -1.53235419e-06 9.99999701e-01 -2.52544586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.45, Y:0.43, Z:-0.25 [[ 9.99993371e-01 -3.55808858e-03 7.73112352e-04 1.84518192e+01] [ 3.55808740e-03 9.99993670e-01 2.90584732e-06 4.28883664e-01] [-7.73117797e-04 -1.55026740e-07 9.99999701e-01 -2.48823717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.48, Y:0.43, Z:-0.25 [[ 9.99989307e-01 -4.55950957e-03 7.73112420e-04 1.84834306e+01] [ 4.55950870e-03 9.99989605e-01 2.88770680e-06 4.27955470e-01] [-7.73117550e-04 6.37336883e-07 9.99999701e-01 -2.50712094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.114203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.51, Y:0.43, Z:-0.25 [[ 9.99976227e-01 -6.85187745e-03 7.73112487e-04 1.85146943e+01] [ 6.85187728e-03 9.99976526e-01 2.86943526e-06 4.26397002e-01] [-7.73114000e-04 2.42790485e-06 9.99999701e-01 -2.52741192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.55, Y:0.43, Z:-0.25 [[ 9.99968613e-01 -7.88518098e-03 7.73112588e-04 1.85455583e+01] [ 7.88518114e-03 9.99968911e-01 2.84203221e-06 4.28229666e-01] [-7.73110963e-04 3.25418979e-06 9.99999701e-01 -2.52030463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.174203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.58, Y:0.43, Z:-0.25 [[ 9.99969190e-01 -7.81161514e-03 7.73112653e-04 1.85765922e+01] [ 7.81161529e-03 9.99969489e-01 2.82430117e-06 4.29743777e-01] [-7.73111127e-04 3.21504447e-06 9.99999701e-01 -2.51495731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.61, Y:0.43, Z:-0.25 [[ 9.99966922e-01 -8.09669053e-03 7.73112718e-04 1.86075599e+01] [ 8.09669078e-03 9.99967221e-01 2.80639641e-06 4.30900293e-01] [-7.73110099e-04 3.45335103e-06 9.99999701e-01 -2.50768200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.64, Y:0.43, Z:-0.25 [[ 9.99965329e-01 -8.29110500e-03 7.73112814e-04 1.86389405e+01] [ 8.29110533e-03 9.99965628e-01 2.77955986e-06 4.31067149e-01] [-7.73109287e-04 3.63049629e-06 9.99999701e-01 -2.47941782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.67, Y:0.43, Z:-0.25 [[ 9.99963986e-01 -8.45159944e-03 7.73112881e-04 1.86701479e+01] [ 8.45159983e-03 9.99964285e-01 2.76088364e-06 4.31250555e-01] [-7.73108603e-04 3.77325649e-06 9.99999701e-01 -2.50079685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.294203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.70, Y:0.43, Z:-0.25 [[ 9.99961860e-01 -8.69943265e-03 7.73112980e-04 1.87019414e+01] [ 8.69943313e-03 9.99962159e-01 2.73289168e-06 4.31510425e-01] [-7.73107499e-04 3.99285723e-06 9.99999701e-01 -2.48084141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:18.73, Y:0.43, Z:-0.25 [[ 9.99961771e-01 -8.70973268e-03 7.73113045e-04 1.87342650e+01] [ 8.70973319e-03 9.99962070e-01 2.71447044e-06 4.32811663e-01] [-7.73107362e-04 4.01924167e-06 9.99999701e-01 -2.45871826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.354203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.77, Y:0.44, Z:-0.25 [[ 9.99951750e-01 -9.79289261e-03 7.73113174e-04 1.87658807e+01] [ 9.79289347e-03 9.99952048e-01 2.67702494e-06 4.35490068e-01] [-7.73102318e-04 4.89411918e-06 9.99999701e-01 -2.47216168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.80, Y:0.44, Z:-0.25 [[ 9.99943350e-01 -1.06159877e-02 7.73113270e-04 1.87958490e+01] [ 1.06159888e-02 9.99943649e-01 2.64909440e-06 4.35940520e-01] [-7.73097827e-04 5.55841750e-06 9.99999701e-01 -2.49391105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.83, Y:0.43, Z:-0.25 [[ 9.99939099e-01 -1.10091387e-02 7.73113301e-04 1.88267632e+01] [ 1.10091400e-02 9.99939398e-01 2.63993024e-06 4.34959623e-01] [-7.73095512e-04 5.87154309e-06 9.99999701e-01 -2.48747242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.86, Y:0.43, Z:-0.25 [[ 9.99939608e-01 -1.09627863e-02 7.73113363e-04 1.88572444e+01] [ 1.09627875e-02 9.99939907e-01 2.62168774e-06 4.33054782e-01] [-7.73095645e-04 5.85394814e-06 9.99999701e-01 -2.48519154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.474203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.89, Y:0.43, Z:-0.25 [[ 9.99934851e-01 -1.13884497e-02 7.73113394e-04 1.88881545e+01] [ 1.13884511e-02 9.99935149e-01 2.61262460e-06 4.30975499e-01] [-7.73093011e-04 6.19210969e-06 9.99999701e-01 -2.46201613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.92, Y:0.43, Z:-0.25 [[ 9.99930543e-01 -1.17606224e-02 7.73113458e-04 1.89194129e+01] [ 1.17606240e-02 9.99930841e-01 2.59335316e-06 4.30453093e-01] [-7.73090490e-04 6.49912362e-06 9.99999701e-01 -2.46234565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.534203822000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:18.95, Y:0.43, Z:-0.25 [[ 9.99928659e-01 -1.19196871e-02 7.73113521e-04 1.89494618e+01] [ 1.19196887e-02 9.99928958e-01 2.57469542e-06 4.29402032e-01] [-7.73089287e-04 6.64076072e-06 9.99999701e-01 -2.46757212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564203822000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:18.98, Y:0.43, Z:-0.25 [[ 9.99945824e-01 -1.03803806e-02 7.73113551e-04 1.89794866e+01] [ 1.03803818e-02 9.99946122e-01 2.56549793e-06 4.29789380e-01] [-7.73098528e-04 5.45985486e-06 9.99999701e-01 -2.49602176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.594203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.01, Y:0.43, Z:-0.25 [[ 9.99958820e-01 -9.04210315e-03 7.73113581e-04 1.90112024e+01] [ 9.04210388e-03 9.99959119e-01 2.55634205e-06 4.29238792e-01] [-7.73105091e-04 4.43433653e-06 9.99999701e-01 -2.50921642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.04, Y:0.43, Z:-0.25 [[ 9.99980307e-01 -6.22806843e-03 7.73113640e-04 1.90419544e+01] [ 6.22806832e-03 9.99980605e-01 2.53837369e-06 4.27396025e-01] [-7.73114455e-04 2.27668088e-06 9.99999701e-01 -2.50472065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.654203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.07, Y:0.43, Z:-0.25 [[ 9.99985899e-01 -5.25403312e-03 7.73113670e-04 1.90734651e+01] [ 5.25403274e-03 9.99986197e-01 2.52945132e-06 4.27754967e-01] [-7.73116288e-04 1.53254887e-06 9.99999701e-01 -2.49289254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.10, Y:0.43, Z:-0.25 [[ 9.99985325e-01 -5.36205244e-03 7.73113729e-04 1.91039235e+01] [ 5.36205210e-03 9.99985624e-01 2.51108024e-06 4.27284638e-01] [-7.73116080e-04 1.63443271e-06 9.99999701e-01 -2.54707016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.14, Y:0.43, Z:-0.26 [[ 9.99973753e-01 -7.20389156e-03 7.73113759e-04 1.91354839e+01] [ 7.20389178e-03 9.99974052e-01 2.50194344e-06 4.25374767e-01] [-7.73111721e-04 3.06755008e-06 9.99999701e-01 -2.55719634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744203822000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:19.17, Y:0.42, Z:-0.26 [[ 9.99957957e-01 -9.13714473e-03 7.73113818e-04 1.91662891e+01] [ 9.13714554e-03 9.99958255e-01 2.48339882e-06 4.23811330e-01] [-7.73104236e-04 4.58075906e-06 9.99999701e-01 -2.55357486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.774203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.20, Y:0.42, Z:-0.26 [[ 9.99944221e-01 -1.05335782e-02 7.73113877e-04 1.91981974e+01] [ 1.05335795e-02 9.99944520e-01 2.46485545e-06 4.21589816e-01] [-7.73096949e-04 5.67893850e-06 9.99999701e-01 -2.57720129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.23, Y:0.42, Z:-0.26 [[ 9.99906823e-01 -1.36289372e-02 7.73113991e-04 1.92292037e+01] [ 1.36289394e-02 9.99907122e-01 2.42858431e-06 4.17085013e-01] [-7.73075285e-04 8.10836570e-06 9.99999701e-01 -2.60237441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.834203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.26, Y:0.41, Z:-0.26 [[ 9.99889236e-01 -1.48632874e-02 7.73114076e-04 1.92602115e+01] [ 1.48632900e-02 9.99889535e-01 2.40147675e-06 4.14836134e-01] [-7.73064368e-04 9.08980793e-06 9.99999701e-01 -2.58282636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.29, Y:0.41, Z:-0.25 [[ 9.99853348e-01 -1.71080267e-02 7.73114131e-04 1.92916520e+01] [ 1.71080300e-02 9.99853647e-01 2.38353532e-06 4.08836428e-01] [-7.73041761e-04 1.08432740e-05 9.99999701e-01 -2.54757995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.894203822 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:19.32, Y:0.40, Z:-0.25 [[ 9.99835616e-01 -1.81147188e-02 7.73114185e-04 1.93226770e+01] [ 1.81147224e-02 9.99835915e-01 2.36570453e-06 4.04054706e-01] [-7.73030183e-04 1.16394332e-05 9.99999701e-01 -2.50867651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.35, Y:0.40, Z:-0.25 [[ 9.99833193e-01 -1.82479855e-02 7.73114242e-04 1.93537314e+01] [ 1.82479891e-02 9.99833492e-01 2.34720552e-06 4.02033068e-01] [-7.73028343e-04 1.17609663e-05 9.99999701e-01 -2.53537355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.954203822000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:19.38, Y:0.40, Z:-0.25 [[ 9.99859602e-01 -1.67385622e-02 7.73114325e-04 1.93849640e+01] [ 1.67385654e-02 9.99859900e-01 2.31946925e-06 3.96070782e-01] [-7.73044836e-04 1.06216811e-05 9.99999701e-01 -2.48873287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:19.42, Y:0.39, Z:-0.25 [[ 9.99870964e-01 -1.60455168e-02 7.73114383e-04 1.94153038e+01] [ 1.60455198e-02 9.99871262e-01 2.30003420e-06 3.92241201e-01] [-7.73051759e-04 1.01052847e-05 9.99999701e-01 -2.54791631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.014203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.45, Y:0.38, Z:-0.25 [[ 9.99908189e-01 -1.35283550e-02 7.73114440e-04 1.94468867e+01] [ 1.35283572e-02 9.99908488e-01 2.28071185e-06 3.84994996e-01] [-7.73074544e-04 8.17846588e-06 9.99999701e-01 -2.54841556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044203822000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.48, Y:0.38, Z:-0.25 [[ 9.99954508e-01 -9.50704986e-03 7.73114493e-04 1.94772247e+01] [ 9.50705096e-03 9.99954807e-01 2.26255620e-06 3.79070252e-01] [-7.73101064e-04 5.08758560e-06 9.99999701e-01 -2.51950839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.51, Y:0.38, Z:-0.25 [[ 9.99972348e-01 -7.39627600e-03 7.73114521e-04 1.95078007e+01] [ 7.39627646e-03 9.99972647e-01 2.25305201e-06 3.78143730e-01] [-7.73110038e-04 3.46517902e-06 9.99999701e-01 -2.53453315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.54, Y:0.38, Z:-0.25 [[ 9.99995746e-01 -2.81265871e-03 7.73114548e-04 1.95395131e+01] [ 2.81265781e-03 9.99996044e-01 2.24354272e-06 3.76368754e-01] [-7.73117800e-04 -6.90265046e-08 9.99999701e-01 -2.49881649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.134203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.57, Y:0.37, Z:-0.25 [[ 9.99999643e-01 3.39902325e-04 7.73114602e-04 1.95710872e+01] [-3.39904147e-04 9.99999942e-01 2.22474504e-06 3.69407524e-01] [-7.73113801e-04 -2.48752910e-06 9.99999701e-01 -2.52167108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.60, Y:0.37, Z:-0.26 [[ 9.99997602e-01 2.04884644e-03 7.73114656e-04 1.96021397e+01] [-2.04884876e-03 9.99997901e-01 2.20593656e-06 3.67209118e-01] [-7.73108514e-04 -3.78992627e-06 9.99999701e-01 -2.56133679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.194203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.63, Y:0.37, Z:-0.26 [[ 9.99996542e-01 2.51378644e-03 7.73114683e-04 1.96323485e+01] [-2.51378889e-03 9.99996840e-01 2.19653893e-06 3.65492205e-01] [-7.73106718e-04 -4.13997844e-06 9.99999701e-01 -2.58566043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.66, Y:0.36, Z:-0.26 [[ 9.99993269e-01 3.58680490e-03 7.73114709e-04 1.96623598e+01] [-3.58680767e-03 9.99993567e-01 2.18718845e-06 3.57077752e-01] [-7.73101891e-04 -4.96018750e-06 9.99999701e-01 -2.58901211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.254203822000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:19.69, Y:0.36, Z:-0.25 [[ 9.99983698e-01 5.65740403e-03 7.73114824e-04 1.96932093e+01] [-5.65740738e-03 9.99983997e-01 2.14589751e-06 3.55089669e-01] [-7.73090311e-04 -6.51968804e-06 9.99999701e-01 -2.52235598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.72, Y:0.35, Z:-0.25 [[ 9.99979221e-01 6.39997571e-03 7.73114850e-04 1.97232344e+01] [-6.39997927e-03 9.99979520e-01 2.13646526e-06 3.54910262e-01] [-7.73085343e-04 -7.08433987e-06 9.99999701e-01 -2.54431442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.314203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.75, Y:0.35, Z:-0.25 [[ 9.99966076e-01 8.20050497e-03 7.73114953e-04 1.97539224e+01] [-8.20050904e-03 9.99966375e-01 2.09841505e-06 3.53912574e-01] [-7.73071749e-04 -8.43828003e-06 9.99999701e-01 -2.52467330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.78, Y:0.35, Z:-0.25 [[ 9.99959012e-01 9.02089783e-03 7.73114953e-04 1.97849445e+01] [-9.02090215e-03 9.99959311e-01 2.09841505e-06 3.52596699e-01] [-7.73064566e-04 -9.07252339e-06 9.99999701e-01 -2.52387596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.374203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.82, Y:0.35, Z:-0.26 [[ 9.99961025e-01 8.79487380e-03 7.73114979e-04 1.98154910e+01] [-8.79487805e-03 9.99961324e-01 2.08888400e-06 3.52141077e-01] [-7.73066707e-04 -8.88825454e-06 9.99999701e-01 -2.58226138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.85, Y:0.35, Z:-0.25 [[ 9.99981308e-01 6.06508883e-03 7.73115004e-04 1.98455728e+01] [-6.06509225e-03 9.99981607e-01 2.07938088e-06 3.50869318e-01] [-7.73088173e-04 -6.76835584e-06 9.99999701e-01 -2.53015355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.434203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.88, Y:0.35, Z:-0.26 [[ 9.99996452e-01 2.54913637e-03 7.73115004e-04 1.98761606e+01] [-2.54913874e-03 9.99996751e-01 2.07938088e-06 3.49993710e-01] [-7.73107192e-04 -4.05015091e-06 9.99999701e-01 -2.55356139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.91, Y:0.35, Z:-0.26 [[ 9.99999020e-01 1.16687527e-03 7.73115030e-04 1.99066518e+01] [-1.16687722e-03 9.99999319e-01 2.06985711e-06 3.49927201e-01] [-7.73112088e-04 -2.97198540e-06 9.99999701e-01 -2.57231677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.494203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.94, Y:0.35, Z:-0.26 [[ 9.99999400e-01 -7.76519532e-04 7.73115144e-04 1.99366172e+01] [ 7.76518197e-04 9.99999699e-01 2.02611345e-06 3.49039775e-01] [-7.73116485e-04 -1.42577425e-06 9.99999701e-01 -2.56252305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.97, Y:0.35, Z:-0.25 [[ 9.99998140e-01 -1.76711001e-03 7.73115168e-04 1.99683433e+01] [ 1.76710898e-03 9.99998439e-01 2.01700699e-06 3.47539735e-01] [-7.73117525e-04 -6.50824478e-07 9.99999701e-01 -2.51783988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.00, Y:0.34, Z:-0.25 [[ 9.99989169e-01 -4.58946501e-03 7.73115218e-04 1.99988149e+01] [ 4.58946484e-03 9.99989468e-01 1.99785349e-06 3.44628424e-01] [-7.73116245e-04 1.55035326e-06 9.99999701e-01 -2.50997256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.03, Y:0.34, Z:-0.26 [[ 9.99969687e-01 -7.74779342e-03 7.73115242e-04 2.00297414e+01] [ 7.74779420e-03 9.99969985e-01 1.98829997e-06 3.41600315e-01] [-7.73107442e-04 4.00169810e-06 9.99999701e-01 -2.56857184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.614203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.06, Y:0.34, Z:-0.26 [[ 9.99969870e-01 -7.72408957e-03 7.73115290e-04 2.00615685e+01] [ 7.72409036e-03 9.99970169e-01 1.96953840e-06 3.41636649e-01] [-7.73107440e-04 4.00213330e-06 9.99999701e-01 -2.56881790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.09, Y:0.34, Z:-0.26 [[ 9.99948062e-01 -1.01624170e-02 7.73115336e-04 2.00932979e+01] [ 1.01624186e-02 9.99948361e-01 1.95121204e-06 3.37218353e-01] [-7.73095243e-04 5.90561095e-06 9.99999701e-01 -2.58342975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.674203822000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:20.12, Y:0.33, Z:-0.26 [[ 9.99942268e-01 -1.07174264e-02 7.73115383e-04 2.01243050e+01] [ 1.07174281e-02 9.99942567e-01 1.93265038e-06 3.34633176e-01] [-7.73091693e-04 6.35326975e-06 9.99999701e-01 -2.56097900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.16, Y:0.33, Z:-0.26 [[ 9.99941609e-01 -1.07787690e-02 7.73115367e-04 2.01550622e+01] [ 1.07787708e-02 9.99941907e-01 1.93873249e-06 3.31192426e-01] [-7.73091352e-04 6.39461404e-06 9.99999701e-01 -2.57806109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.18, Y:0.33, Z:-0.26 [[ 9.99980798e-01 -6.14866958e-03 7.73115391e-04 2.01848372e+01] [ 6.14866993e-03 9.99981097e-01 1.92923212e-06 3.31343126e-01] [-7.73112639e-04 2.82443628e-06 9.99999701e-01 -2.56369884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.22, Y:0.33, Z:-0.26 [[ 9.99994422e-01 -3.24934696e-03 7.73115386e-04 2.02152088e+01] [ 3.24934644e-03 9.99994721e-01 1.93148424e-06 3.31533638e-01] [-7.73117580e-04 5.80646259e-07 9.99999701e-01 -2.59480477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.794203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.25, Y:0.33, Z:-0.26 [[ 9.99999240e-01 9.60739477e-04 7.73115470e-04 2.02457461e+01] [-9.60741231e-04 9.99999538e-01 1.89686866e-06 3.31713947e-01] [-7.73113291e-04 -2.63963113e-06 9.99999701e-01 -2.61598751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.28, Y:0.33, Z:-0.26 [[ 9.99997127e-01 2.26884907e-03 7.73115470e-04 2.02759443e+01] [-2.26885121e-03 9.99997426e-01 1.89686866e-06 3.31001698e-01] [-7.73109177e-04 -3.65094718e-06 9.99999701e-01 -2.63498471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.854203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.31, Y:0.33, Z:-0.26 [[ 9.99997612e-01 2.04402388e-03 7.73115493e-04 2.03066807e+01] [-2.04402595e-03 9.99997911e-01 1.88763697e-06 3.31563432e-01] [-7.73110020e-04 -3.46790059e-06 9.99999701e-01 -2.62631463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.34, Y:0.33, Z:-0.26 [[ 9.99999437e-01 7.26717550e-04 7.73115493e-04 2.03368709e+01] [-7.26719227e-04 9.99999736e-01 1.88763697e-06 3.33839207e-01] [-7.73113917e-04 -2.44947380e-06 9.99999701e-01 -2.58457940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.37, Y:0.33, Z:-0.25 [[ 9.99998176e-01 -1.74652207e-03 7.73115493e-04 2.03683144e+01] [ 1.74652113e-03 9.99998475e-01 1.88763697e-06 3.31133973e-01] [-7.73117611e-04 -5.37370977e-07 9.99999701e-01 -2.54118126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.40, Y:0.33, Z:-0.26 [[ 9.99995025e-01 -3.05819918e-03 7.73115539e-04 2.03987492e+01] [ 3.05819865e-03 9.99995324e-01 1.86869854e-06 3.30163057e-01] [-7.73117638e-04 4.95651657e-07 9.99999701e-01 -2.56841606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.974203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.43, Y:0.33, Z:-0.25 [[ 9.99983136e-01 -5.75587204e-03 7.73115561e-04 2.04302089e+01] [ 5.75587233e-03 9.99983435e-01 1.85928653e-06 3.30226333e-01] [-7.73113456e-04 2.59069929e-06 9.99999701e-01 -2.54848387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004203822000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:20.46, Y:0.33, Z:-0.26 [[ 9.99969062e-01 -7.82797769e-03 7.73115606e-04 2.04607826e+01] [ 7.82797860e-03 9.99969361e-01 1.84043217e-06 3.30875083e-01] [-7.73106326e-04 4.21155720e-06 9.99999701e-01 -2.60171731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.034203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.49, Y:0.33, Z:-0.26 [[ 9.99959934e-01 -8.91805563e-03 7.73115701e-04 2.04919015e+01] [ 8.91805691e-03 9.99960233e-01 1.79988099e-06 3.31288188e-01] [-7.73101008e-04 5.09488094e-06 9.99999701e-01 -2.62386290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.52, Y:0.33, Z:-0.26 [[ 9.99956379e-01 -9.30815528e-03 7.73115742e-04 2.05237274e+01] [ 9.30815669e-03 9.99956678e-01 1.78188556e-06 3.30162155e-01] [-7.73098835e-04 5.41447463e-06 9.99999701e-01 -2.60000160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.55, Y:0.33, Z:-0.26 [[ 9.99968266e-01 -7.92898218e-03 7.73115784e-04 2.05549085e+01] [ 7.92898318e-03 9.99968565e-01 1.76336958e-06 3.30473671e-01] [-7.73105463e-04 4.36670843e-06 9.99999701e-01 -2.59929005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.59, Y:0.33, Z:-0.26 [[ 9.99974901e-01 -7.04268163e-03 7.73115826e-04 2.05863880e+01] [ 7.04268239e-03 9.99975200e-01 1.74484314e-06 3.28868958e-01] [-7.73108941e-04 3.70000986e-06 9.99999701e-01 -2.58581952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.154203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.62, Y:0.33, Z:-0.26 [[ 9.99982692e-01 -5.83255977e-03 7.73115869e-04 2.06168050e+01] [ 5.83256018e-03 9.99982990e-01 1.72590471e-06 3.26442165e-01] [-7.73112785e-04 2.78336999e-06 9.99999701e-01 -2.57371340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.65, Y:0.33, Z:-0.26 [[ 9.99981833e-01 -5.97796627e-03 7.73115889e-04 2.06472939e+01] [ 5.97796673e-03 9.99982132e-01 1.71648458e-06 3.30347404e-01] [-7.73112336e-04 2.90520767e-06 9.99999701e-01 -2.58005092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.214203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:20.68, Y:0.33, Z:-0.25 [[ 9.99978850e-01 -6.45775151e-03 7.73115910e-04 2.06786532e+01] [ 6.45775212e-03 9.99979149e-01 1.70721383e-06 3.32238087e-01] [-7.73110814e-04 3.28541319e-06 9.99999701e-01 -2.53285819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.71, Y:0.33, Z:-0.26 [[ 9.99959267e-01 -8.99257657e-03 7.73115952e-04 2.07094105e+01] [ 8.99257795e-03 9.99959566e-01 1.68810340e-06 3.30783186e-01] [-7.73099872e-04 5.26427082e-06 9.99999701e-01 -2.56991026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.74, Y:0.33, Z:-0.25 [[ 9.99944528e-01 -1.05044069e-02 7.73115972e-04 2.07403055e+01] [ 1.05044087e-02 9.99944827e-01 1.67859475e-06 3.28814025e-01] [-7.73090950e-04 6.44262454e-06 9.99999701e-01 -2.52829160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.77, Y:0.32, Z:-0.25 [[ 9.99906657e-01 -1.36411164e-02 7.73116030e-04 2.07708850e+01] [ 1.36411192e-02 9.99906956e-01 1.65153329e-06 3.23553148e-01] [-7.73066625e-04 8.89478876e-06 9.99999701e-01 -2.51782226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.334203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.80, Y:0.32, Z:-0.25 [[ 9.99889615e-01 -1.48377725e-02 7.73116050e-04 2.08025963e+01] [ 1.48377757e-02 9.99889914e-01 1.64213067e-06 3.22527770e-01] [-7.73055306e-04 9.82937311e-06 9.99999701e-01 -2.53244709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.83, Y:0.32, Z:-0.26 [[ 9.99861136e-01 -1.66466238e-02 7.73116088e-04 2.08328234e+01] [ 1.66466276e-02 9.99861435e-01 1.62385394e-06 3.21989149e-01] [-7.73035994e-04 1.12461471e-05 9.99999701e-01 -2.57098908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.86, Y:0.32, Z:-0.26 [[ 9.99870887e-01 -1.60503102e-02 7.73116107e-04 2.08644358e+01] [ 1.60503137e-02 9.99871185e-01 1.61475253e-06 3.22081208e-01] [-7.73042436e-04 1.07942120e-05 9.99999701e-01 -2.55747721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424203822000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:20.90, Y:0.32, Z:-0.26 [[ 9.99898089e-01 -1.42553303e-02 7.73116146e-04 2.08954480e+01] [ 1.42553333e-02 9.99898388e-01 1.59598966e-06 3.18782226e-01] [-7.73060339e-04 9.42520136e-06 9.99999701e-01 -2.57171974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.93, Y:0.32, Z:-0.26 [[ 9.99909119e-01 -1.34593945e-02 7.73116166e-04 2.09260560e+01] [ 1.34593973e-02 9.99909418e-01 1.58654480e-06 3.16580515e-01] [-7.73067489e-04 8.81927704e-06 9.99999701e-01 -2.63916824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.96, Y:0.32, Z:-0.26 [[ 9.99939768e-01 -1.09481655e-02 7.73116185e-04 2.09560386e+01] [ 1.09481676e-02 9.99940067e-01 1.57712402e-06 3.15541075e-01] [-7.73087116e-04 6.88717654e-06 9.99999701e-01 -2.62869489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.514203822000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:20.99, Y:0.32, Z:-0.26 [[ 9.99971142e-01 -7.55759590e-03 7.73116167e-04 2.09868702e+01] [ 7.55759693e-03 9.99971441e-01 1.58602390e-06 3.17552474e-01] [-7.73106074e-04 4.25692224e-06 9.99999701e-01 -2.56111967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.02, Y:0.32, Z:-0.26 [[ 9.99984613e-01 -5.49319115e-03 7.73116225e-04 2.10169152e+01] [ 5.49319159e-03 9.99984912e-01 1.55710466e-06 3.18438932e-01] [-7.73113114e-04 2.68979484e-06 9.99999701e-01 -2.60992120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.05, Y:0.32, Z:-0.26 [[ 9.99998514e-01 -1.54118599e-03 7.73116244e-04 2.10481861e+01] [ 1.54118525e-03 9.99998812e-01 1.54764047e-06 3.18227740e-01] [-7.73117711e-04 -3.56122819e-07 9.99999701e-01 -2.58553328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.08, Y:0.32, Z:-0.26 [[ 9.99999696e-01 -9.68235292e-05 7.73116281e-04 2.10797241e+01] [ 9.68223761e-05 9.99999995e-01 1.52880906e-06 3.17735981e-01] [-7.73116425e-04 -1.45395364e-06 9.99999701e-01 -2.57851560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.634203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.11, Y:0.32, Z:-0.26 [[ 9.99999467e-01 6.84499608e-04 7.73116318e-04 2.11109185e+01] [-6.84500980e-04 9.99999766e-01 1.50972221e-06 3.19545659e-01] [-7.73115104e-04 -2.03892028e-06 9.99999701e-01 -2.59170213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664203822000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.14, Y:0.32, Z:-0.26 [[ 9.99999121e-01 -1.07737794e-03 7.73116355e-04 2.11410171e+01] [ 1.07737711e-03 9.99999420e-01 1.49062291e-06 3.24139050e-01] [-7.73117512e-04 -6.57683731e-07 9.99999701e-01 -2.61213580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.694203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.17, Y:0.32, Z:-0.26 [[ 9.99995361e-01 -2.94636212e-03 7.73116373e-04 2.11723773e+01] [ 2.94636186e-03 9.99995659e-01 1.48112318e-06 3.23558400e-01] [-7.73117381e-04 7.96764281e-07 9.99999701e-01 -2.62134890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.20, Y:0.32, Z:-0.26 [[ 9.99962688e-01 -8.60376403e-03 7.73116409e-04 2.12025162e+01] [ 8.60376547e-03 9.99962987e-01 1.46221466e-06 3.18656046e-01] [-7.73100374e-04 5.18955217e-06 9.99999701e-01 -2.64827857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.754203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.23, Y:0.31, Z:-0.26 [[ 9.99907530e-01 -1.35769296e-02 7.73116494e-04 2.12329733e+01] [ 1.35769326e-02 9.99907829e-01 1.41565837e-06 3.14729928e-01] [-7.73064456e-04 9.08102307e-06 9.99999701e-01 -2.62878052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784203822000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.26, Y:0.31, Z:-0.26 [[ 9.99884745e-01 -1.51624156e-02 7.73116494e-04 2.12633411e+01] [ 1.51624191e-02 9.99885044e-01 1.41565837e-06 3.13294690e-01] [-7.73049085e-04 1.03068211e-05 9.99999701e-01 -2.61429522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.814203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.29, Y:0.31, Z:-0.26 [[ 9.99859447e-01 -1.67478138e-02 7.73116511e-04 2.12940893e+01] [ 1.67478177e-02 9.99859745e-01 1.40653548e-06 3.10021311e-01] [-7.73031634e-04 1.15416766e-05 9.99999701e-01 -2.57791252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.32, Y:0.31, Z:-0.26 [[ 9.99884892e-01 -1.51527095e-02 7.73116511e-04 2.13244847e+01] [ 1.51527129e-02 9.99885191e-01 1.40653548e-06 3.07376857e-01] [-7.73049063e-04 1.03084390e-05 9.99999701e-01 -2.58410110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.874203822000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.35, Y:0.31, Z:-0.27 [[ 9.99939232e-01 -1.09970312e-02 7.73116511e-04 2.13542531e+01] [ 1.09970334e-02 9.99939531e-01 1.40653548e-06 3.06642009e-01] [-7.73085229e-04 7.09553810e-06 9.99999701e-01 -2.67998112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.38, Y:0.31, Z:-0.26 [[ 9.99967129e-01 -8.07108372e-03 7.73116511e-04 2.13847463e+01] [ 8.07108504e-03 9.99967428e-01 1.40653548e-06 3.06458671e-01] [-7.73102681e-04 4.83339986e-06 9.99999701e-01 -2.62847770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.934203822000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:21.41, Y:0.31, Z:-0.26 [[ 9.99996650e-01 -2.47015800e-03 7.73116511e-04 2.14140452e+01] [ 2.47015765e-03 9.99996949e-01 1.40653548e-06 3.05465800e-01] [-7.73117627e-04 5.03188896e-07 9.99999701e-01 -2.58988747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.44, Y:0.30, Z:-0.26 [[ 9.99999671e-01 -2.45313015e-04 7.73116493e-04 2.14445475e+01] [ 2.45311993e-04 9.99999970e-01 1.41620608e-06 3.03710350e-01] [-7.73116817e-04 -1.22655086e-06 9.99999701e-01 -2.64408414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.994203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.48, Y:0.30, Z:-0.26 [[ 9.99999685e-01 1.79097895e-04 7.73116510e-04 2.14757801e+01] [-1.79099037e-04 9.99999984e-01 1.40687283e-06 3.03788439e-01] [-7.73116246e-04 -1.54533680e-06 9.99999701e-01 -2.57413438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.51, Y:0.30, Z:-0.26 [[ 9.99999583e-01 -4.85536686e-04 7.73116545e-04 2.15059408e+01] [ 4.85535758e-04 9.99999882e-01 1.38764222e-06 3.01337597e-01] [-7.73117127e-04 -1.01226592e-06 9.99999701e-01 -2.60764851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.54, Y:0.30, Z:-0.26 [[ 9.99998519e-01 -1.53753151e-03 7.73116562e-04 2.15375638e+01] [ 1.53753090e-03 9.99998818e-01 1.37807061e-06 2.97180280e-01] [-7.73117767e-04 -1.89377964e-07 9.99999701e-01 -2.56427126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.57, Y:0.30, Z:-0.26 [[ 9.99997271e-01 -2.20443073e-03 7.73116595e-04 2.15677419e+01] [ 2.20443034e-03 9.99997570e-01 1.35917428e-06 2.95597670e-01] [-7.73117713e-04 3.45111103e-07 9.99999701e-01 -2.57973560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.114203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.60, Y:0.29, Z:-0.26 [[ 9.99992908e-01 -3.68605176e-03 7.73116611e-04 2.15978302e+01] [ 3.68605182e-03 9.99993206e-01 1.34973929e-06 2.93588935e-01] [-7.73116334e-04 1.50001817e-06 9.99999701e-01 -2.59701494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:21.63, Y:0.29, Z:-0.26 [[ 9.99990972e-01 -4.17823577e-03 7.73116627e-04 2.16281280e+01] [ 4.17823598e-03 9.99991271e-01 1.34078590e-06 2.93973555e-01] [-7.73115481e-04 1.88948991e-06 9.99999701e-01 -2.58402829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.174203822000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:21.66, Y:0.29, Z:-0.26 [[ 9.99984848e-01 -5.45028212e-03 7.73116627e-04 2.16587529e+01] [ 5.45028271e-03 9.99985147e-01 1.34078590e-06 2.92306934e-01] [-7.73112452e-04 2.87293860e-06 9.99999701e-01 -2.58469339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.69, Y:0.29, Z:-0.26 [[ 9.99979700e-01 -6.32469247e-03 7.73116627e-04 2.16897340e+01] [ 6.32469333e-03 9.99979999e-01 1.34078590e-06 2.89078244e-01] [-7.73109644e-04 3.54896689e-06 9.99999701e-01 -2.61003303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.72, Y:0.28, Z:-0.26 [[ 9.99964224e-01 -8.42336009e-03 7.73116643e-04 2.17201659e+01] [ 8.42336157e-03 9.99964523e-01 1.33126722e-06 2.83522682e-01] [-7.73100429e-04 5.18102143e-06 9.99999701e-01 -2.58905927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.75, Y:0.28, Z:-0.26 [[ 9.99954699e-01 -9.48693974e-03 7.73116643e-04 2.17502145e+01] [ 9.48694155e-03 9.99954998e-01 1.33126722e-06 2.80018079e-01] [-7.73094481e-04 6.00330549e-06 9.99999701e-01 -2.60223135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.294203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.78, Y:0.28, Z:-0.26 [[ 9.99962790e-01 -8.59195489e-03 7.73116643e-04 2.17807501e+01] [ 8.59195642e-03 9.99963088e-01 1.33126722e-06 2.78554255e-01] [-7.73099545e-04 5.31136683e-06 9.99999701e-01 -2.62532062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.81, Y:0.28, Z:-0.26 [[ 9.99970173e-01 -7.68471394e-03 7.73116659e-04 2.18108934e+01] [ 7.68471522e-03 9.99970472e-01 1.32182886e-06 2.80350656e-01] [-7.73103989e-04 4.61939193e-06 9.99999701e-01 -2.58600851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.354203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.84, Y:0.28, Z:-0.26 [[ 9.99983388e-01 -5.71189296e-03 7.73116659e-04 2.18416070e+01] [ 5.71189365e-03 9.99983687e-01 1.32182886e-06 2.80082130e-01] [-7.73111598e-04 3.09415323e-06 9.99999701e-01 -2.61485454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.87, Y:0.28, Z:-0.26 [[ 9.99989425e-01 -4.53348740e-03 7.73116675e-04 2.18718523e+01] [ 4.53348774e-03 9.99989724e-01 1.31250420e-06 2.78298366e-01] [-7.73114681e-04 2.19242465e-06 9.99999701e-01 -2.59691168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.90, Y:0.28, Z:-0.27 [[ 9.99998039e-01 -1.82304390e-03 7.73116675e-04 2.19024396e+01] [ 1.82304343e-03 9.99998338e-01 1.31250420e-06 2.80488932e-01] [-7.73117783e-04 9.69236419e-08 9.99999701e-01 -2.67925481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.93, Y:0.28, Z:-0.27 [[ 9.99999529e-01 -5.87149137e-04 7.73116691e-04 2.19325838e+01] [ 5.87148305e-04 9.99999828e-01 1.30307800e-06 2.83605885e-01] [-7.73117323e-04 -8.49143230e-07 9.99999701e-01 -2.67265471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.474203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.96, Y:0.29, Z:-0.27 [[ 9.99998460e-01 1.57536858e-03 7.73116691e-04 2.19641687e+01] [-1.57537006e-03 9.99998759e-01 1.30307800e-06 2.87181452e-01] [-7.73113679e-04 -2.52102088e-06 9.99999701e-01 -2.66789567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.99, Y:0.29, Z:-0.27 [[ 9.99996823e-01 2.39928830e-03 7.73116722e-04 2.19944494e+01] [-2.39929001e-03 9.99997122e-01 1.28434449e-06 2.85939325e-01] [-7.73111416e-04 -3.13927164e-06 9.99999701e-01 -2.73129148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.534203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.03, Y:0.29, Z:-0.27 [[ 9.99996766e-01 2.42279468e-03 7.73116805e-04 2.20262703e+01] [-2.42279635e-03 9.99997065e-01 1.23244952e-06 2.85944033e-01] [-7.73111550e-04 -3.10555011e-06 9.99999701e-01 -2.73153750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.06, Y:0.29, Z:-0.27 [[ 9.99998591e-01 1.49028528e-03 7.73116834e-04 2.20575609e+01] [-1.49028666e-03 9.99998890e-01 1.21427632e-06 2.86155992e-01] [-7.73114165e-04 -2.36644032e-06 9.99999701e-01 -2.71512317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.594203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.09, Y:0.29, Z:-0.27 [[ 9.99997442e-01 -2.12560573e-03 7.73116863e-04 2.20886722e+01] [ 2.12560544e-03 9.99997741e-01 1.19540305e-06 2.92367294e-01] [-7.73117657e-04 4.47941417e-07 9.99999701e-01 -2.71009725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.12, Y:0.30, Z:-0.27 [[ 9.99992729e-01 -3.73425513e-03 7.73116892e-04 2.21193777e+01] [ 3.73425534e-03 9.99993028e-01 1.17644136e-06 2.96292546e-01] [-7.73115894e-04 1.71058307e-06 9.99999701e-01 -2.70381525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.654203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.15, Y:0.30, Z:-0.27 [[ 9.99982608e-01 -5.84683574e-03 7.73116906e-04 2.21499381e+01] [ 5.84683658e-03 9.99982907e-01 1.16699756e-06 2.99469894e-01] [-7.73110514e-04 3.35331094e-06 9.99999701e-01 -2.72356780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.18, Y:0.30, Z:-0.27 [[ 9.99979076e-01 -6.42253720e-03 7.73116920e-04 2.21805104e+01] [ 6.42253823e-03 9.99979375e-01 1.15774114e-06 2.98455970e-01] [-7.73108410e-04 3.80765605e-06 9.99999701e-01 -2.70737744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.21, Y:0.30, Z:-0.27 [[ 9.99971419e-01 -7.52081874e-03 7.73116920e-04 2.22098231e+01] [ 7.52082009e-03 9.99971718e-01 1.15774114e-06 2.96390558e-01] [-7.73103762e-04 4.65676521e-06 9.99999701e-01 -2.73269489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.24, Y:0.30, Z:-0.27 [[ 9.99970663e-01 -7.62066530e-03 7.73116920e-04 2.22406058e+01] [ 7.62066668e-03 9.99970962e-01 1.15774114e-06 2.98275935e-01] [-7.73103293e-04 4.73395917e-06 9.99999701e-01 -2.68760185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.774203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.27, Y:0.31, Z:-0.27 [[ 9.99976102e-01 -6.87000498e-03 7.73116920e-04 2.22705485e+01] [ 6.87000614e-03 9.99976401e-01 1.15774114e-06 3.07153668e-01] [-7.73106629e-04 4.15360451e-06 9.99999701e-01 -2.73388448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.30, Y:0.31, Z:-0.28 [[ 9.99984099e-01 -5.58597300e-03 7.73116920e-04 2.22999125e+01] [ 5.58597378e-03 9.99984398e-01 1.15774114e-06 3.11069605e-01] [-7.73111325e-04 3.16088811e-06 9.99999701e-01 -2.81328288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.834203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.33, Y:0.31, Z:-0.28 [[ 9.99988817e-01 -4.66559028e-03 7.73116906e-04 2.23306069e+01] [ 4.66559077e-03 9.99989116e-01 1.16679167e-06 3.11233360e-01] [-7.73113935e-04 2.44026848e-06 9.99999701e-01 -2.78253351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.36, Y:0.31, Z:-0.28 [[ 9.99995220e-01 -2.99373266e-03 7.73116906e-04 2.23616429e+01] [ 2.99373266e-03 9.99995519e-01 1.16679167e-06 3.09652428e-01] [-7.73116935e-04 1.14771923e-06 9.99999701e-01 -2.78334109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.894203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.39, Y:0.32, Z:-0.27 [[ 9.99999154e-01 -1.04633028e-03 7.73116934e-04 2.23913719e+01] [ 1.04632971e-03 9.99999453e-01 1.14772834e-06 3.16480611e-01] [-7.73117712e-04 -3.38792152e-07 9.99999701e-01 -2.73448625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.42, Y:0.32, Z:-0.27 [[ 9.99999691e-01 -1.40343158e-04 7.73116983e-04 2.24227191e+01] [ 1.40342339e-04 9.99999990e-01 1.11385560e-06 3.22247202e-01] [-7.73117132e-04 -1.00535421e-06 9.99999701e-01 -2.72467169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.954203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.45, Y:0.33, Z:-0.28 [[ 9.99999185e-01 1.01583949e-03 7.73117010e-04 2.24529369e+01] [-1.01584064e-03 9.99999484e-01 1.09516203e-06 3.28277177e-01] [-7.73115498e-04 -1.88052482e-06 9.99999701e-01 -2.75725232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.48, Y:0.33, Z:-0.28 [[ 9.99999390e-01 7.89151615e-04 7.73117023e-04 2.24828385e+01] [-7.89152690e-04 9.99999689e-01 1.08581153e-06 3.28373224e-01] [-7.73115925e-04 -1.69591824e-06 9.99999701e-01 -2.78969881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.014203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.51, Y:0.33, Z:-0.28 [[ 9.99999002e-01 -1.18240340e-03 7.73117036e-04 2.25138418e+01] [ 1.18240292e-03 9.99999301e-01 1.07657201e-06 3.28967449e-01] [-7.73117768e-04 -1.62435090e-07 9.99999701e-01 -2.75282607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.54, Y:0.33, Z:-0.28 [[ 9.99997310e-01 -2.18673398e-03 7.73117061e-04 2.25440040e+01] [ 2.18673381e-03 9.99997609e-01 1.05768242e-06 3.31705898e-01] [-7.73117526e-04 6.32921648e-07 9.99999701e-01 -2.78384523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.58, Y:0.34, Z:-0.28 [[ 9.99992424e-01 -3.81491800e-03 7.73117127e-04 2.25753954e+01] [ 3.81491836e-03 9.99992723e-01 1.00725908e-06 3.40412956e-01] [-7.73115344e-04 1.94212727e-06 9.99999701e-01 -2.75808976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104203822000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:22.61, Y:0.35, Z:-0.27 [[ 9.99993084e-01 -3.63785317e-03 7.73117151e-04 2.26051671e+01] [ 3.63785349e-03 9.99993383e-01 9.88332857e-07 3.46159072e-01] [-7.73115631e-04 1.82416091e-06 9.99999701e-01 -2.72139926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.134203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.64, Y:0.35, Z:-0.27 [[ 9.99991237e-01 -4.11429055e-03 7.73117206e-04 2.26353033e+01] [ 4.11429105e-03 9.99991536e-01 9.43285135e-07 3.46916892e-01] [-7.73114544e-04 2.23755234e-06 9.99999701e-01 -2.71705637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.67, Y:0.35, Z:-0.27 [[ 9.99988041e-01 -4.82899366e-03 7.73117217e-04 2.26663062e+01] [ 4.82899438e-03 9.99988340e-01 9.34112000e-07 3.46390652e-01] [-7.73112714e-04 2.79927787e-06 9.99999701e-01 -2.69332322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.194203822000002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:22.70, Y:0.35, Z:-0.27 [[ 9.99971830e-01 -7.46597770e-03 7.73117239e-04 2.26969244e+01] [ 7.46597922e-03 9.99972129e-01 9.15786824e-07 3.45547015e-01] [-7.73102529e-04 4.85631622e-06 9.99999701e-01 -2.66392771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.73, Y:0.35, Z:-0.27 [[ 9.99960412e-01 -8.86435753e-03 7.73117260e-04 2.27280617e+01] [ 8.86435948e-03 9.99960711e-01 8.97471187e-07 3.46448412e-01] [-7.73094841e-04 5.95575366e-06 9.99999701e-01 -2.68422215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.254203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.76, Y:0.35, Z:-0.27 [[ 9.99946492e-01 -1.03158173e-02 7.73117281e-04 2.27588673e+01] [ 1.03158197e-02 9.99946791e-01 8.79460887e-07 3.50118167e-01] [-7.73085216e-04 7.09592464e-06 9.99999701e-01 -2.71218998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.79, Y:0.35, Z:-0.27 [[ 9.99937924e-01 -1.11153132e-02 7.73117301e-04 2.27906347e+01] [ 1.11153158e-02 9.99938223e-01 8.61571852e-07 3.52513926e-01] [-7.73079117e-04 7.73192460e-06 9.99999701e-01 -2.71071471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.314203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.82, Y:0.35, Z:-0.27 [[ 9.99936470e-01 -1.12453713e-02 7.73117320e-04 2.28220114e+01] [ 1.12453741e-02 9.99936769e-01 8.43641332e-07 3.51767607e-01] [-7.73077922e-04 7.85040572e-06 9.99999701e-01 -2.70810727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.85, Y:0.35, Z:-0.27 [[ 9.99936084e-01 -1.12796150e-02 7.73117340e-04 2.28521622e+01] [ 1.12796177e-02 9.99936383e-01 8.25309803e-07 3.49349393e-01] [-7.73077466e-04 7.89521101e-06 9.99999701e-01 -2.72269376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.374203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.88, Y:0.35, Z:-0.27 [[ 9.99940611e-01 -1.08708732e-02 7.73117350e-04 2.28829388e+01] [ 1.08708759e-02 9.99940910e-01 8.16211504e-07 3.50271238e-01] [-7.73080539e-04 7.58829970e-06 9.99999701e-01 -2.68633880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404203822000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.91, Y:0.35, Z:-0.26 [[ 9.99953629e-01 -9.59905642e-03 7.73117359e-04 2.29142756e+01] [ 9.59905866e-03 9.99953928e-01 8.07167016e-07 3.52281114e-01] [-7.73089488e-04 6.61406929e-06 9.99999701e-01 -2.63210043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.434203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.94, Y:0.35, Z:-0.26 [[ 9.99976515e-01 -6.80963148e-03 7.73117378e-04 2.29448836e+01] [ 6.80963290e-03 9.99976814e-01 7.88901663e-07 3.54416988e-01] [-7.73104824e-04 4.47576240e-06 9.99999701e-01 -2.61315553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.97, Y:0.35, Z:-0.27 [[ 9.99983595e-01 -5.67557627e-03 7.73117387e-04 2.29749283e+01] [ 5.67557736e-03 9.99983894e-01 7.79867742e-07 3.54094520e-01] [-7.73109361e-04 3.60803259e-06 9.99999701e-01 -2.65683901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.494203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.01, Y:0.35, Z:-0.27 [[ 9.99986153e-01 -5.20544736e-03 7.73117396e-04 2.30059247e+01] [ 5.20544832e-03 9.99986452e-01 7.70861019e-07 3.51286269e-01] [-7.73110934e-04 3.25357230e-06 9.99999701e-01 -2.70370820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.04, Y:0.35, Z:-0.27 [[ 9.99977285e-01 -6.69561715e-03 7.73117395e-04 2.30370711e+01] [ 6.69561855e-03 9.99977584e-01 7.71795464e-07 3.49337310e-01] [-7.73105232e-04 4.40472124e-06 9.99999701e-01 -2.66979020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.554203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:23.07, Y:0.35, Z:-0.26 [[ 9.99969801e-01 -7.73297871e-03 7.73117412e-04 2.30680748e+01] [ 7.73298044e-03 9.99970100e-01 7.53986296e-07 3.49008449e-01] [-7.73100127e-04 5.22453830e-06 9.99999701e-01 -2.61713637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.10, Y:0.35, Z:-0.26 [[ 9.99956587e-01 -9.28582882e-03 7.73117429e-04 2.30997541e+01] [ 9.28583103e-03 9.99956886e-01 7.35791694e-07 3.49082482e-01] [-7.73090930e-04 6.44327807e-06 9.99999701e-01 -2.59126723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.614203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.13, Y:0.35, Z:-0.26 [[ 9.99952341e-01 -9.73234043e-03 7.73117447e-04 2.31307084e+01] [ 9.73234278e-03 9.99952640e-01 7.17426895e-07 3.48570527e-01] [-7.73087814e-04 6.80685130e-06 9.99999701e-01 -2.57517060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:23.16, Y:0.34, Z:-0.26 [[ 9.99950560e-01 -9.91364922e-03 7.73117464e-04 2.31609556e+01] [ 9.91365164e-03 9.99950859e-01 6.98611664e-07 3.42831964e-01] [-7.73086397e-04 6.96584008e-06 9.99999701e-01 -2.59560415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.674203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.19, Y:0.34, Z:-0.26 [[ 9.99975226e-01 -6.99637983e-03 7.73117472e-04 2.31924189e+01] [ 6.99638139e-03 9.99975525e-01 6.89269784e-07 3.41888028e-01] [-7.73103372e-04 4.71977198e-06 9.99999701e-01 -2.58241750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.22, Y:0.34, Z:-0.26 [[ 9.99988432e-01 -4.74752052e-03 7.73117488e-04 2.32232877e+01] [ 4.74752142e-03 9.99988730e-01 6.70373435e-07 3.42786781e-01] [-7.73111958e-04 3.00002616e-06 9.99999701e-01 -2.61310536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.25, Y:0.34, Z:-0.26 [[ 9.99999265e-01 -9.33919368e-04 7.73117504e-04 2.32544452e+01] [ 9.33919143e-04 9.99999564e-01 6.51564890e-07 3.43168973e-01] [-7.73117775e-04 7.04648258e-08 9.99999701e-01 -2.63393432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764203822000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:23.29, Y:0.35, Z:-0.26 [[ 9.99998760e-01 1.37172088e-03 7.73117519e-04 2.32854471e+01] [-1.37172178e-03 9.99999059e-01 6.32791239e-07 3.45085260e-01] [-7.73115924e-04 -1.69329259e-06 9.99999701e-01 -2.60623373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.794203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.32, Y:0.34, Z:-0.27 [[ 9.99997882e-01 1.90726999e-03 7.73117534e-04 2.33160943e+01] [-1.90727104e-03 9.99998181e-01 6.13977296e-07 3.44075176e-01] [-7.73114957e-04 -2.08852068e-06 9.99999701e-01 -2.66881937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824203822000005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:23.35, Y:0.34, Z:-0.26 [[ 9.99998536e-01 1.52639566e-03 7.73117542e-04 2.33469687e+01] [-1.52639658e-03 9.99998835e-01 6.04614822e-07 3.43987763e-01] [-7.73115718e-04 -1.78469791e-06 9.99999701e-01 -2.64352384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.854203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.38, Y:0.35, Z:-0.26 [[ 9.99999611e-01 4.23639661e-04 7.73117570e-04 2.33772410e+01] [-4.23640226e-04 9.99999910e-01 5.66494356e-07 3.46946512e-01] [-7.73117260e-04 -8.94017838e-07 9.99999701e-01 -2.61938338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.41, Y:0.35, Z:-0.26 [[ 9.99999698e-01 -8.22601915e-05 7.73117570e-04 2.34073269e+01] [ 8.22597780e-05 9.99999997e-01 5.66494356e-07 3.47935464e-01] [-7.73117614e-04 -5.02897705e-07 9.99999701e-01 -2.63196885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.914203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.44, Y:0.35, Z:-0.27 [[ 9.99999638e-01 -3.54737300e-04 7.73117576e-04 2.34378693e+01] [ 3.54736975e-04 9.99999937e-01 5.57117850e-07 3.49387099e-01] [-7.73117725e-04 -2.82864258e-07 9.99999701e-01 -2.66950944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.47, Y:0.35, Z:-0.27 [[ 9.99999633e-01 -3.69509578e-04 7.73117583e-04 2.34690704e+01] [ 3.69509265e-04 9.99999932e-01 5.47798487e-07 3.51222625e-01] [-7.73117733e-04 -2.62124176e-07 9.99999701e-01 -2.69038930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.974203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.50, Y:0.36, Z:-0.27 [[ 9.99999566e-01 -5.18939979e-04 7.73117596e-04 2.35002934e+01] [ 5.18939725e-04 9.99999865e-01 5.29500101e-07 3.56090254e-01] [-7.73117766e-04 -1.28298439e-07 9.99999701e-01 -2.68158033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.53, Y:0.36, Z:-0.27 [[ 9.99999695e-01 1.11097784e-04 7.73117608e-04 2.35306285e+01] [-1.11098212e-04 9.99999994e-01 5.10526111e-07 3.60661921e-01] [-7.73117547e-04 -5.96417939e-07 9.99999701e-01 -2.71662752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.034203822000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:23.56, Y:0.36, Z:-0.27 [[ 9.99999666e-01 2.66665631e-04 7.73117614e-04 2.35607590e+01] [-2.66666098e-04 9.99999964e-01 5.01111372e-07 3.63017091e-01] [-7.73117453e-04 -7.07275462e-07 9.99999701e-01 -2.70974976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.59, Y:0.37, Z:-0.27 [[ 9.99999701e-01 1.48246303e-05 7.73117614e-04 2.35908886e+01] [-1.48250222e-05 1.00000000e+00 5.01111372e-07 3.68410542e-01] [-7.73117607e-04 -5.12572708e-07 9.99999701e-01 -2.72190306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.62, Y:0.37, Z:-0.27 [[ 9.99998262e-01 -1.69647169e-03 7.73117620e-04 2.36222111e+01] [ 1.69647182e-03 9.99998561e-01 4.91716812e-07 3.73957124e-01] [-7.73117342e-04 8.19856297e-07 9.99999701e-01 -2.70794272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124203822000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:23.65, Y:0.37, Z:-0.27 [[ 9.99994711e-01 -3.15911085e-03 7.73117632e-04 2.36525392e+01] [ 3.15911143e-03 9.99995010e-01 4.72843522e-07 3.74870226e-01] [-7.73115268e-04 1.96952372e-06 9.99999701e-01 -2.70395819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.154203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.68, Y:0.37, Z:-0.27 [[ 9.99973821e-01 -7.19441330e-03 7.73117637e-04 2.36826631e+01] [ 7.19441509e-03 9.99974120e-01 4.63466373e-07 3.73967862e-01] [-7.73100963e-04 5.09867496e-06 9.99999701e-01 -2.73620831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.71, Y:0.37, Z:-0.27 [[ 9.99953720e-01 -9.58955479e-03 7.73117643e-04 2.37140333e+01] [ 9.58955730e-03 9.99954019e-01 4.54195601e-07 3.73407386e-01] [-7.73086450e-04 6.95968136e-06 9.99999701e-01 -2.67379322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.74, Y:0.37, Z:-0.27 [[ 9.99905615e-01 -1.37172749e-02 7.73117653e-04 2.37448706e+01] [ 1.37172786e-02 9.99905914e-01 4.35427322e-07 3.73027317e-01] [-7.73050886e-04 1.01696840e-05 9.99999701e-01 -2.73334842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244203822000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:23.78, Y:0.37, Z:-0.27 [[ 9.99885562e-01 -1.51084579e-02 7.73117663e-04 2.37761750e+01] [ 1.51084621e-02 9.99885861e-01 4.16717731e-07 3.72925619e-01] [-7.73035716e-04 1.12639488e-05 9.99999701e-01 -2.70625504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.81, Y:0.37, Z:-0.27 [[ 9.99863662e-01 -1.64942462e-02 7.73117673e-04 2.38076699e+01] [ 1.64942509e-02 9.99863961e-01 3.98860255e-07 3.72448586e-01] [-7.73019077e-04 1.23531910e-05 9.99999701e-01 -2.70608413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.84, Y:0.37, Z:-0.27 [[ 9.99870622e-01 -1.60667955e-02 7.73117682e-04 2.38390996e+01] [ 1.60668000e-02 9.99870921e-01 3.80451729e-07 3.72865269e-01] [-7.73024001e-04 1.20411247e-05 9.99999701e-01 -2.68587551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.334203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.87, Y:0.37, Z:-0.27 [[ 9.99896373e-01 -1.43751468e-02 7.73117690e-04 2.38700187e+01] [ 1.43751508e-02 9.99896672e-01 3.61723547e-07 3.72005323e-01] [-7.73043006e-04 1.07519973e-05 9.99999701e-01 -2.65747624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.90, Y:0.37, Z:-0.27 [[ 9.99918024e-01 -1.27807867e-02 7.73117700e-04 2.39001272e+01] [ 1.27807903e-02 9.99918322e-01 3.38897438e-07 3.71055622e-01] [-7.73058885e-04 9.54218554e-06 9.99999701e-01 -2.68129321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.93, Y:0.37, Z:-0.27 [[ 9.99921443e-01 -1.25104222e-02 7.73117704e-04 2.39312123e+01] [ 1.25104257e-02 9.99921742e-01 3.29546923e-07 3.72157261e-01] [-7.73061324e-04 9.34251056e-06 9.99999701e-01 -2.67783685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.96, Y:0.37, Z:-0.27 [[ 9.99921747e-01 -1.24860593e-02 7.73117712e-04 2.39630357e+01] [ 1.24860628e-02 9.99922046e-01 3.10796031e-07 3.72126547e-01] [-7.73061325e-04 9.34242459e-06 9.99999701e-01 -2.67808287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.99, Y:0.37, Z:-0.27 [[ 9.99921716e-01 -1.24885908e-02 7.73117719e-04 2.39937793e+01] [ 1.24885943e-02 9.99922014e-01 2.91959167e-07 3.72044923e-01] [-7.73061073e-04 9.36321725e-06 9.99999701e-01 -2.68550206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.02, Y:0.37, Z:-0.27 [[ 9.99918592e-01 -1.27361962e-02 7.73117723e-04 2.40238447e+01] [ 1.27361998e-02 9.99918891e-01 2.82591340e-07 3.68360647e-01] [-7.73058615e-04 9.56401342e-06 9.99999701e-01 -2.69448855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.514203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.05, Y:0.37, Z:-0.27 [[ 9.99917897e-01 -1.27907168e-02 7.73117729e-04 2.40542270e+01] [ 1.27907204e-02 9.99918195e-01 2.64046625e-07 3.66521598e-01] [-7.73057862e-04 9.62470780e-06 9.99999701e-01 -2.67320784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.09, Y:0.37, Z:-0.26 [[ 9.99911116e-01 -1.33102681e-02 7.73117732e-04 2.40851506e+01] [ 1.33102719e-02 9.99911414e-01 2.55066344e-07 3.68083041e-01] [-7.73052640e-04 1.00353636e-05 9.99999701e-01 -2.62123542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.574203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.12, Y:0.37, Z:-0.27 [[ 9.99902600e-01 -1.39353302e-02 7.73117737e-04 2.41159258e+01] [ 1.39353342e-02 9.99902899e-01 2.36482314e-07 3.68896667e-01] [-7.73045962e-04 1.05371947e-05 9.99999701e-01 -2.65291425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604203822000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:24.15, Y:0.36, Z:-0.27 [[ 9.99880947e-01 -1.54108411e-02 7.73117746e-04 2.41475091e+01] [ 1.54108456e-02 9.99881246e-01 2.04645583e-07 3.64974493e-01] [-7.73029089e-04 1.17097770e-05 9.99999701e-01 -2.65875469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.634203822000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.18, Y:0.36, Z:-0.26 [[ 9.99856080e-01 -1.69476108e-02 7.73117750e-04 2.41787284e+01] [ 1.69476157e-02 9.99856379e-01 1.86697980e-07 3.61294971e-01] [-7.73009878e-04 1.29158314e-05 9.99999701e-01 -2.62807705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664203822000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:24.21, Y:0.36, Z:-0.27 [[ 9.99846056e-01 -1.75290496e-02 7.73117754e-04 2.42090319e+01] [ 1.75290547e-02 9.99846354e-01 1.67983046e-07 3.61310995e-01] [-7.73001913e-04 1.33840662e-05 9.99999701e-01 -2.66776486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.694203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.24, Y:0.36, Z:-0.27 [[ 9.99846690e-01 -1.74928429e-02 7.73117756e-04 2.42394371e+01] [ 1.74928480e-02 9.99846988e-01 1.58655090e-07 3.62535532e-01] [-7.73002236e-04 1.33654006e-05 9.99999701e-01 -2.66321379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.27, Y:0.36, Z:-0.27 [[ 9.99869840e-01 -1.61153580e-02 7.73117756e-04 2.42698293e+01] [ 1.61153627e-02 9.99870139e-01 1.58655090e-07 3.61725184e-01] [-7.73019915e-04 1.23004386e-05 9.99999701e-01 -2.66373115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.754203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.30, Y:0.36, Z:-0.27 [[ 9.99883784e-01 -1.52256508e-02 7.73117756e-04 2.43015553e+01] [ 1.52256552e-02 9.99884083e-01 1.58655090e-07 3.60230255e-01] [-7.73030554e-04 1.16125878e-05 9.99999701e-01 -2.65463086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784203822000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:24.33, Y:0.36, Z:-0.27 [[ 9.99910691e-01 -1.33421046e-02 7.73117760e-04 2.43316405e+01] [ 1.33421085e-02 9.99910990e-01 1.40133838e-07 3.56638316e-01] [-7.73050814e-04 1.01748997e-05 9.99999701e-01 -2.65043950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.814203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.36, Y:0.36, Z:-0.28 [[ 9.99929304e-01 -1.18654723e-02 7.73117760e-04 2.43620041e+01] [ 1.18654758e-02 9.99929603e-01 1.40133838e-07 3.57190937e-01] [-7.73064997e-04 9.03328611e-06 9.99999701e-01 -2.75659326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.39, Y:0.36, Z:-0.27 [[ 9.99929712e-01 -1.18310211e-02 7.73117765e-04 2.43929068e+01] [ 1.18310246e-02 9.99930011e-01 1.01042638e-07 3.58532235e-01] [-7.73064850e-04 9.04573973e-06 9.99999701e-01 -2.74745901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.874203822000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.42, Y:0.36, Z:-0.27 [[ 9.99917310e-01 -1.28364870e-02 7.73117767e-04 2.44245607e+01] [ 1.28364908e-02 9.99917609e-01 8.32323045e-08 3.58407590e-01] [-7.73055137e-04 9.84089364e-06 9.99999701e-01 -2.68609308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904203822000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.46, Y:0.36, Z:-0.26 [[ 9.99887386e-01 -1.49872808e-02 7.73117768e-04 2.44559579e+01] [ 1.49872852e-02 9.99887684e-01 6.45227108e-08 3.57394782e-01] [-7.73031902e-04 1.15224211e-05 9.99999701e-01 -2.61856892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.934203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.49, Y:0.36, Z:-0.27 [[ 9.99870753e-01 -1.60586169e-02 7.73117769e-04 2.44864904e+01] [ 1.60586217e-02 9.99871052e-01 4.47783530e-08 3.56139170e-01] [-7.73018796e-04 1.23704332e-05 9.99999701e-01 -2.69371353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.52, Y:0.35, Z:-0.27 [[ 9.99861361e-01 -1.66331383e-02 7.73117770e-04 2.45173504e+01] [ 1.66331433e-02 9.99861660e-01 3.49617573e-08 3.52521998e-01] [-7.73011398e-04 1.28244217e-05 9.99999701e-01 -2.71244570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.994203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.55, Y:0.35, Z:-0.27 [[ 9.99869448e-01 -1.61396807e-02 7.73117770e-04 2.45486066e+01] [ 1.61396855e-02 9.99869747e-01 1.67721976e-08 3.53762139e-01] [-7.73017340e-04 1.24611076e-05 9.99999701e-01 -2.66933251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.58, Y:0.36, Z:-0.27 [[ 9.99903323e-01 -1.38833546e-02 7.73117770e-04 2.45794444e+01] [ 1.38833587e-02 9.99903622e-01 -2.41072883e-09 3.57399394e-01] [-7.73043225e-04 1.07358818e-05 9.99999701e-01 -2.66465193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.054203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.61, Y:0.36, Z:-0.26 [[ 9.99946857e-01 -1.02803233e-02 7.73117770e-04 2.46096634e+01] [ 1.02803264e-02 9.99947156e-01 -2.41072884e-09 3.59401650e-01] [-7.73076891e-04 7.95031364e-06 9.99999701e-01 -2.64661790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.64, Y:0.36, Z:-0.27 [[ 9.99968533e-01 -7.89528233e-03 7.73117770e-04 2.46400851e+01] [ 7.89528470e-03 9.99968832e-01 -2.41072886e-09 3.61055291e-01] [-7.73093654e-04 6.10639555e-06 9.99999701e-01 -2.65187183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.114203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.67, Y:0.36, Z:-0.26 [[ 9.99997502e-01 -2.09713469e-03 7.73117770e-04 2.46706531e+01] [ 2.09713532e-03 9.99997801e-01 -1.19049678e-08 3.61071492e-01] [-7.73116045e-04 1.63323752e-06 9.99999701e-01 -2.64003766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.70, Y:0.36, Z:-0.26 [[ 9.99996141e-01 2.66853979e-03 7.73117770e-04 2.47005372e+01] [-2.66854057e-03 9.99996439e-01 -1.19049680e-08 3.64389312e-01] [-7.73115049e-04 -2.05119122e-06 9.99999701e-01 -2.64353461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.174203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.73, Y:0.37, Z:-0.26 [[ 9.99982975e-01 5.78381388e-03 7.73117770e-04 2.47313399e+01] [-5.78381559e-03 9.99983274e-01 -2.13136575e-08 3.72227297e-01] [-7.73104961e-04 -4.45025731e-06 9.99999701e-01 -2.62299740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204203822000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:24.76, Y:0.37, Z:-0.26 [[ 9.99977464e-01 6.66887258e-03 7.73117770e-04 2.47616156e+01] [-6.66887455e-03 9.99977763e-01 -2.13136575e-08 3.72977832e-01] [-7.73100720e-04 -5.13451224e-06 9.99999701e-01 -2.62349906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.234203822000005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:24.79, Y:0.37, Z:-0.26 [[ 9.99972882e-01 7.32371923e-03 7.73117770e-04 2.47925879e+01] [-7.32372140e-03 9.99973181e-01 -2.13136575e-08 3.72369606e-01] [-7.73097192e-04 -5.64078608e-06 9.99999701e-01 -2.61622382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.82, Y:0.37, Z:-0.26 [[ 9.99970864e-01 7.59429560e-03 7.73117770e-04 2.48216988e+01] [-7.59429785e-03 9.99971163e-01 -2.13136574e-08 3.73695177e-01] [-7.73095637e-04 -5.84997358e-06 9.99999701e-01 -2.62004629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.294203822000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:24.85, Y:0.38, Z:-0.26 [[ 9.99961155e-01 8.78014439e-03 7.73117770e-04 2.48510069e+01] [-8.78014700e-03 9.99961454e-01 -1.18449082e-08 3.79242972e-01] [-7.73088073e-04 -6.77624322e-06 9.99999701e-01 -2.62343420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.88, Y:0.38, Z:-0.27 [[ 9.99966510e-01 8.14743267e-03 7.73117769e-04 2.48805380e+01] [-8.14743509e-03 9.99966809e-01 -2.32270017e-08 3.83448268e-01] [-7.73092298e-04 -6.27570062e-06 9.99999701e-01 -2.65632607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.354203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.91, Y:0.39, Z:-0.27 [[ 9.99973377e-01 7.25589598e-03 7.73117769e-04 2.49099983e+01] [-7.25589812e-03 9.99973676e-01 -3.59530744e-08 3.85827262e-01] [-7.73097678e-04 -5.57371165e-06 9.99999701e-01 -2.68413566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.94, Y:0.39, Z:-0.26 [[ 9.99983790e-01 5.64114737e-03 7.73117769e-04 2.49403573e+01] [-5.64114903e-03 9.99984089e-01 -2.68259380e-08 3.91410996e-01] [-7.73105619e-04 -4.33444705e-06 9.99999701e-01 -2.57453209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.97, Y:0.39, Z:-0.26 [[ 9.99987198e-01 5.00061731e-03 7.73117769e-04 2.49704406e+01] [-5.00061878e-03 9.99987497e-01 -2.68259383e-08 3.94572089e-01] [-7.73108237e-04 -3.83924164e-06 9.99999701e-01 -2.55621610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.00, Y:0.40, Z:-0.25 [[ 9.99988108e-01 4.81519793e-03 7.73117766e-04 2.50009410e+01] [-4.81519932e-03 9.99988407e-01 -6.22846822e-08 3.95124722e-01] [-7.73109103e-04 -3.66043220e-06 9.99999701e-01 -2.53694635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.474203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.03, Y:0.40, Z:-0.26 [[ 9.99994087e-01 3.35092276e-03 7.73117766e-04 2.50309820e+01] [-3.35092371e-03 9.99994386e-01 -6.22846821e-08 4.00947624e-01] [-7.73113635e-04 -2.52837434e-06 9.99999701e-01 -2.56849960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504203822000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:25.06, Y:0.41, Z:-0.25 [[ 9.99999600e-01 4.49623809e-04 7.73117766e-04 2.50619182e+01] [-4.49623888e-04 9.99999899e-01 -7.14107421e-08 4.10842730e-01] [-7.73117719e-04 -2.76201502e-07 9.99999701e-01 -2.53539332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.534203822000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.09, Y:0.42, Z:-0.26 [[ 9.99997328e-01 -2.17865846e-03 7.73117766e-04 2.50923092e+01] [ 2.17865916e-03 9.99997627e-01 -7.14107420e-08 4.15204717e-01] [-7.73115775e-04 1.75577066e-06 9.99999701e-01 -2.57630177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.12, Y:0.42, Z:-0.26 [[ 9.99993478e-01 -3.52779320e-03 7.73117765e-04 2.51222621e+01] [ 3.52779432e-03 9.99993777e-01 -8.08194315e-08 4.15204425e-01] [-7.73112669e-04 2.80821936e-06 9.99999701e-01 -2.61191756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.594203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.15, Y:0.42, Z:-0.26 [[ 9.99980794e-01 -6.14927322e-03 7.73117756e-04 2.51537255e+01] [ 6.14927516e-03 9.99981093e-01 -1.29974281e-07 4.19650632e-01] [-7.73102340e-04 4.88408560e-06 9.99999701e-01 -2.58812533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624203822000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:25.18, Y:0.42, Z:-0.26 [[ 9.99972991e-01 -7.30892199e-03 7.73117753e-04 2.51847468e+01] [ 7.30892429e-03 9.99973289e-01 -1.48478599e-07 4.24122287e-01] [-7.73096017e-04 5.79913371e-06 9.99999701e-01 -2.58818578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.654203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.22, Y:0.43, Z:-0.26 [[ 9.99941766e-01 -1.07641741e-02 7.73117749e-04 2.52158095e+01] [ 1.07641774e-02 9.99942065e-01 -1.66932301e-07 4.29568789e-01] [-7.73071161e-04 8.48889921e-06 9.99999701e-01 -2.61020501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.25, Y:0.43, Z:-0.26 [[ 9.99903314e-01 -1.38839790e-02 7.73117744e-04 2.52475447e+01] [ 1.38839833e-02 9.99903613e-01 -1.85805594e-07 4.33880238e-01] [-7.73040646e-04 1.09197414e-05 9.99999701e-01 -2.64250624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.28, Y:0.44, Z:-0.26 [[ 9.99884009e-01 -1.52109071e-02 7.73117737e-04 2.52784330e+01] [ 1.52109118e-02 9.99884307e-01 -2.11906953e-07 4.35638032e-01] [-7.73025070e-04 1.19717081e-05 9.99999701e-01 -2.64828907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744203822000003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:25.31, Y:0.44, Z:-0.26 [[ 9.99857683e-01 -1.68527579e-02 7.73117716e-04 2.53094779e+01] [ 1.68527631e-02 9.99857982e-01 -2.72187029e-07 4.35819250e-01] [-7.73003332e-04 1.33013180e-05 9.99999701e-01 -2.61145235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.774203822000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:25.34, Y:0.44, Z:-0.26 [[ 9.99853027e-01 -1.71267747e-02 7.73117709e-04 2.53401957e+01] [ 1.71267800e-02 9.99853326e-01 -2.90844877e-07 4.35580199e-01] [-7.72999331e-04 1.35318191e-05 9.99999701e-01 -2.60260949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.37, Y:0.44, Z:-0.26 [[ 9.99866711e-01 -1.63083491e-02 7.73117701e-04 2.53704946e+01] [ 1.63083542e-02 9.99867010e-01 -3.09458565e-07 4.39938253e-01] [-7.73009838e-04 1.29176946e-05 9.99999701e-01 -2.59349232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.834203822000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:25.40, Y:0.45, Z:-0.26 [[ 9.99899985e-01 -1.41216653e-02 7.73117698e-04 2.54020612e+01] [ 1.41216698e-02 9.99900284e-01 -3.18589708e-07 4.45202870e-01] [-7.73036107e-04 1.12362707e-05 9.99999701e-01 -2.62446292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.43, Y:0.45, Z:-0.26 [[ 9.99915544e-01 -1.29733093e-02 7.73117685e-04 2.54335903e+01] [ 1.29733135e-02 9.99915843e-01 -3.45845317e-07 4.45119125e-01] [-7.73048135e-04 1.03757142e-05 9.99999701e-01 -2.59526381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.47, Y:0.45, Z:-0.26 [[ 9.99935114e-01 -1.13652774e-02 7.73117677e-04 2.54650011e+01] [ 1.13652811e-02 9.99935413e-01 -3.64451705e-07 4.45426090e-01] [-7.73063601e-04 9.15112775e-06 9.99999701e-01 -2.59821086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.50, Y:0.45, Z:-0.26 [[ 9.99938678e-01 -1.10472896e-02 7.73117644e-04 2.54954588e+01] [ 1.10472932e-02 9.99938977e-01 -4.24602788e-07 4.48710418e-01] [-7.73065775e-04 8.96543404e-06 9.99999701e-01 -2.64108011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.954203822000004 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:25.53, Y:0.45, Z:-0.26 [[ 9.99936173e-01 -1.12717240e-02 7.73117639e-04 2.55271671e+01] [ 1.12717277e-02 9.99936472e-01 -4.33543396e-07 4.49663835e-01] [-7.73063637e-04 9.14788726e-06 9.99999701e-01 -2.58961759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.56, Y:0.45, Z:-0.26 [[ 9.99929439e-01 -1.18540678e-02 7.73117627e-04 2.55580329e+01] [ 1.18540717e-02 9.99929738e-01 -4.52505099e-07 4.50281675e-01] [-7.73057943e-04 9.61706495e-06 9.99999701e-01 -2.59696122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.014203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.59, Y:0.45, Z:-0.26 [[ 9.99920723e-01 -1.25677870e-02 7.73117590e-04 2.55897245e+01] [ 1.25677912e-02 9.99921022e-01 -5.08758395e-07 4.48221267e-01] [-7.73050137e-04 1.02250985e-05 9.99999701e-01 -2.59570481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044203822000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:25.62, Y:0.45, Z:-0.26 [[ 9.99916805e-01 -1.28757751e-02 7.73117578e-04 2.56211554e+01] [ 1.28757794e-02 9.99917104e-01 -5.26915313e-07 4.46045427e-01] [-7.73046705e-04 1.04813629e-05 9.99999701e-01 -2.62747560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.074203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.65, Y:0.44, Z:-0.26 [[ 9.99926743e-01 -1.20793613e-02 7.73117559e-04 2.56527501e+01] [ 1.20793654e-02 9.99927042e-01 -5.54095796e-07 4.44602892e-01] [-7.73054460e-04 9.89282466e-06 9.99999701e-01 -2.63406495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104203822000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:25.68, Y:0.45, Z:-0.26 [[ 9.99940569e-01 -1.08747351e-02 7.73117545e-04 2.56844692e+01] [ 1.08747387e-02 9.99940868e-01 -5.72127102e-07 4.45334358e-01] [-7.73065608e-04 8.97954442e-06 9.99999701e-01 -2.61802631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.134203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.72, Y:0.45, Z:-0.26 [[ 9.99969658e-01 -7.75142104e-03 7.73117531e-04 2.57158116e+01] [ 7.75142381e-03 9.99969957e-01 -5.90682311e-07 4.46791059e-01] [-7.73089726e-04 6.58342603e-06 9.99999701e-01 -2.61425689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164203822000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.75, Y:0.45, Z:-0.26 [[ 9.99989877e-01 -4.43258788e-03 7.73117509e-04 2.57467320e+01] [ 4.43258968e-03 9.99990176e-01 -6.18512588e-07 4.48726924e-01] [-7.73107172e-04 4.04541902e-06 9.99999701e-01 -2.57253071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.194203822000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.78, Y:0.45, Z:-0.26 [[ 9.99994579e-01 -3.20056812e-03 7.73117501e-04 2.57782520e+01] [ 3.20056957e-03 9.99994878e-01 -6.27845853e-07 4.49002063e-01] [-7.73111532e-04 3.10225879e-06 9.99999701e-01 -2.58168068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.81, Y:0.45, Z:-0.26 [[ 9.99997974e-01 -1.85860822e-03 7.73117477e-04 2.58081368e+01] [ 1.85860929e-03 9.99998273e-01 -6.55853841e-07 4.48374141e-01] [-7.73114923e-04 2.09277584e-06 9.99999701e-01 -2.61763036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.254203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.84, Y:0.45, Z:-0.26 [[ 9.99998902e-01 -1.26462156e-03 7.73117470e-04 2.58396432e+01] [ 1.26462245e-03 9.99999200e-01 -6.65046218e-07 4.49857867e-01] [-7.73116010e-04 1.64274720e-06 9.99999701e-01 -2.58675934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.87, Y:0.45, Z:-0.26 [[ 9.99999188e-01 -1.01330854e-03 7.73117453e-04 2.58695914e+01] [ 1.01330937e-03 9.99999487e-01 -6.83472736e-07 4.52651566e-01] [-7.73116364e-04 1.46687934e-06 9.99999701e-01 -2.60151218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.314203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.90, Y:0.46, Z:-0.26 [[ 9.99999676e-01 -2.22245247e-04 7.73117445e-04 2.59006962e+01] [ 2.22245849e-04 9.99999975e-01 -6.92626105e-07 4.56738160e-01] [-7.73117272e-04 8.64448024e-07 9.99999701e-01 -2.62414786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.93, Y:0.46, Z:-0.26 [[ 9.99999681e-01 -1.98943157e-04 7.73117429e-04 2.59325243e+01] [ 1.98943765e-04 9.99999980e-01 -7.10647495e-07 4.56664775e-01] [-7.73117272e-04 8.64454161e-07 9.99999701e-01 -2.62439390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.374203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.96, Y:0.46, Z:-0.26 [[ 9.99999700e-01 3.87560231e-05 7.73117412e-04 2.59636530e+01] [-3.87554714e-05 9.99999999e-01 -7.28662748e-07 4.57386419e-01] [-7.73117439e-04 6.98700000e-07 9.99999701e-01 -2.60623012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.99, Y:0.46, Z:-0.26 [[ 9.99999695e-01 -1.15114994e-04 7.73117393e-04 2.59937659e+01] [ 1.15115606e-04 9.99999993e-01 -7.47583517e-07 4.58296678e-01] [-7.73117302e-04 8.36581166e-07 9.99999701e-01 -2.62875171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.434203822000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:26.02, Y:0.46, Z:-0.27 [[ 9.99999688e-01 -1.62054810e-04 7.73117384e-04 2.60241459e+01] [ 1.62055443e-04 9.99999987e-01 -7.57004312e-07 4.60319469e-01] [-7.73117251e-04 8.82291956e-07 9.99999701e-01 -2.65645638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.05, Y:0.47, Z:-0.26 [[ 9.99999668e-01 -2.56102064e-04 7.73117375e-04 2.60540242e+01] [ 2.56102732e-04 9.99999967e-01 -7.66272460e-07 4.68744586e-01] [-7.73117153e-04 9.64269678e-07 9.99999701e-01 -2.64634187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.494203822000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:26.09, Y:0.48, Z:-0.26 [[ 9.99997268e-01 -2.20579024e-03 7.73117375e-04 2.60856022e+01] [ 2.20579149e-03 9.99997567e-01 -7.66272460e-07 4.76305947e-01] [-7.73113804e-04 2.47160609e-06 9.99999701e-01 -2.63937184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.12, Y:0.48, Z:-0.27 [[ 9.99992415e-01 -3.81739094e-03 7.73117356e-04 2.61170405e+01] [ 3.81739269e-03 9.99992714e-01 -7.84575949e-07 4.76331184e-01] [-7.73108728e-04 3.73586254e-06 9.99999701e-01 -2.65575691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.15, Y:0.48, Z:-0.26 [[ 9.99965757e-01 -8.23932066e-03 7.73117337e-04 2.61483819e+01] [ 8.23932374e-03 9.99966056e-01 -8.02786920e-07 4.80548506e-01] [-7.73084480e-04 7.17272347e-06 9.99999701e-01 -2.63930450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584203822000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:26.18, Y:0.49, Z:-0.26 [[ 9.99913717e-01 -1.31133606e-02 7.73117261e-04 2.61802300e+01] [ 1.31133652e-02 9.99914016e-01 -8.70423460e-07 4.86518333e-01] [-7.73039371e-04 1.10085174e-05 9.99999701e-01 -2.63910295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.614203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.21, Y:0.49, Z:-0.27 [[ 9.99883405e-01 -1.52505451e-02 7.73117230e-04 2.62120890e+01] [ 1.52505504e-02 9.99883704e-01 -8.97460025e-07 4.87496281e-01] [-7.73013632e-04 1.26878187e-05 9.99999701e-01 -2.66488664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.24, Y:0.49, Z:-0.27 [[ 9.99826272e-01 -1.86233380e-02 7.73117200e-04 2.62435524e+01] [ 1.86233443e-02 9.99826570e-01 -9.22194145e-07 4.89654922e-01] [-7.72965945e-04 1.53200617e-05 9.99999701e-01 -2.73527534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.674203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.28, Y:0.49, Z:-0.27 [[ 9.99758777e-01 -2.19497326e-02 7.73117167e-04 2.62751789e+01] [ 2.19497398e-02 9.99759075e-01 -9.49197949e-07 4.92344892e-01] [-7.72910070e-04 1.79186897e-05 9.99999701e-01 -2.68644381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.31, Y:0.49, Z:-0.27 [[ 9.99718279e-01 -2.37226612e-02 7.73117134e-04 2.63059458e+01] [ 2.37226690e-02 9.99718578e-01 -9.75722631e-07 4.93073444e-01] [-7.72876415e-04 1.93158496e-05 9.99999701e-01 -2.70971330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.734203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.34, Y:0.49, Z:-0.26 [[ 9.99608552e-01 -2.79668586e-02 7.73117100e-04 2.63380883e+01] [ 2.79668677e-02 9.99608851e-01 -1.00199481e-06 4.94476912e-01] [-7.72786673e-04 2.26232663e-05 9.99999701e-01 -2.63097682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.37, Y:0.49, Z:-0.27 [[ 9.99475769e-01 -3.23664979e-02 7.73117049e-04 2.63690664e+01] [ 3.23665084e-02 9.99476067e-01 -1.03975762e-06 4.92466541e-01] [-7.72678334e-04 2.60623120e-05 9.99999701e-01 -2.68273145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.794203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.40, Y:0.49, Z:-0.27 [[ 9.99383461e-01 -3.51012782e-02 7.73117010e-04 2.64010593e+01] [ 3.51012895e-02 9.99383760e-01 -1.06773185e-06 4.89592501e-01] [-7.72603106e-04 2.82044775e-05 9.99999701e-01 -2.68738951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.43, Y:0.49, Z:-0.27 [[ 9.99378337e-01 -3.52468758e-02 7.73116961e-04 2.64334648e+01] [ 3.52468872e-02 9.99378635e-01 -1.10214577e-06 4.89786156e-01] [-7.72597726e-04 2.83514269e-05 9.99999701e-01 -2.65468474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.854203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.47, Y:0.49, Z:-0.26 [[ 9.99436381e-01 -3.35607317e-02 7.73116908e-04 2.64657274e+01] [ 3.35607426e-02 9.99436680e-01 -1.13835467e-06 4.90138340e-01] [-7.72643191e-04 2.70840906e-05 9.99999701e-01 -2.64646435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.50, Y:0.49, Z:-0.26 [[ 9.99566137e-01 -2.94438439e-02 7.73116853e-04 2.64965260e+01] [ 2.94438536e-02 9.99566436e-01 -1.17442209e-06 4.90088590e-01] [-7.72747078e-04 2.39374520e-05 9.99999701e-01 -2.64820476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.914203822000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:26.53, Y:0.49, Z:-0.26 [[ 9.99650621e-01 -2.64204066e-02 7.73116753e-04 2.65289881e+01] [ 2.64204154e-02 9.99650920e-01 -1.23721742e-06 4.90763863e-01] [-7.72814185e-04 2.16628510e-05 9.99999701e-01 -2.61424194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.56, Y:0.49, Z:-0.26 [[ 9.99801954e-01 -1.98860500e-02 7.73116693e-04 2.65601084e+01] [ 1.98860570e-02 9.99802253e-01 -1.27316656e-06 4.91669898e-01] [-7.72938493e-04 1.66471570e-05 9.99999701e-01 -2.64307918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.974203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.59, Y:0.50, Z:-0.27 [[ 9.99921938e-01 -1.24707988e-02 7.73116663e-04 2.65921106e+01] [ 1.24708036e-02 9.99922237e-01 -1.29113499e-06 4.95476948e-01] [-7.73040442e-04 1.09324202e-05 9.99999701e-01 -2.65426451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.62, Y:0.50, Z:-0.27 [[ 9.99959229e-01 -8.99676526e-03 7.73116601e-04 2.66245607e+01] [ 8.99676897e-03 9.99959528e-01 -1.32721230e-06 4.97025411e-01] [-7.73073371e-04 8.28270964e-06 9.99999701e-01 -2.65758494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.034203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.66, Y:0.50, Z:-0.26 [[ 9.99986675e-01 -5.10403949e-03 7.73116538e-04 2.66560073e+01] [ 5.10404207e-03 9.99986974e-01 -1.36325007e-06 4.98942628e-01] [-7.73099509e-04 5.30925124e-06 9.99999701e-01 -2.63456001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064203822000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:26.69, Y:0.50, Z:-0.26 [[ 9.99991700e-01 -4.00037677e-03 7.73116506e-04 2.66860222e+01] [ 4.00037903e-03 9.99991998e-01 -1.38130857e-06 5.01980823e-01] [-7.73104794e-04 4.47405616e-06 9.99999701e-01 -2.60525406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.72, Y:0.50, Z:-0.26 [[ 9.99988655e-01 -4.70022928e-03 7.73116506e-04 2.67170026e+01] [ 4.70023175e-03 9.99988954e-01 -1.38130857e-06 5.02951170e-01] [-7.73101473e-04 5.01511964e-06 9.99999701e-01 -2.56077864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124203822000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:26.75, Y:0.50, Z:-0.26 [[ 9.99968036e-01 -7.95798985e-03 7.73116472e-04 2.67483058e+01] [ 7.95799332e-03 9.99968335e-01 -1.39986375e-06 5.02726579e-01] [-7.73080851e-04 7.55227472e-06 9.99999701e-01 -2.58434466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.154203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.78, Y:0.50, Z:-0.26 [[ 9.99948630e-01 -1.01064048e-02 7.73116237e-04 2.67801969e+01] [ 1.01064090e-02 9.99948929e-01 -1.51964776e-06 5.00932903e-01] [-7.73061395e-04 9.33299859e-06 9.99999701e-01 -2.61965083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184203822000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:26.81, Y:0.50, Z:-0.26 [[ 9.99916470e-01 -1.29017360e-02 7.73116188e-04 2.68115728e+01] [ 1.29017410e-02 9.99916769e-01 -1.54396411e-06 4.98929964e-01] [-7.73031921e-04 1.15183800e-05 9.99999701e-01 -2.64884413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.214203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:26.84, Y:0.50, Z:-0.26 [[ 9.99911409e-01 -1.32882312e-02 7.73116133e-04 2.68433020e+01] [ 1.32882364e-02 9.99911707e-01 -1.57121966e-06 4.98646359e-01] [-7.73026993e-04 1.18444304e-05 9.99999701e-01 -2.59857926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.87, Y:0.50, Z:-0.26 [[ 9.99917595e-01 -1.28142511e-02 7.73116020e-04 2.68744719e+01] [ 1.28142562e-02 9.99917894e-01 -1.62489120e-06 4.97504535e-01] [-7.73031721e-04 1.15316641e-05 9.99999701e-01 -2.57604305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.91, Y:0.49, Z:-0.25 [[ 9.99935869e-01 -1.12987016e-02 7.73115961e-04 2.69069217e+01] [ 1.12987062e-02 9.99936168e-01 -1.65251881e-06 4.94421427e-01] [-7.73047940e-04 1.03876229e-05 9.99999701e-01 -2.53921249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.94, Y:0.49, Z:-0.26 [[ 9.99951292e-01 -9.83949098e-03 7.73115878e-04 2.69374557e+01] [ 9.83949523e-03 9.99951591e-01 -1.69057651e-06 4.91424348e-01] [-7.73061817e-04 9.29756416e-06 9.99999701e-01 -2.55882274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.334203822000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:26.97, Y:0.49, Z:-0.26 [[ 9.99957342e-01 -9.20415586e-03 7.73115857e-04 2.69685510e+01] [ 9.20415992e-03 9.99957641e-01 -1.70006458e-06 4.90227595e-01] [-7.73067460e-04 8.81587404e-06 9.99999701e-01 -2.55342441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.00, Y:0.49, Z:-0.26 [[ 9.99974865e-01 -7.04780212e-03 7.73115816e-04 2.69997863e+01] [ 7.04780555e-03 9.99975164e-01 -1.71838972e-06 4.90036546e-01] [-7.73084504e-04 7.16711647e-06 9.99999701e-01 -2.55533761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.394203822000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:27.03, Y:0.49, Z:-0.25 [[ 9.99985665e-01 -5.29828184e-03 7.73115677e-04 2.70311104e+01] [ 5.29828480e-03 9.99985964e-01 -1.77894030e-06 4.92296287e-01] [-7.73095400e-04 5.87510184e-06 9.99999701e-01 -2.54011521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424203822000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:27.06, Y:0.49, Z:-0.26 [[ 9.99998927e-01 -1.24446532e-03 7.73115633e-04 2.70614028e+01] [ 1.24446708e-03 9.99999226e-01 -1.79759279e-06 4.92030195e-01] [-7.73112798e-04 2.75970781e-06 9.99999701e-01 -2.61951739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.454203822000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:27.09, Y:0.49, Z:-0.26 [[ 9.99999322e-01 8.70795779e-04 7.73115612e-04 2.70929393e+01] [-8.70794642e-04 9.99999621e-01 -1.80687529e-06 4.90665853e-01] [-7.73116892e-04 1.13364913e-06 9.99999701e-01 -2.59519336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484203822000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:27.12, Y:0.49, Z:-0.25 [[ 9.99987780e-01 4.88293363e-03 7.73115569e-04 2.71235883e+01] [-4.88293368e-03 9.99988078e-01 -1.82489664e-06 4.92019874e-01] [-7.73115263e-04 -1.95019772e-06 9.99999701e-01 -2.51626913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.514203822000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:27.15, Y:0.50, Z:-0.25 [[ 9.99972392e-01 7.39030444e-03 7.73115569e-04 2.71529558e+01] [-7.39030524e-03 9.99972691e-01 -1.82489664e-06 4.96904053e-01] [-7.73107943e-04 -3.88871378e-06 9.99999701e-01 -2.52389250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.18, Y:0.50, Z:-0.26 [[ 9.99970259e-01 7.67359895e-03 7.73115591e-04 2.71827688e+01] [-7.67359984e-03 9.99970557e-01 -1.81542244e-06 4.98611362e-01] [-7.73106760e-04 -4.11721123e-06 9.99999701e-01 -2.55899240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.574203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.21, Y:0.50, Z:-0.26 [[ 9.99980099e-01 6.26132181e-03 7.73115613e-04 2.72127783e+01] [-6.26132229e-03 9.99980398e-01 -1.80624053e-06 4.98939431e-01] [-7.73111767e-04 -3.03452143e-06 9.99999701e-01 -2.56120537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.24, Y:0.50, Z:-0.26 [[ 9.99997298e-01 2.19220723e-03 7.73115654e-04 2.72424813e+01] [-2.19220650e-03 9.99997597e-01 -1.78821498e-06 4.95766968e-01] [-7.73117717e-04 9.33809875e-08 9.99999701e-01 -2.56634942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.634203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.27, Y:0.50, Z:-0.26 [[ 9.99999701e-01 1.29700588e-05 7.73115697e-04 2.72725920e+01] [-1.29686946e-05 1.00000000e+00 -1.76963833e-06 4.95658331e-01] [-7.73115720e-04 1.75961150e-06 9.99999701e-01 -2.56528201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.30, Y:0.50, Z:-0.26 [[ 9.99994895e-01 -3.10032552e-03 7.73115676e-04 2.73024999e+01] [ 3.10032782e-03 9.99995194e-01 -1.77883646e-06 4.97104683e-01] [-7.73106445e-04 4.17573942e-06 9.99999701e-01 -2.55484394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.694203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.33, Y:0.50, Z:-0.25 [[ 9.99990714e-01 -4.23956618e-03 7.73115655e-04 2.73336614e+01] [ 4.23956883e-03 9.99991013e-01 -1.78790776e-06 4.96878502e-01] [-7.73101127e-04 5.06556819e-06 9.99999701e-01 -2.54474341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724203822000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:27.36, Y:0.50, Z:-0.25 [[ 9.99987059e-01 -5.02832563e-03 7.73115612e-04 2.73648561e+01] [ 5.02832853e-03 9.99987358e-01 -1.80619977e-06 4.96574850e-01] [-7.73096756e-04 5.69365569e-06 9.99999701e-01 -2.50739779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.754203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.40, Y:0.50, Z:-0.25 [[ 9.99987213e-01 -4.99760472e-03 7.73115568e-04 2.73964941e+01] [ 4.99760762e-03 9.99987512e-01 -1.82475493e-06 4.96805705e-01] [-7.73096794e-04 5.68845986e-06 9.99999701e-01 -2.47561138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.43, Y:0.50, Z:-0.25 [[ 9.99991907e-01 -3.94816295e-03 7.73115524e-04 2.74276164e+01] [ 3.94816556e-03 9.99992206e-01 -1.84347109e-06 4.95531741e-01] [-7.73102220e-04 4.89584425e-06 9.99999701e-01 -2.51004823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.814203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.46, Y:0.49, Z:-0.25 [[ 9.99998971e-01 -1.20824757e-03 7.73115365e-04 2.74590881e+01] [ 1.20824940e-03 9.99999270e-01 -1.90755570e-06 4.93317362e-01] [-7.73112496e-04 2.84166992e-06 9.99999701e-01 -2.50710892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.49, Y:0.49, Z:-0.25 [[ 9.99999637e-01 3.59468317e-04 7.73115321e-04 2.74900610e+01] [-3.59466936e-04 9.99999935e-01 -1.92547031e-06 4.92958944e-01] [-7.73115963e-04 1.64756021e-06 9.99999701e-01 -2.49839058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.874203822000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:27.52, Y:0.49, Z:-0.25 [[ 9.99991604e-01 4.02427017e-03 7.73115275e-04 2.75200875e+01] [-4.02426987e-03 9.99991903e-01 -1.94374070e-06 4.92553197e-01] [-7.73116837e-04 -1.16750013e-06 9.99999701e-01 -2.47676163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.55, Y:0.49, Z:-0.25 [[ 9.99974775e-01 7.06058536e-03 7.73115275e-04 2.75492588e+01] [-7.06058597e-03 9.99975074e-01 -1.94374070e-06 4.92068498e-01] [-7.73109728e-04 -3.51495520e-06 9.99999701e-01 -2.54134429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.934203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.58, Y:0.49, Z:-0.25 [[ 9.99970540e-01 7.63690266e-03 7.73115299e-04 2.75790776e+01] [-7.63690345e-03 9.99970838e-01 -1.93418600e-06 4.92016722e-01] [-7.73107525e-04 -3.97007788e-06 9.99999701e-01 -2.52858701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.61, Y:0.49, Z:-0.25 [[ 9.99971062e-01 7.56824260e-03 7.73115344e-04 2.76088092e+01] [-7.56824338e-03 9.99971360e-01 -1.91592147e-06 4.91528591e-01] [-7.73107703e-04 -3.93525906e-06 9.99999701e-01 -2.53152669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.994203822000003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:27.64, Y:0.49, Z:-0.25 [[ 9.99977545e-01 6.65673806e-03 7.73115389e-04 2.76382414e+01] [-6.65673858e-03 9.99977844e-01 -1.89744533e-06 4.90191877e-01] [-7.73110891e-04 -3.24902432e-06 9.99999701e-01 -2.52815782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.67, Y:0.49, Z:-0.25 [[ 9.99983926e-01 5.61698919e-03 7.73115375e-04 2.76674832e+01] [-5.61698940e-03 9.99984225e-01 -1.90316455e-06 4.89009465e-01] [-7.73113869e-04 -2.43944691e-06 9.99999701e-01 -2.52523132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.70, Y:0.49, Z:-0.25 [[ 9.99993847e-01 3.42167582e-03 7.73115367e-04 2.76971498e+01] [-3.42167537e-03 9.99994146e-01 -1.90658299e-06 4.85979421e-01] [-7.73117365e-04 -7.38778547e-07 9.99999701e-01 -2.49104803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.73, Y:0.48, Z:-0.25 [[ 9.99997147e-01 2.26028013e-03 7.73115412e-04 2.77270564e+01] [-2.26027935e-03 9.99997446e-01 -1.88810289e-06 4.83364363e-01] [-7.73117705e-04 1.40640702e-07 9.99999701e-01 -2.52076378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.114203822000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:27.76, Y:0.48, Z:-0.25 [[ 9.99998223e-01 1.71964190e-03 7.73115434e-04 2.77576927e+01] [-1.71964096e-03 9.99998521e-01 -1.87894529e-06 4.81310039e-01] [-7.73117522e-04 5.49460980e-07 9.99999701e-01 -2.50561549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.79, Y:0.48, Z:-0.25 [[ 9.99999646e-01 3.31086824e-04 7.73115434e-04 2.77884451e+01] [-3.31085470e-04 9.99999945e-01 -1.87894529e-06 4.81782832e-01] [-7.73116014e-04 1.62297734e-06 9.99999701e-01 -2.47531696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.174203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.82, Y:0.48, Z:-0.25 [[ 9.99999662e-01 -2.78964863e-04 7.73115434e-04 2.78183107e+01] [ 2.78966399e-04 9.99999961e-01 -1.87894529e-06 4.82164393e-01] [-7.73114880e-04 2.09461789e-06 9.99999701e-01 -2.49025814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.85, Y:0.48, Z:-0.25 [[ 9.99999696e-01 1.04274168e-04 7.73115318e-04 2.78497525e+01] [-1.04272710e-04 9.99999995e-01 -1.92573143e-06 4.78726718e-01] [-7.73115514e-04 1.84511602e-06 9.99999701e-01 -2.48350885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.234203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.88, Y:0.48, Z:-0.25 [[ 9.99999696e-01 1.04274182e-04 7.73115272e-04 2.78807460e+01] [-1.04272710e-04 9.99999995e-01 -1.94397011e-06 4.78648798e-01] [-7.73115470e-04 1.86335469e-06 9.99999701e-01 -2.48374843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.91, Y:0.48, Z:-0.25 [[ 9.99999060e-01 1.13222007e-03 7.73115272e-04 2.79109743e+01] [-1.13221891e-03 9.99999359e-01 -1.94397011e-06 4.76175582e-01] [-7.73116977e-04 1.06863255e-06 9.99999701e-01 -2.52020609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.294203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.94, Y:0.47, Z:-0.25 [[ 9.99996625e-01 2.48022247e-03 7.73115182e-04 2.79410881e+01] [-2.48022168e-03 9.99996924e-01 -1.97899686e-06 4.74419106e-01] [-7.73117713e-04 6.14931466e-08 9.99999701e-01 -2.52983962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.97, Y:0.47, Z:-0.25 [[ 9.99977060e-01 6.72923142e-03 7.73115182e-04 2.79716993e+01] [-6.72923190e-03 9.99977358e-01 -1.97899686e-06 4.73794251e-01] [-7.73110995e-04 -3.22351989e-06 9.99999701e-01 -2.53884776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.354203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.00, Y:0.48, Z:-0.26 [[ 9.99926326e-01 1.21138106e-02 7.73115182e-04 2.80013542e+01] [-1.21138127e-02 9.99926625e-01 -1.97899686e-06 4.76055454e-01] [-7.73082428e-04 -7.38652144e-06 9.99999701e-01 -2.60248147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.03, Y:0.48, Z:-0.26 [[ 9.99897047e-01 1.43281842e-02 7.73115206e-04 2.80301956e+01] [-1.43281870e-02 9.99897346e-01 -1.96987544e-06 4.76310719e-01] [-7.73064067e-04 -9.10766657e-06 9.99999701e-01 -2.57869726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.06, Y:0.48, Z:-0.26 [[ 9.99868834e-01 1.61776605e-02 7.73115296e-04 2.80596371e+01] [-1.61776638e-02 9.99869133e-01 -1.93371681e-06 4.77042879e-01] [-7.73045404e-04 -1.05737362e-05 9.99999701e-01 -2.56625739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.09, Y:0.48, Z:-0.25 [[ 9.99818278e-01 1.90476388e-02 7.73115341e-04 2.80895136e+01] [-1.90476430e-02 9.99818577e-01 -1.91565413e-06 4.81976836e-01] [-7.73011569e-04 -1.28107190e-05 9.99999701e-01 -2.52382499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.474203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.12, Y:0.48, Z:-0.25 [[ 9.99799791e-01 1.99945075e-02 7.73115385e-04 2.81182866e+01] [-1.99945120e-02 9.99800090e-01 -1.89743891e-06 4.83338117e-01] [-7.72998770e-04 -1.35610058e-05 9.99999701e-01 -2.49054109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.15, Y:0.48, Z:-0.25 [[ 9.99795888e-01 2.01887178e-02 7.73115476e-04 2.81472362e+01] [-2.01887224e-02 9.99796187e-01 -1.85961418e-06 4.82873122e-01] [-7.72995449e-04 -1.37489791e-05 9.99999701e-01 -2.48092654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.534203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.18, Y:0.48, Z:-0.25 [[ 9.99812154e-01 1.93664607e-02 7.73115543e-04 2.81760817e+01] [-1.93664651e-02 9.99812452e-01 -1.83137477e-06 4.84182395e-01] [-7.73006015e-04 -1.31414844e-05 9.99999701e-01 -2.45661435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.20, Y:0.49, Z:-0.25 [[ 9.99837393e-01 1.80163896e-02 7.73115630e-04 2.82043270e+01] [-1.80163936e-02 9.99837692e-01 -1.79420737e-06 4.86752021e-01] [-7.73022472e-04 -1.21348398e-05 9.99999701e-01 -2.46354307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.594203822000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:28.23, Y:0.49, Z:-0.25 [[ 9.99889358e-01 1.48551019e-02 7.73115734e-04 2.82338147e+01] [-1.48551050e-02 9.99889657e-01 -1.74798725e-06 4.90424719e-01] [-7.73056393e-04 -9.73692155e-06 9.99999701e-01 -2.46308141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.26, Y:0.49, Z:-0.25 [[ 9.99919718e-01 1.26475219e-02 7.73115775e-04 2.82635413e+01] [-1.26475244e-02 9.99920017e-01 -1.72947731e-06 4.90681236e-01] [-7.73075813e-04 -8.04866216e-06 9.99999701e-01 -2.46903833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.654203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.29, Y:0.49, Z:-0.25 [[ 9.99964415e-01 8.40063514e-03 7.73115816e-04 2.82921593e+01] [-8.40063633e-03 9.99964714e-01 -1.71103607e-06 4.89548442e-01] [-7.73102910e-04 -4.78368963e-06 9.99999701e-01 -2.45986697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.32, Y:0.49, Z:-0.25 [[ 9.99978071e-01 6.57719061e-03 7.73115865e-04 2.83210591e+01] [-6.57719127e-03 9.99978370e-01 -1.68870282e-06 4.89490957e-01] [-7.73110250e-04 -3.39626513e-06 9.99999701e-01 -2.49091359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.35, Y:0.49, Z:-0.25 [[ 9.99988783e-01 4.67289659e-03 7.73115923e-04 2.83501303e+01] [-4.67289671e-03 9.99989082e-01 -1.66155880e-06 4.89888721e-01] [-7.73115247e-04 -1.95115069e-06 9.99999701e-01 -2.51394216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.38, Y:0.49, Z:-0.25 [[ 9.99995530e-01 2.88842678e-03 7.73115942e-04 2.83804726e+01] [-2.88842636e-03 9.99995828e-01 -1.65284809e-06 4.89599980e-01] [-7.73117491e-04 -5.80247770e-07 9.99999701e-01 -2.50209338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.774203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.41, Y:0.49, Z:-0.25 [[ 9.99999192e-01 -1.00958986e-03 7.73115942e-04 2.84105935e+01] [ 1.00959144e-03 9.99999490e-01 -1.65284809e-06 4.89767949e-01] [-7.73113879e-04 2.43337799e-06 9.99999701e-01 -2.48225064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.44, Y:0.49, Z:-0.25 [[ 9.99996246e-01 -2.62863135e-03 7.73115942e-04 2.84423634e+01] [ 2.62863341e-03 9.99996545e-01 -1.65284809e-06 4.89752098e-01] [-7.73108926e-04 3.68508028e-06 9.99999701e-01 -2.46571845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.834203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.47, Y:0.49, Z:-0.25 [[ 9.99980746e-01 -6.15703564e-03 7.73115903e-04 2.84733200e+01] [ 6.15703877e-03 9.99981045e-01 -1.67095503e-06 4.86939751e-01] [-7.73090961e-04 6.43102745e-06 9.99999701e-01 -2.50046374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.51, Y:0.49, Z:-0.25 [[ 9.99972884e-01 -7.32352933e-03 7.73115892e-04 2.85052044e+01] [ 7.32353281e-03 9.99973183e-01 -1.67595629e-06 4.85012964e-01] [-7.73082885e-04 7.33785045e-06 9.99999701e-01 -2.52178669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.894203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.54, Y:0.48, Z:-0.25 [[ 9.99971111e-01 -7.56172222e-03 7.73115832e-04 2.85375380e+01] [ 7.56172580e-03 9.99971410e-01 -1.70315310e-06 4.80437526e-01] [-7.73080850e-04 7.54919383e-06 9.99999701e-01 -2.50670507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924203822000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:28.57, Y:0.48, Z:-0.25 [[ 9.99977552e-01 -6.65567085e-03 7.73115749e-04 2.85700881e+01] [ 6.65567419e-03 9.99977851e-01 -1.74021370e-06 4.77490671e-01] [-7.73087042e-04 6.88578117e-06 9.99999701e-01 -2.49753078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.954203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.60, Y:0.47, Z:-0.25 [[ 9.99981069e-01 -6.10435617e-03 7.73115663e-04 2.86014959e+01] [ 6.10435937e-03 9.99981368e-01 -1.77729519e-06 4.74665342e-01] [-7.73090410e-04 6.49663739e-06 9.99999701e-01 -2.50921507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984203822000005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:28.63, Y:0.47, Z:-0.25 [[ 9.99984809e-01 -5.45752043e-03 7.73115599e-04 2.86331254e+01] [ 5.45752345e-03 9.99985108e-01 -1.80507447e-06 4.72887875e-01] [-7.73094234e-04 6.02434356e-06 9.99999701e-01 -2.50135034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.014203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.66, Y:0.47, Z:-0.25 [[ 9.99987785e-01 -4.88179050e-03 7.73115512e-04 2.86646787e+01] [ 4.88179339e-03 9.99988084e-01 -1.84145604e-06 4.66882849e-01] [-7.73097310e-04 5.61562374e-06 9.99999701e-01 -2.48561571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.044203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:28.70, Y:0.46, Z:-0.25 [[ 9.99993996e-01 -3.37777687e-03 7.73115376e-04 2.86953163e+01] [ 3.37777935e-03 9.99994295e-01 -1.89687118e-06 4.59200233e-01] [-7.73104558e-04 4.50827295e-06 9.99999701e-01 -2.50898002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.074203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.73, Y:0.46, Z:-0.25 [[ 9.99996984e-01 -2.33116513e-03 7.73115332e-04 2.87265055e+01] [ 2.33116731e-03 9.99997283e-01 -1.91475901e-06 4.55831958e-01] [-7.73108767e-04 3.71701442e-06 9.99999701e-01 -2.48958556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.76, Y:0.45, Z:-0.26 [[ 9.99998793e-01 -1.34769603e-03 7.73115286e-04 2.87568105e+01] [ 1.34769793e-03 9.99999092e-01 -1.93311861e-06 4.51529377e-01] [-7.73111978e-04 2.97504215e-06 9.99999701e-01 -2.55154175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.79, Y:0.44, Z:-0.26 [[ 9.99996682e-01 2.45716401e-03 7.73115263e-04 2.87882365e+01] [-2.45716324e-03 9.99996981e-01 -1.94222568e-06 4.43077478e-01] [-7.73117701e-04 4.25488287e-08 9.99999701e-01 -2.56925560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.164203822000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:28.82, Y:0.44, Z:-0.26 [[ 9.99985250e-01 5.37609405e-03 7.73115217e-04 2.88185407e+01] [-5.37609414e-03 9.99985549e-01 -1.96025962e-06 4.41189629e-01] [-7.73114583e-04 -2.19610949e-06 9.99999701e-01 -2.58232470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.194203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.85, Y:0.44, Z:-0.25 [[ 9.99953938e-01 9.56677813e-03 7.73115143e-04 2.88492550e+01] [-9.56677945e-03 9.99954237e-01 -1.98911671e-06 4.38702529e-01] [-7.73098793e-04 -5.40719698e-06 9.99999701e-01 -2.51109432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22420382200001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:28.88, Y:0.44, Z:-0.25 [[ 9.99937453e-01 1.11575851e-02 7.73115143e-04 2.88792367e+01] [-1.11575869e-02 9.99937752e-01 -1.98911671e-06 4.36547230e-01] [-7.73089212e-04 -6.63710708e-06 9.99999701e-01 -2.50357325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.91, Y:0.43, Z:-0.25 [[ 9.99933623e-01 1.14957215e-02 7.73115121e-04 2.89083475e+01] [-1.14957234e-02 9.99933922e-01 -1.99749439e-06 4.32714309e-01] [-7.73086998e-04 -6.89015577e-06 9.99999701e-01 -2.52592157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.94, Y:0.43, Z:-0.26 [[ 9.99920533e-01 1.25829500e-02 7.73115194e-04 2.89367650e+01] [-1.25829522e-02 9.99920832e-01 -1.96891962e-06 4.26399903e-01] [-7.73078763e-04 -7.75930841e-06 9.99999701e-01 -2.57323131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.97, Y:0.43, Z:-0.25 [[ 9.99903011e-01 1.39058159e-02 7.73115240e-04 2.89661908e+01] [-1.39058185e-02 9.99903309e-01 -1.95051071e-06 4.26488284e-01] [-7.73067611e-04 -8.80047869e-06 9.99999701e-01 -2.54064575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.344203822000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:29.00, Y:0.43, Z:-0.25 [[ 9.99869889e-01 1.61123568e-02 7.73115286e-04 2.89950262e+01] [-1.61123601e-02 9.99870187e-01 -1.93218514e-06 4.27673592e-01] [-7.73046058e-04 -1.05247781e-05 9.99999701e-01 -2.53138391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.374203822000005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:29.02, Y:0.43, Z:-0.25 [[ 9.99803741e-01 1.97959923e-02 7.73115376e-04 2.90244951e+01] [-1.97959967e-02 9.99804040e-01 -1.89563226e-06 4.27651689e-01] [-7.73001402e-04 -1.34093292e-05 9.99999701e-01 -2.49076507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.40420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.05, Y:0.43, Z:-0.25 [[ 9.99778771e-01 2.10193067e-02 7.73115421e-04 2.90545053e+01] [-2.10193116e-02 9.99779070e-01 -1.87708965e-06 4.25044320e-01] [-7.72984072e-04 -1.43736795e-05 9.99999701e-01 -2.48401660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.08, Y:0.42, Z:-0.25 [[ 9.99794601e-01 2.02523535e-02 7.73115465e-04 2.90833409e+01] [-2.02523581e-02 9.99794900e-01 -1.85855229e-06 4.22991655e-01] [-7.72994540e-04 -1.37992407e-05 9.99999701e-01 -2.52462148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.11, Y:0.42, Z:-0.25 [[ 9.99833737e-01 1.82181411e-02 7.73115531e-04 2.91127336e+01] [-1.82181451e-02 9.99834036e-01 -1.83084616e-06 4.20385658e-01] [-7.73020576e-04 -1.22541892e-05 9.99999701e-01 -2.48787105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.494203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:29.14, Y:0.42, Z:-0.24 [[ 9.99910758e-01 1.33370695e-02 7.73115575e-04 2.91425499e+01] [-1.33370721e-02 9.99911057e-01 -1.81231529e-06 4.17132509e-01] [-7.73070983e-04 -8.49894457e-06 9.99999701e-01 -2.43847139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.17, Y:0.42, Z:-0.24 [[ 9.99940390e-01 1.08911902e-02 7.73115618e-04 2.91713793e+01] [-1.08911921e-02 9.99940689e-01 -1.79374916e-06 4.16478662e-01] [-7.73089300e-04 -6.62650843e-06 9.99999701e-01 -2.44506684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.554203822000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:29.20, Y:0.41, Z:-0.25 [[ 9.99967323e-01 8.04712004e-03 7.73115681e-04 2.92011803e+01] [-8.04712108e-03 9.99967621e-01 -1.76607608e-06 4.14546221e-01] [-7.73104860e-04 -4.45533713e-06 9.99999701e-01 -2.47980022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.23, Y:0.41, Z:-0.25 [[ 9.99968287e-01 7.92636294e-03 7.73115702e-04 2.92317701e+01] [-7.92636395e-03 9.99968586e-01 -1.75695719e-06 4.13039941e-01] [-7.73105341e-04 -4.37109495e-06 9.99999701e-01 -2.48440157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.614203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:29.26, Y:0.41, Z:-0.25 [[ 9.99958034e-01 9.12870068e-03 7.73115702e-04 2.92618493e+01] [-9.12870205e-03 9.99958333e-01 -1.75695719e-06 4.12312071e-01] [-7.73099527e-04 -5.30065943e-06 9.99999701e-01 -2.48477647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.29, Y:0.41, Z:-0.25 [[ 9.99907999e-01 1.35423647e-02 7.73115702e-04 2.92915437e+01] [-1.35423674e-02 9.99908298e-01 -1.75695719e-06 4.10706594e-01] [-7.73068599e-04 -8.71302130e-06 9.99999701e-01 -2.52381713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.32, Y:0.41, Z:-0.26 [[ 9.99808399e-01 1.95593537e-02 7.73115723e-04 2.93201350e+01] [-1.95593582e-02 9.99808697e-01 -1.74766241e-06 4.11185863e-01] [-7.73002007e-04 -1.33743198e-05 9.99999701e-01 -2.59038811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.35, Y:0.41, Z:-0.26 [[ 9.99747558e-01 2.24549039e-02 7.73115784e-04 2.93495639e+01] [-2.24549093e-02 9.99747857e-01 -1.72024877e-06 4.12069165e-01] [-7.72959476e-04 -1.56404303e-05 9.99999701e-01 -2.57612064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.734203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.38, Y:0.41, Z:-0.26 [[ 9.99695105e-01 2.46799485e-02 7.73115824e-04 2.93779967e+01] [-2.46799546e-02 9.99695404e-01 -1.70201714e-06 4.13813090e-01] [-7.72922341e-04 -1.73789652e-05 9.99999701e-01 -2.56289865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.41, Y:0.42, Z:-0.26 [[ 9.99626189e-01 2.73292067e-02 7.73115904e-04 2.94065124e+01] [-2.73292136e-02 9.99626487e-01 -1.66487330e-06 4.18435840e-01] [-7.72872635e-04 -1.94643987e-05 9.99999701e-01 -2.59697903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.44, Y:0.42, Z:-0.26 [[ 9.99629672e-01 2.72014915e-02 7.73115963e-04 2.94365317e+01] [-2.72014984e-02 9.99629971e-01 -1.63708323e-06 4.19905383e-01] [-7.72874418e-04 -1.93934356e-05 9.99999701e-01 -2.61276123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.47, Y:0.42, Z:-0.26 [[ 9.99684642e-01 2.51001641e-02 7.73116001e-04 2.94658823e+01] [-2.51001703e-02 9.99684941e-01 -1.61864199e-06 4.21514609e-01] [-7.72913052e-04 -1.77872118e-05 9.99999701e-01 -2.58406232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.50, Y:0.42, Z:-0.26 [[ 9.99717967e-01 2.37358286e-02 7.73116040e-04 2.94952991e+01] [-2.37358345e-02 9.99718265e-01 -1.59968116e-06 4.22248693e-01] [-7.72936197e-04 -1.67513244e-05 9.99999701e-01 -2.58092855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.52, Y:0.42, Z:-0.26 [[ 9.99743671e-01 2.26272908e-02 7.73116079e-04 2.95238117e+01] [-2.26272963e-02 9.99743970e-01 -1.58077478e-06 4.23283420e-01] [-7.72953907e-04 -1.59131570e-05 9.99999701e-01 -2.59071317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.914203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.55, Y:0.42, Z:-0.26 [[ 9.99767302e-01 2.15579300e-02 7.73116136e-04 2.95532353e+01] [-2.15579353e-02 9.99767601e-01 -1.55251101e-06 4.24096815e-01] [-7.72969933e-04 -1.51146379e-05 9.99999701e-01 -2.58650672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.58, Y:0.43, Z:-0.26 [[ 9.99801112e-01 1.99283549e-02 7.73116173e-04 2.95820235e+01] [-1.99283597e-02 9.99801411e-01 -1.53384870e-06 4.27997117e-01] [-7.72993207e-04 -1.38733935e-05 9.99999701e-01 -2.55838051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.97420382200001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:29.61, Y:0.43, Z:-0.25 [[ 9.99822864e-01 1.88053830e-02 7.73116227e-04 2.96106077e+01] [-1.88053875e-02 9.99823163e-01 -1.50605077e-06 4.33053346e-01] [-7.73007833e-04 -1.30329662e-05 9.99999701e-01 -2.54990943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.004203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:29.64, Y:0.43, Z:-0.26 [[ 9.99841295e-01 1.77985313e-02 7.73116279e-04 2.96407317e+01] [-1.77985355e-02 9.99841594e-01 -1.47882619e-06 4.34054812e-01] [-7.73020133e-04 -1.22817460e-05 9.99999701e-01 -2.55052701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.67, Y:0.43, Z:-0.26 [[ 9.99876618e-01 1.56891728e-02 7.73116326e-04 2.96705629e+01] [-1.56891763e-02 9.99876917e-01 -1.45405220e-06 4.34509625e-01] [-7.73043981e-04 -1.06756855e-05 9.99999701e-01 -2.57984572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.70, Y:0.44, Z:-0.26 [[ 9.99935830e-01 1.13021300e-02 7.73116360e-04 2.97004648e+01] [-1.13021323e-02 9.99936129e-01 -1.43557604e-06 4.35058920e-01] [-7.73083205e-04 -7.30237946e-06 9.99999701e-01 -2.61518073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.73, Y:0.43, Z:-0.26 [[ 9.99960970e-01 8.80122629e-03 7.73116340e-04 2.97304040e+01] [-8.80122781e-03 9.99961268e-01 -1.44611642e-06 4.33868021e-01] [-7.73099124e-04 -5.35831306e-06 9.99999701e-01 -2.56629759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.124203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.76, Y:0.43, Z:-0.25 [[ 9.99989993e-01 4.40633076e-03 7.73116375e-04 2.97605386e+01] [-4.40633097e-03 9.99990292e-01 -1.42743688e-06 4.34225624e-01] [-7.73115159e-04 -1.97918403e-06 9.99999701e-01 -2.49930861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.15420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.79, Y:0.43, Z:-0.25 [[ 9.99989993e-01 4.40633075e-03 7.73116392e-04 2.97915298e+01] [-4.40633097e-03 9.99990292e-01 -1.41791468e-06 4.34168779e-01] [-7.73115135e-04 -1.98870621e-06 9.99999701e-01 -2.49954822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.82, Y:0.44, Z:-0.25 [[ 9.99994358e-01 3.26906131e-03 7.73116392e-04 2.98220925e+01] [-3.26906119e-03 9.99994657e-01 -1.41791468e-06 4.37159255e-01] [-7.73116896e-04 -1.10945811e-06 9.99999701e-01 -2.49057140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.85, Y:0.44, Z:-0.25 [[ 9.99996797e-01 2.41003603e-03 7.73116392e-04 2.98524861e+01] [-2.41003565e-03 9.99997096e-01 -1.41791468e-06 4.38514139e-01] [-7.73117564e-04 -4.45327927e-07 9.99999701e-01 -2.51663931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.244203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:29.88, Y:0.44, Z:-0.25 [[ 9.99999033e-01 1.15632398e-03 7.73116375e-04 2.98827485e+01] [-1.15632323e-03 9.99999331e-01 -1.42734425e-06 4.36008193e-01] [-7.73117508e-04 5.33370445e-07 9.99999701e-01 -2.51283671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.91, Y:0.44, Z:-0.25 [[ 9.99999509e-01 6.20551613e-04 7.73116375e-04 2.99131015e+01] [-6.20550695e-04 9.99999807e-01 -1.42734425e-06 4.36304356e-01] [-7.73117112e-04 9.47585641e-07 9.99999701e-01 -2.49967959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.304203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.94, Y:0.44, Z:-0.25 [[ 9.99999338e-01 8.52677905e-04 7.73116375e-04 2.99433575e+01] [-8.52677056e-04 9.99999636e-01 -1.42734425e-06 4.36983391e-01] [-7.73117311e-04 7.68124706e-07 9.99999701e-01 -2.52024936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.334203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.97, Y:0.44, Z:-0.25 [[ 9.99998064e-01 1.80956808e-03 7.73116357e-04 2.99741712e+01] [-1.80956751e-03 9.99998363e-01 -1.43667219e-06 4.37519724e-01] [-7.73117691e-04 3.76631625e-08 9.99999701e-01 -2.53199022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.00, Y:0.44, Z:-0.25 [[ 9.99997320e-01 2.18246990e-03 7.73116357e-04 3.00046198e+01] [-2.18246944e-03 9.99997618e-01 -1.43667219e-06 4.37377654e-01] [-7.73117652e-04 -2.50634493e-07 9.99999701e-01 -2.51626987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.03, Y:0.44, Z:-0.25 [[ 9.99997406e-01 2.14260203e-03 7.73116357e-04 3.00349074e+01] [-2.14260156e-03 9.99997705e-01 -1.43667219e-06 4.36124909e-01] [-7.73117661e-04 -2.19811852e-07 9.99999701e-01 -2.52129591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.424203822 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:30.07, Y:0.43, Z:-0.25 [[ 9.99998253e-01 1.70211007e-03 7.73116340e-04 3.00656577e+01] [-1.70210946e-03 9.99998551e-01 -1.44596849e-06 4.33896126e-01] [-7.73117681e-04 1.30037328e-07 9.99999701e-01 -2.52141061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.454203822000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:30.10, Y:0.43, Z:-0.25 [[ 9.99997972e-01 1.85976609e-03 7.73116323e-04 3.00959635e+01] [-1.85976552e-03 9.99998271e-01 -1.45510023e-06 4.33957982e-01] [-7.73117692e-04 1.72821986e-08 9.99999701e-01 -2.51280037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.484203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.13, Y:0.43, Z:-0.25 [[ 9.99997621e-01 2.03946173e-03 7.73116323e-04 3.01263038e+01] [-2.03946122e-03 9.99997920e-01 -1.45510023e-06 4.34460119e-01] [-7.73117683e-04 -1.21643989e-07 9.99999701e-01 -2.51798658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.514203822000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:30.16, Y:0.43, Z:-0.25 [[ 9.99995777e-01 2.80148210e-03 7.73116323e-04 3.01564185e+01] [-2.80148181e-03 9.99996076e-01 -1.45510023e-06 4.34726901e-01] [-7.73117365e-04 -7.10777233e-07 9.99999701e-01 -2.49759946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.19, Y:0.43, Z:-0.25 [[ 9.99985320e-01 5.36307223e-03 7.73116323e-04 3.01866361e+01] [-5.36307271e-03 9.99985619e-01 -1.45510023e-06 4.33858819e-01] [-7.73113008e-04 -2.69120018e-06 9.99999701e-01 -2.48537906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.574203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:30.22, Y:0.43, Z:-0.25 [[ 9.99972871e-01 7.32529484e-03 7.73116305e-04 3.02160047e+01] [-7.32529590e-03 9.99973170e-01 -1.46448273e-06 4.31778788e-01] [-7.73106290e-04 -4.19886270e-06 9.99999701e-01 -2.52088156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.25, Y:0.43, Z:-0.26 [[ 9.99956868e-01 9.25545582e-03 7.73116322e-04 3.02467536e+01] [-9.25545746e-03 9.99957167e-01 -1.45551734e-06 4.28580647e-01] [-7.73096679e-04 -5.70009067e-06 9.99999701e-01 -2.55007503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.634203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:30.28, Y:0.43, Z:-0.25 [[ 9.99904180e-01 1.38215012e-02 7.73116322e-04 3.02762515e+01] [-1.38215042e-02 9.99904478e-01 -1.45551734e-06 4.30004511e-01] [-7.73062590e-04 -9.23025259e-06 9.99999701e-01 -2.54534730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.664203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.31, Y:0.43, Z:-0.25 [[ 9.99867846e-01 1.62386055e-02 7.73116356e-04 3.03055554e+01] [-1.62386092e-02 9.99868145e-01 -1.43713152e-06 4.33679971e-01] [-7.73037754e-04 -1.11173928e-05 9.99999701e-01 -2.53763552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.694203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.33, Y:0.44, Z:-0.25 [[ 9.99821141e-01 1.88967646e-02 7.73116390e-04 3.03342705e+01] [-1.88967692e-02 9.99821440e-01 -1.41884027e-06 4.36777329e-01] [-7.73005154e-04 -1.31908155e-05 9.99999701e-01 -2.50251290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.36, Y:0.44, Z:-0.25 [[ 9.99751550e-01 2.22764381e-02 7.73116440e-04 3.03630114e+01] [-2.22764437e-02 9.99751849e-01 -1.39077884e-06 4.37648440e-01] [-7.72955572e-04 -1.58318516e-05 9.99999701e-01 -2.49323402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.39, Y:0.44, Z:-0.25 [[ 9.99731781e-01 2.31466822e-02 7.73116490e-04 3.03922609e+01] [-2.31466880e-02 9.99732080e-01 -1.36270607e-06 4.36824206e-01] [-7.72940898e-04 -1.65327456e-05 9.99999701e-01 -2.48413107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.42, Y:0.44, Z:-0.25 [[ 9.99713824e-01 2.39096869e-02 7.73116550e-04 3.04215106e+01] [-2.39096930e-02 9.99714122e-01 -1.32747939e-06 4.35649356e-01] [-7.72927273e-04 -1.71578799e-05 9.99999701e-01 -2.48230800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.45, Y:0.43, Z:-0.25 [[ 9.99694088e-01 2.47210859e-02 7.73116611e-04 3.04515412e+01] [-2.47210923e-02 9.99694387e-01 -1.29135059e-06 4.34545567e-01] [-7.72912260e-04 -1.78213316e-05 9.99999701e-01 -2.49217556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.48, Y:0.44, Z:-0.25 [[ 9.99683985e-01 2.51263344e-02 7.73116641e-04 3.04789321e+01] [-2.51263409e-02 9.99684284e-01 -1.27281970e-06 4.35848220e-01] [-7.72904537e-04 -1.81531748e-05 9.99999701e-01 -2.50328170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.874203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.51, Y:0.44, Z:-0.25 [[ 9.99677705e-01 2.53749383e-02 7.73116714e-04 3.05071301e+01] [-2.53749449e-02 9.99678004e-01 -1.22688033e-06 4.38005105e-01] [-7.72898906e-04 -1.83913091e-05 9.99999701e-01 -2.53441516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.54, Y:0.44, Z:-0.25 [[ 9.99700369e-01 2.44657732e-02 7.73116704e-04 3.05359558e+01] [-2.44657796e-02 9.99700668e-01 -1.23283869e-06 4.39799147e-01] [-7.72915448e-04 -1.76824336e-05 9.99999701e-01 -2.49269672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.57, Y:0.44, Z:-0.25 [[ 9.99745244e-01 2.25576911e-02 7.73116761e-04 3.05652648e+01] [-2.25576969e-02 9.99745543e-01 -1.19643995e-06 4.39274833e-01] [-7.72947025e-04 -1.62435984e-05 9.99999701e-01 -2.47581199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.964203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:30.59, Y:0.44, Z:-0.25 [[ 9.99791512e-01 2.04042643e-02 7.73116789e-04 3.05934430e+01] [-2.04042695e-02 9.99791811e-01 -1.17772051e-06 4.39012398e-01] [-7.72979866e-04 -1.45974083e-05 9.99999701e-01 -2.47818301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.994203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:30.62, Y:0.44, Z:-0.25 [[ 9.99846404e-01 1.75091510e-02 7.73116780e-04 3.06227915e+01] [-1.75091553e-02 9.99846703e-01 -1.18403752e-06 4.38282505e-01] [-7.73018995e-04 -1.23527661e-05 9.99999701e-01 -2.47602824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.65, Y:0.44, Z:-0.25 [[ 9.99934259e-01 1.14402790e-02 7.73116807e-04 3.06509847e+01] [-1.14402815e-02 9.99934558e-01 -1.16572460e-06 4.36547447e-01] [-7.73079549e-04 -7.67902592e-06 9.99999701e-01 -2.47227235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.054203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.68, Y:0.44, Z:-0.25 [[ 9.99961007e-01 8.79700066e-03 7.73116847e-04 3.06804275e+01] [-8.79700241e-03 9.99961306e-01 -1.13848312e-06 4.35242675e-01] [-7.73096947e-04 -5.66267204e-06 9.99999701e-01 -2.45602722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.084203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.71, Y:0.43, Z:-0.25 [[ 9.99975920e-01 6.89656782e-03 7.73116875e-04 3.07102793e+01] [-6.89656901e-03 9.99976218e-01 -1.11967671e-06 4.34197159e-01] [-7.73106211e-04 -4.21220413e-06 9.99999701e-01 -2.48695816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.74, Y:0.43, Z:-0.25 [[ 9.99981855e-01 5.97428421e-03 7.73116888e-04 3.07406637e+01] [-5.97428514e-03 9.99982154e-01 -1.11034233e-06 4.31602146e-01] [-7.73109724e-04 -3.50849855e-06 9.99999701e-01 -2.49642248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.77, Y:0.43, Z:-0.25 [[ 9.99978987e-01 6.43649794e-03 7.73116888e-04 3.07702654e+01] [-6.43649901e-03 9.99979286e-01 -1.11034233e-06 4.29509473e-01] [-7.73108020e-04 -3.86584709e-06 9.99999701e-01 -2.52928988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.174203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:30.80, Y:0.43, Z:-0.25 [[ 9.99972035e-01 7.43850579e-03 7.73116870e-04 3.08010804e+01] [-7.43850715e-03 9.99972334e-01 -1.12265660e-06 4.28320909e-01] [-7.73103832e-04 -4.62821016e-06 9.99999701e-01 -2.53623957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.83, Y:0.43, Z:-0.25 [[ 9.99961641e-01 8.72456682e-03 7.73116870e-04 3.08308109e+01] [-8.72456856e-03 9.99961940e-01 -1.12265660e-06 4.28343624e-01] [-7.73097240e-04 -5.62249761e-06 9.99999701e-01 -2.53907533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.234203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.86, Y:0.43, Z:-0.25 [[ 9.99932429e-01 1.15991478e-02 7.73116896e-04 3.08608898e+01] [-1.15991504e-02 9.99932728e-01 -1.10424765e-06 4.28204543e-01] [-7.73077695e-04 -7.86332615e-06 9.99999701e-01 -2.54233297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.264203822000006 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:30.89, Y:0.43, Z:-0.25 [[ 9.99910526e-01 1.33545180e-02 7.73116922e-04 3.08906073e+01] [-1.33545211e-02 9.99910824e-01 -1.08595006e-06 4.26579851e-01] [-7.73062481e-04 -9.23875338e-06 9.99999701e-01 -2.52588684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.294203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:30.92, Y:0.42, Z:-0.26 [[ 9.99893690e-01 1.45605644e-02 7.73116948e-04 3.09197019e+01] [-1.45605679e-02 9.99893989e-01 -1.06743486e-06 4.24858227e-01] [-7.73050531e-04 -1.01897004e-05 9.99999701e-01 -2.56227899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.95, Y:0.42, Z:-0.25 [[ 9.99876889e-01 1.56719063e-02 7.73116977e-04 3.09497228e+01] [-1.56719102e-02 9.99877188e-01 -1.04603963e-06 4.24304672e-01] [-7.73038422e-04 -1.10703090e-05 9.99999701e-01 -2.53346639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.98, Y:0.43, Z:-0.26 [[ 9.99840265e-01 1.78562793e-02 7.73117001e-04 3.09782028e+01] [-1.78562838e-02 9.99840564e-01 -1.02746821e-06 4.25211211e-01] [-7.73012085e-04 -1.27776925e-05 9.99999701e-01 -2.55257729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.01, Y:0.42, Z:-0.26 [[ 9.99829424e-01 1.84533443e-02 7.73117025e-04 3.10072374e+01] [-1.84533490e-02 9.99829722e-01 -1.00900492e-06 4.24334453e-01] [-7.73004000e-04 -1.32577655e-05 9.99999701e-01 -2.56373840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.04, Y:0.42, Z:-0.25 [[ 9.99821087e-01 1.88996506e-02 7.73117060e-04 3.10370840e+01] [-1.88996555e-02 9.99821386e-01 -9.81657701e-07 4.22835882e-01] [-7.72997523e-04 -1.36301640e-05 9.99999701e-01 -2.54641398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.07, Y:0.42, Z:-0.25 [[ 9.99824524e-01 1.87169103e-02 7.73117082e-04 3.10671853e+01] [-1.87169152e-02 9.99824823e-01 -9.63737740e-07 4.22244689e-01] [-7.72999688e-04 -1.35067982e-05 9.99999701e-01 -2.49531069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.47420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.10, Y:0.42, Z:-0.25 [[ 9.99833821e-01 1.82135291e-02 7.73117105e-04 3.10966824e+01] [-1.82135339e-02 9.99834120e-01 -9.45039653e-07 4.22321939e-01] [-7.73006073e-04 -1.31363120e-05 9.99999701e-01 -2.49628379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.13, Y:0.42, Z:-0.25 [[ 9.99854046e-01 1.70672112e-02 7.73117128e-04 3.11253682e+01] [-1.70672156e-02 9.99854344e-01 -9.26254790e-07 4.21078760e-01] [-7.73020328e-04 -1.22688371e-05 9.99999701e-01 -2.51490862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.534203822 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:31.16, Y:0.42, Z:-0.25 [[ 9.99905961e-01 1.36920246e-02 7.73117160e-04 3.11553984e+01] [-1.36920280e-02 9.99906260e-01 -8.98164043e-07 4.15400033e-01] [-7.73056986e-04 -9.68746225e-06 9.99999701e-01 -2.50228583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.19, Y:0.41, Z:-0.25 [[ 9.99928198e-01 1.19583280e-02 7.73117181e-04 3.11852403e+01] [-1.19583309e-02 9.99928497e-01 -8.79861339e-07 4.13694633e-01] [-7.73072422e-04 -8.36539291e-06 9.99999701e-01 -2.49338288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.594203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.22, Y:0.41, Z:-0.25 [[ 9.99945546e-01 1.04070484e-02 7.73117202e-04 3.12151674e+01] [-1.04070509e-02 9.99945845e-01 -8.61289915e-07 4.12087546e-01] [-7.73084297e-04 -7.18462704e-06 9.99999701e-01 -2.50823024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.624203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.24, Y:0.41, Z:-0.25 [[ 9.99980658e-01 6.17135018e-03 7.73117212e-04 3.12447848e+01] [-6.17135136e-03 9.99980957e-01 -8.52023279e-07 4.07560235e-01] [-7.73107748e-04 -3.91917116e-06 9.99999701e-01 -2.48538597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.65420382200001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:31.28, Y:0.41, Z:-0.24 [[ 9.99989325e-01 4.55547000e-03 7.73117232e-04 3.12750728e+01] [-4.55547071e-03 9.99989624e-01 -8.33923260e-07 4.06316861e-01] [-7.73113009e-04 -2.68799855e-06 9.99999701e-01 -2.44410347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.30, Y:0.41, Z:-0.25 [[ 9.99996010e-01 2.71717094e-03 7.73117232e-04 3.13045536e+01] [-2.71717111e-03 9.99996308e-01 -8.33923260e-07 4.05231483e-01] [-7.73116644e-04 -1.26677187e-06 9.99999701e-01 -2.45233510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.34, Y:0.40, Z:-0.25 [[ 9.99999642e-01 3.43105420e-04 7.73117242e-04 3.13353312e+01] [-3.43104885e-04 9.99999941e-01 -8.24565642e-07 4.00499500e-01] [-7.73117479e-04 5.59305044e-07 9.99999701e-01 -2.45013619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.37, Y:0.40, Z:-0.24 [[ 9.99999689e-01 -1.54748628e-04 7.73117232e-04 3.13659868e+01] [ 1.54749319e-04 9.99999988e-01 -8.33763174e-07 3.96672725e-01] [-7.73117093e-04 9.53402280e-07 9.99999701e-01 -2.44933379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.774203822000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:31.40, Y:0.39, Z:-0.25 [[ 9.99999701e-01 -7.80774889e-07 7.73117232e-04 3.13965857e+01] [ 7.81419585e-07 1.00000000e+00 -8.33763174e-07 3.92639461e-01] [-7.73117231e-04 8.34367054e-07 9.99999701e-01 -2.45830033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.804203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.43, Y:0.39, Z:-0.25 [[ 9.99997992e-01 1.84885467e-03 7.73117222e-04 3.14265633e+01] [-1.84885457e-03 9.99998291e-01 -8.43085183e-07 3.87833799e-01] [-7.73117459e-04 -5.86297816e-07 9.99999701e-01 -2.45142159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.834203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.46, Y:0.39, Z:-0.24 [[ 9.99993146e-01 3.62089718e-03 7.73117193e-04 3.14571284e+01] [-3.62089759e-03 9.99993445e-01 -8.68235413e-07 3.87189371e-01] [-7.73115269e-04 -1.93114872e-06 9.99999701e-01 -2.40235696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.49, Y:0.39, Z:-0.24 [[ 9.99979946e-01 6.28562705e-03 7.73117193e-04 3.14874230e+01] [-6.28562826e-03 9.99980245e-01 -8.68235413e-07 3.85770556e-01] [-7.73107378e-04 -3.99130928e-06 9.99999701e-01 -2.41683530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.52, Y:0.38, Z:-0.25 [[ 9.99954360e-01 9.52263822e-03 7.73117183e-04 3.15170464e+01] [-9.52264039e-03 9.99954659e-01 -8.77723491e-07 3.83351404e-01] [-7.73090487e-04 -6.48443347e-06 9.99999701e-01 -2.45394303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.55, Y:0.38, Z:-0.25 [[ 9.99871952e-01 1.59838009e-02 7.73117193e-04 3.15469721e+01] [-1.59838050e-02 9.99872251e-01 -8.68388468e-07 3.80509191e-01] [-7.73032308e-04 -1.14890772e-05 9.99999701e-01 -2.47361695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.954203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.58, Y:0.38, Z:-0.25 [[ 9.99816103e-01 1.91614615e-02 7.73117203e-04 3.15769027e+01] [-1.91614666e-02 9.99816402e-01 -8.59342544e-07 3.80344995e-01] [-7.72991727e-04 -1.39548749e-05 9.99999701e-01 -2.46351025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.984203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.61, Y:0.38, Z:-0.25 [[ 9.99756090e-01 2.20717674e-02 7.73117223e-04 3.16062945e+01] [-2.20717733e-02 9.99756389e-01 -8.40685519e-07 3.80605313e-01] [-7.72947439e-04 -1.62235876e-05 9.99999701e-01 -2.46585884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.014203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.64, Y:0.38, Z:-0.25 [[ 9.99659783e-01 2.60714464e-02 7.73117243e-04 3.16354685e+01] [-2.60714536e-02 9.99660082e-01 -8.21942101e-07 3.81857472e-01] [-7.72875876e-04 -1.93346279e-05 9.99999701e-01 -2.49864523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.67, Y:0.38, Z:-0.25 [[ 9.99660391e-01 2.60481260e-02 7.73117263e-04 3.16656234e+01] [-2.60481332e-02 9.99660690e-01 -8.03291653e-07 3.81872355e-01] [-7.72875860e-04 -1.93352426e-05 9.99999701e-01 -2.49887838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.69, Y:0.38, Z:-0.25 [[ 9.99633306e-01 2.70676044e-02 7.73117281e-04 3.16949074e+01] [-2.70676119e-02 9.99633605e-01 -7.85256151e-07 3.82311420e-01] [-7.72855270e-04 -2.01414703e-05 9.99999701e-01 -2.49599057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.72, Y:0.38, Z:-0.25 [[ 9.99618574e-01 2.76063177e-02 7.73117299e-04 3.17243556e+01] [-2.76063254e-02 9.99618873e-01 -7.67025698e-07 3.82108172e-01] [-7.72843818e-04 -2.05761946e-05 9.99999701e-01 -2.47393372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.75, Y:0.38, Z:-0.25 [[ 9.99615831e-01 2.77054541e-02 7.73117317e-04 3.17534873e+01] [-2.77054618e-02 9.99616130e-01 -7.48101608e-07 3.81802463e-01] [-7.72841267e-04 -2.06717581e-05 9.99999701e-01 -2.49598150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.164203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.78, Y:0.38, Z:-0.25 [[ 9.99663171e-01 2.59412332e-02 7.73117336e-04 3.17832317e+01] [-2.59412404e-02 9.99663469e-01 -7.27837978e-07 3.81920350e-01] [-7.72876040e-04 -1.93280298e-05 9.99999701e-01 -2.47837316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.194203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.81, Y:0.38, Z:-0.25 [[ 9.99695957e-01 2.46454210e-02 7.73117354e-04 3.18115350e+01] [-2.46454278e-02 9.99696255e-01 -7.09208730e-07 3.82456324e-01] [-7.72900002e-04 -1.83448148e-05 9.99999701e-01 -2.48539216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.84, Y:0.38, Z:-0.25 [[ 9.99727423e-01 2.33341326e-02 7.73117369e-04 3.18401417e+01] [-2.33341391e-02 9.99727722e-01 -6.91481327e-07 3.83015164e-01] [-7.72923002e-04 -1.73487354e-05 9.99999701e-01 -2.48872751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.87, Y:0.38, Z:-0.25 [[ 9.99787662e-01 2.05920538e-02 7.73117393e-04 3.18694504e+01] [-2.05920595e-02 9.99787961e-01 -6.63825606e-07 3.83996125e-01] [-7.72967132e-04 -1.52563947e-05 9.99999701e-01 -2.49334861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.90, Y:0.38, Z:-0.25 [[ 9.99819861e-01 1.89643955e-02 7.73117409e-04 3.18994843e+01] [-1.89644007e-02 9.99820160e-01 -6.45156681e-07 3.84451029e-01] [-7.72990606e-04 -1.40166678e-05 9.99999701e-01 -2.50510158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.93, Y:0.38, Z:-0.25 [[ 9.99850205e-01 1.72907197e-02 7.73117424e-04 3.19291818e+01] [-1.72907244e-02 9.99850504e-01 -6.26389230e-07 3.84849571e-01] [-7.73012677e-04 -1.27414649e-05 9.99999701e-01 -2.52964282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.344203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.96, Y:0.39, Z:-0.25 [[ 9.99904694e-01 1.37842044e-02 7.73117431e-04 3.19591111e+01] [-1.37842081e-02 9.99904993e-01 -6.17051545e-07 3.85431792e-01] [-7.73052486e-04 -1.00398188e-05 9.99999701e-01 -2.50349335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.374203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.99, Y:0.39, Z:-0.25 [[ 9.99927234e-01 1.20386810e-02 7.73117439e-04 3.19886956e+01] [-1.20386841e-02 9.99927532e-01 -6.08030191e-07 3.85051253e-01] [-7.73068732e-04 -8.69933067e-06 9.99999701e-01 -2.48139009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.02, Y:0.39, Z:-0.25 [[ 9.99948266e-01 1.01423341e-02 7.73117453e-04 3.20184681e+01] [-1.01423367e-02 9.99948565e-01 -5.89570854e-07 3.85400952e-01] [-7.73083667e-04 -7.25167717e-06 9.99999701e-01 -2.47664797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.05, Y:0.39, Z:-0.25 [[ 9.99972774e-01 7.33847760e-03 7.73117466e-04 3.20485308e+01] [-7.33847935e-03 9.99973073e-01 -5.71009942e-07 3.88409101e-01] [-7.73100839e-04 -5.10251217e-06 9.99999701e-01 -2.48935101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.08, Y:0.39, Z:-0.25 [[ 9.99978932e-01 6.44502386e-03 7.73117466e-04 3.20778866e+01] [-6.44502535e-03 9.99979231e-01 -5.71009943e-07 3.87512146e-01] [-7.73105089e-04 -4.41176376e-06 9.99999701e-01 -2.51585882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.11, Y:0.39, Z:-0.25 [[ 9.99983446e-01 5.70169595e-03 7.73117473e-04 3.21079670e+01] [-5.70169722e-03 9.99983745e-01 -5.61729558e-07 3.85855055e-01] [-7.73108109e-04 -3.84636149e-06 9.99999701e-01 -2.52886056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.14, Y:0.38, Z:-0.26 [[ 9.99983869e-01 5.62715108e-03 7.73117473e-04 3.21387133e+01] [-5.62715233e-03 9.99984167e-01 -5.61729558e-07 3.84223152e-01] [-7.73108394e-04 -3.78872929e-06 9.99999701e-01 -2.55022726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.554203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.17, Y:0.39, Z:-0.25 [[ 9.99978629e-01 6.49178396e-03 7.73117473e-04 3.21679233e+01] [-6.49178547e-03 9.99978928e-01 -5.61729558e-07 3.85336811e-01] [-7.73104829e-04 -4.45719522e-06 9.99999701e-01 -2.53990722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.584203822000006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:32.20, Y:0.39, Z:-0.25 [[ 9.99969206e-01 7.80950451e-03 7.73117479e-04 3.21988307e+01] [-7.80950642e-03 9.99969505e-01 -5.52719310e-07 3.86043788e-01] [-7.73098220e-04 -5.48496363e-06 9.99999701e-01 -2.51333319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.23, Y:0.39, Z:-0.25 [[ 9.99951712e-01 9.79669665e-03 7.73117479e-04 3.22294175e+01] [-9.79669915e-03 9.99952011e-01 -5.52719310e-07 3.86070680e-01] [-7.73085793e-04 -7.02130673e-06 9.99999701e-01 -2.47763658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.26, Y:0.39, Z:-0.25 [[ 9.99944554e-01 1.05019836e-02 7.73117479e-04 3.22586358e+01] [-1.05019863e-02 9.99944853e-01 -5.52719310e-07 3.87739829e-01] [-7.73080649e-04 -7.56658050e-06 9.99999701e-01 -2.49895315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.29, Y:0.39, Z:-0.25 [[ 9.99942821e-01 1.06657009e-02 7.73117486e-04 3.22879714e+01] [-1.06657037e-02 9.99943120e-01 -5.43398825e-07 3.89945895e-01] [-7.73079307e-04 -7.70247424e-06 9.99999701e-01 -2.46927953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.704203822000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:32.32, Y:0.39, Z:-0.25 [[ 9.99943681e-01 1.05847324e-02 7.73117498e-04 3.23179305e+01] [-1.05847352e-02 9.99943980e-01 -5.25151931e-07 3.90639376e-01] [-7.73079747e-04 -7.65812161e-06 9.99999701e-01 -2.47946441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.734203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.35, Y:0.39, Z:-0.25 [[ 9.99957517e-01 9.18511973e-03 7.73117510e-04 3.23474584e+01] [-9.18512209e-03 9.99957816e-01 -5.06985719e-07 3.87171771e-01] [-7.73089554e-04 -6.59421454e-06 9.99999701e-01 -2.50148579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.764203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.38, Y:0.39, Z:-0.25 [[ 9.99966357e-01 8.16623822e-03 7.73117522e-04 3.23781337e+01] [-8.16624028e-03 9.99966656e-01 -4.88521180e-07 3.85005978e-01] [-7.73095732e-04 -5.82495871e-06 9.99999701e-01 -2.47997174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.41, Y:0.38, Z:-0.25 [[ 9.99976146e-01 6.86364695e-03 7.73117522e-04 3.24076863e+01] [-6.86364862e-03 9.99976445e-01 -4.88521180e-07 3.83716238e-01] [-7.73102664e-04 -4.81789749e-06 9.99999701e-01 -2.50046209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.824203822 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:32.44, Y:0.38, Z:-0.25 [[ 9.99982160e-01 5.92293519e-03 7.73117528e-04 3.24378569e+01] [-5.92293659e-03 9.99982459e-01 -4.79108001e-07 3.83477261e-01] [-7.73106805e-04 -4.10002664e-06 9.99999701e-01 -2.46511574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.47, Y:0.38, Z:-0.25 [[ 9.99992384e-01 3.82538575e-03 7.73117528e-04 3.24683131e+01] [-3.82538652e-03 9.99992683e-01 -4.79108001e-07 3.83725214e-01] [-7.73113704e-04 -2.47836902e-06 9.99999701e-01 -2.45223753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.50, Y:0.38, Z:-0.25 [[ 9.99995208e-01 2.99781827e-03 7.73117528e-04 3.24990373e+01] [-2.99781879e-03 9.99995507e-01 -4.79108001e-07 3.84566713e-01] [-7.73115490e-04 -1.83856055e-06 9.99999701e-01 -2.45199426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.914203822000005 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:32.53, Y:0.38, Z:-0.24 [[ 9.99995915e-01 2.75194919e-03 7.73117500e-04 3.25294464e+01] [-2.75194961e-03 9.99996213e-01 -5.20407000e-07 3.84921219e-01] [-7.73116005e-04 -1.60717553e-06 9.99999701e-01 -2.44978321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.944203822000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:32.56, Y:0.38, Z:-0.25 [[ 9.99993823e-01 3.42871523e-03 7.73117500e-04 3.25600774e+01] [-3.42871585e-03 9.99994122e-01 -5.20407000e-07 3.83658930e-01] [-7.73114740e-04 -2.13039644e-06 9.99999701e-01 -2.45601560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.97420382200001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:32.59, Y:0.38, Z:-0.25 [[ 9.99991623e-01 4.01938364e-03 7.73117500e-04 3.25910170e+01] [-4.01938444e-03 9.99991922e-01 -5.20407000e-07 3.82199437e-01] [-7.73113347e-04 -2.58705381e-06 9.99999701e-01 -2.45540933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.004203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:32.62, Y:0.38, Z:-0.25 [[ 9.99991457e-01 4.06055471e-03 7.73117500e-04 3.26212985e+01] [-4.06055552e-03 9.99991756e-01 -5.20407000e-07 3.80270948e-01] [-7.73113240e-04 -2.61888398e-06 9.99999701e-01 -2.46916720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.65, Y:0.38, Z:-0.25 [[ 9.99992807e-01 3.71315340e-03 7.73117494e-04 3.26521144e+01] [-3.71315410e-03 9.99993106e-01 -5.29723080e-07 3.78237605e-01] [-7.73114131e-04 -2.34098512e-06 9.99999701e-01 -2.46637187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.68, Y:0.38, Z:-0.25 [[ 9.99992435e-01 3.81202386e-03 7.73117494e-04 3.26820779e+01] [-3.81202459e-03 9.99992734e-01 -5.29723080e-07 3.79639654e-01] [-7.73113896e-04 -2.41742383e-06 9.99999701e-01 -2.48341302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.71, Y:0.38, Z:-0.25 [[ 9.99989901e-01 4.42726495e-03 7.73117459e-04 3.27127431e+01] [-4.42726583e-03 9.99990200e-01 -5.76519557e-07 3.81631498e-01] [-7.73112434e-04 -2.84628277e-06 9.99999701e-01 -2.46631426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.124203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.74, Y:0.38, Z:-0.25 [[ 9.99972517e-01 7.37350054e-03 7.73117459e-04 3.27433022e+01] [-7.37350230e-03 9.99972815e-01 -5.76519557e-07 3.81269723e-01] [-7.73100693e-04 -5.12407965e-06 9.99999701e-01 -2.47923635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.15420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.77, Y:0.38, Z:-0.25 [[ 9.99950564e-01 9.91322807e-03 7.73117459e-04 3.27732757e+01] [-9.91323059e-03 9.99950863e-01 -5.76519557e-07 3.79360083e-01] [-7.73085185e-04 -7.08760058e-06 9.99999701e-01 -2.52088044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.80, Y:0.38, Z:-0.25 [[ 9.99919156e-01 1.26919106e-02 7.73117459e-04 3.28035728e+01] [-1.26919140e-02 9.99919454e-01 -5.76519557e-07 3.78638672e-01] [-7.73062505e-04 -9.23586734e-06 9.99999701e-01 -2.52447424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.83, Y:0.38, Z:-0.25 [[ 9.99839277e-01 1.79115235e-02 7.73117459e-04 3.28331774e+01] [-1.79115284e-02 9.99839576e-01 -5.76519557e-07 3.81920453e-01] [-7.73003758e-04 -1.32712884e-05 9.99999701e-01 -2.48825100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.86, Y:0.38, Z:-0.25 [[ 9.99802067e-01 1.98803778e-02 7.73117472e-04 3.28618861e+01] [-1.98803833e-02 9.99802366e-01 -5.58071850e-07 3.83366099e-01] [-7.72975772e-04 -1.48119103e-05 9.99999701e-01 -2.49284863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.89, Y:0.38, Z:-0.25 [[ 9.99776916e-01 2.11073802e-02 7.73117491e-04 3.28906701e+01] [-2.11073861e-02 9.99777214e-01 -5.30476022e-07 3.83962500e-01] [-7.72956448e-04 -1.57881317e-05 9.99999701e-01 -2.51286065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.92, Y:0.39, Z:-0.25 [[ 9.99745634e-01 2.25404169e-02 7.73117503e-04 3.29203236e+01] [-2.25404233e-02 9.99745932e-01 -5.11970029e-07 3.88302009e-01] [-7.72932619e-04 -1.69145560e-05 9.99999701e-01 -2.46940288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.334203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.95, Y:0.39, Z:-0.25 [[ 9.99745431e-01 2.25493893e-02 7.73117515e-04 3.29490529e+01] [-2.25493957e-02 9.99745730e-01 -4.93074512e-07 3.92384306e-01] [-7.72932053e-04 -1.69403837e-05 9.99999701e-01 -2.46923335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.364203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:32.98, Y:0.39, Z:-0.24 [[ 9.99755991e-01 2.20762459e-02 7.73117532e-04 3.29788491e+01] [-2.20762521e-02 9.99756290e-01 -4.64965772e-07 3.94877986e-01] [-7.72939380e-04 -1.66026852e-05 9.99999701e-01 -2.43943665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.01, Y:0.39, Z:-0.24 [[ 9.99834718e-01 1.81642211e-02 7.73117543e-04 3.30078757e+01] [-1.81642262e-02 9.99835017e-01 -4.46286204e-07 3.93631513e-01] [-7.72998098e-04 -1.35968695e-05 9.99999701e-01 -2.42320732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.04, Y:0.39, Z:-0.24 [[ 9.99874697e-01 1.58111408e-02 7.73117553e-04 3.30372778e+01] [-1.58111452e-02 9.99874996e-01 -4.27662449e-07 3.92521983e-01] [-7.73027672e-04 -1.17962651e-05 9.99999701e-01 -2.41219016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.07, Y:0.39, Z:-0.24 [[ 9.99909966e-01 1.33963832e-02 7.73117563e-04 3.30670866e+01] [-1.33963868e-02 9.99910264e-01 -4.09281756e-07 3.92669843e-01] [-7.73053670e-04 -9.94773704e-06 9.99999701e-01 -2.38402904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.484203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.10, Y:0.39, Z:-0.24 [[ 9.99943997e-01 1.05548730e-02 7.73117573e-04 3.30966519e+01] [-1.05548758e-02 9.99944296e-01 -3.90304426e-07 3.94017185e-01] [-7.73078626e-04 -7.76987742e-06 9.99999701e-01 -2.39071418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.514203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.13, Y:0.40, Z:-0.24 [[ 9.99973927e-01 7.17971200e-03 7.73117569e-04 3.31263440e+01] [-7.17971384e-03 9.99974226e-01 -3.96482074e-07 3.95215063e-01] [-7.73100489e-04 -5.15429118e-06 9.99999701e-01 -2.38262166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54420382200001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:33.16, Y:0.40, Z:-0.24 [[ 9.99999539e-01 5.69083479e-04 7.73117578e-04 3.31556280e+01] [-5.69083357e-04 9.99999838e-01 -3.78167912e-07 3.95025223e-01] [-7.73117668e-04 -6.18006094e-08 9.99999701e-01 -2.38481001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.574203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:33.19, Y:0.39, Z:-0.24 [[ 9.99997026e-01 -2.31325461e-03 7.73117572e-04 3.31859973e+01] [ 2.31325560e-03 9.99997324e-01 -3.91047017e-07 3.93261899e-01] [-7.73114599e-04 2.17946441e-06 9.99999701e-01 -2.39637288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.604203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:33.22, Y:0.39, Z:-0.24 [[ 9.99980188e-01 -6.24711196e-03 7.73117567e-04 3.32167822e+01] [ 6.24711413e-03 9.99980487e-01 -4.00051269e-07 3.87579637e-01] [-7.73099982e-04 5.22979702e-06 9.99999701e-01 -2.40285988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.25, Y:0.38, Z:-0.24 [[ 9.99975983e-01 -6.88741337e-03 7.73117562e-04 3.32480275e+01] [ 6.88741574e-03 9.99976281e-01 -4.09023585e-07 3.84002597e-01] [-7.73096408e-04 5.73379583e-06 9.99999701e-01 -2.41449411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.664203822000005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:33.28, Y:0.38, Z:-0.24 [[ 9.99980812e-01 -6.14636172e-03 7.73117553e-04 3.32790533e+01] [ 6.14636388e-03 9.99981111e-01 -4.26854450e-07 3.82051046e-01] [-7.73100326e-04 5.17870806e-06 9.99999701e-01 -2.42094655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.694203822000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:33.31, Y:0.38, Z:-0.24 [[ 9.99988246e-01 -4.78642738e-03 7.73117542e-04 3.33100814e+01] [ 4.78642915e-03 9.99988545e-01 -4.44742324e-07 3.80856370e-01] [-7.73106558e-04 4.14520944e-06 9.99999701e-01 -2.41514889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72420382200001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:33.34, Y:0.38, Z:-0.25 [[ 9.99999694e-01 1.21900358e-04 7.73117531e-04 3.33400052e+01] [-1.21900037e-04 9.99999993e-01 -4.63100751e-07 3.78741081e-01] [-7.73117582e-04 3.68857554e-07 9.99999701e-01 -2.45633410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.37, Y:0.38, Z:-0.25 [[ 9.99994311e-01 3.28321411e-03 7.73117526e-04 3.33698994e+01] [-3.28321473e-03 9.99994610e-01 -4.72256678e-07 3.77258137e-01] [-7.73114909e-04 -2.06605686e-06 9.99999701e-01 -2.49892265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.784203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:33.40, Y:0.38, Z:-0.24 [[ 9.99945140e-01 1.04460086e-02 7.73117520e-04 3.33999325e+01] [-1.04460114e-02 9.99945439e-01 -4.81276981e-07 3.75719672e-01] [-7.73080365e-04 -7.59474382e-06 9.99999701e-01 -2.44528767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.814203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.43, Y:0.37, Z:-0.25 [[ 9.99909518e-01 1.34297824e-02 7.73117520e-04 3.34292711e+01] [-1.34297860e-02 9.99909816e-01 -4.81276981e-07 3.74015863e-01] [-7.73054261e-04 -9.90156942e-06 9.99999701e-01 -2.45213803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.46, Y:0.37, Z:-0.25 [[ 9.99874984e-01 1.57929728e-02 7.73117526e-04 3.34593227e+01] [-1.57929772e-02 9.99875283e-01 -4.71796626e-07 3.71028787e-01] [-7.73028556e-04 -1.17380898e-05 9.99999701e-01 -2.46438490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.874203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.49, Y:0.37, Z:-0.25 [[ 9.99807389e-01 1.96109060e-02 7.73117537e-04 3.34890225e+01] [-1.96109115e-02 9.99807688e-01 -4.53310012e-07 3.69859414e-01] [-7.72977746e-04 -1.47083169e-05 9.99999701e-01 -2.50240585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.52, Y:0.37, Z:-0.25 [[ 9.99773088e-01 2.12879118e-02 7.73117547e-04 3.35185355e+01] [-2.12879179e-02 9.99773387e-01 -4.34777842e-07 3.72066190e-01] [-7.72951604e-04 -1.60233836e-05 9.99999701e-01 -2.48709922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.55, Y:0.37, Z:-0.25 [[ 9.99737864e-01 2.28824370e-02 7.73117557e-04 3.35476300e+01] [-2.28824435e-02 9.99738163e-01 -4.15727744e-07 3.73746447e-01] [-7.72924639e-04 -1.72752001e-05 9.99999701e-01 -2.50881454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.58, Y:0.37, Z:-0.25 [[ 9.99738401e-01 2.28589734e-02 7.73117572e-04 3.35777839e+01] [-2.28589799e-02 9.99738699e-01 -3.87260068e-07 3.73777588e-01] [-7.72924408e-04 -1.72855203e-05 9.99999701e-01 -2.50904769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.61, Y:0.37, Z:-0.25 [[ 9.99708994e-01 2.41107915e-02 7.73117580e-04 3.36071822e+01] [-2.41107985e-02 9.99709292e-01 -3.69115171e-07 3.73942202e-01] [-7.72901729e-04 -1.82714744e-05 9.99999701e-01 -2.49894810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.64, Y:0.37, Z:-0.25 [[ 9.99676983e-01 2.54033834e-02 7.73117589e-04 3.36365730e+01] [-2.54033907e-02 9.99677282e-01 -3.50943921e-07 3.71445480e-01] [-7.72877005e-04 -1.92889776e-05 9.99999701e-01 -2.49492559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.054203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.67, Y:0.37, Z:-0.25 [[ 9.99678642e-01 2.53379966e-02 7.73117597e-04 3.36662871e+01] [-2.53380040e-02 9.99678941e-01 -3.32048402e-07 3.71481998e-01] [-7.72877794e-04 -1.92573150e-05 9.99999701e-01 -2.53796023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.084203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.70, Y:0.37, Z:-0.25 [[ 9.99694671e-01 2.46975220e-02 7.73117601e-04 3.36958542e+01] [-2.46975291e-02 9.99694970e-01 -3.22664748e-07 3.71795539e-01] [-7.72889745e-04 -1.87715282e-05 9.99999701e-01 -2.51839224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.73, Y:0.37, Z:-0.25 [[ 9.99762934e-01 2.17595642e-02 7.73117608e-04 3.37253709e+01] [-2.17595705e-02 9.99763233e-01 -3.04255779e-07 3.70505304e-01] [-7.72941179e-04 -1.65185234e-05 9.99999701e-01 -2.49974446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.76, Y:0.37, Z:-0.24 [[ 9.99807944e-01 1.95825756e-02 7.73117607e-04 3.37554715e+01] [-1.95825812e-02 9.99808243e-01 -3.07044990e-07 3.68954103e-01] [-7.72975369e-04 -1.48326523e-05 9.99999701e-01 -2.44892785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.78, Y:0.37, Z:-0.24 [[ 9.99851409e-01 1.72209823e-02 7.73117607e-04 3.37844291e+01] [-1.72209872e-02 9.99851708e-01 -3.07044990e-07 3.67933347e-01] [-7.73008247e-04 -1.30068491e-05 9.99999701e-01 -2.44565487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.204203822000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:33.82, Y:0.37, Z:-0.24 [[ 9.99931200e-01 1.17045543e-02 7.73117614e-04 3.38152338e+01] [-1.17045575e-02 9.99931499e-01 -2.88410648e-07 3.68049655e-01] [-7.73068030e-04 -8.76060879e-06 9.99999701e-01 -2.41498548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.234203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.85, Y:0.37, Z:-0.24 [[ 9.99965719e-01 8.24401283e-03 7.73117614e-04 3.38452240e+01] [-8.24401507e-03 9.99966018e-01 -2.88410648e-07 3.67431900e-01] [-7.73093719e-04 -6.08519250e-06 9.99999701e-01 -2.41285549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.264203822000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.88, Y:0.37, Z:-0.24 [[ 9.99986729e-01 5.09352059e-03 7.73117617e-04 3.38750717e+01] [-5.09352189e-03 9.99987028e-01 -2.79000816e-07 3.65912295e-01] [-7.73109009e-04 -3.65889440e-06 9.99999701e-01 -2.41377110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.91, Y:0.36, Z:-0.24 [[ 9.99997158e-01 2.25525468e-03 7.73117614e-04 3.39059534e+01] [-2.25525513e-03 9.99997457e-01 -2.87235589e-07 3.62671593e-01] [-7.73116296e-04 -1.45634269e-06 9.99999701e-01 -2.40470990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.94, Y:0.36, Z:-0.24 [[ 9.99996735e-01 -2.43569012e-03 7.73117611e-04 3.39365824e+01] [ 2.43569108e-03 9.99997034e-01 -2.96391516e-07 3.55498596e-01] [-7.73114595e-04 2.17946621e-06 9.99999701e-01 -2.40055420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.97, Y:0.35, Z:-0.24 [[ 9.99991637e-01 -4.01609670e-03 7.73117611e-04 3.39672480e+01] [ 4.01609813e-03 9.99991935e-01 -2.96391516e-07 3.53870097e-01] [-7.73110185e-04 3.40130523e-06 9.99999701e-01 -2.42358448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.00, Y:0.35, Z:-0.24 [[ 9.99987653e-01 -4.90868564e-03 7.73117607e-04 3.39990215e+01] [ 4.90868735e-03 9.99987952e-01 -3.05639486e-07 3.53110786e-01] [-7.73106792e-04 4.10062833e-06 9.99999701e-01 -2.40903600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.03, Y:0.35, Z:-0.24 [[ 9.99985738e-01 -5.28457996e-03 7.73117599e-04 3.40290752e+01] [ 5.28458179e-03 9.99986037e-01 -3.24406478e-07 3.50949021e-01] [-7.73105089e-04 4.41000504e-06 9.99999701e-01 -2.40308927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.06, Y:0.35, Z:-0.24 [[ 9.99988660e-01 -4.69924958e-03 7.73117586e-04 3.40599334e+01] [ 4.69925125e-03 9.99988958e-01 -3.53307577e-07 3.49650723e-01] [-7.73107389e-04 3.98637736e-06 9.99999701e-01 -2.40363239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.47420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.09, Y:0.35, Z:-0.24 [[ 9.99992842e-01 -3.70392288e-03 7.73117577e-04 3.40900226e+01] [ 3.70392427e-03 9.99993140e-01 -3.71896872e-07 3.48097877e-01] [-7.73110896e-04 3.23546317e-06 9.99999701e-01 -2.42650901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.12, Y:0.34, Z:-0.25 [[ 9.99999602e-01 -4.44670200e-04 7.73117572e-04 3.41211638e+01] [ 4.44670627e-04 9.99999901e-01 -3.81159159e-07 3.43799365e-01] [-7.73117326e-04 7.24941683e-07 9.99999701e-01 -2.45994459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.534203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:34.15, Y:0.34, Z:-0.24 [[ 9.99997455e-01 2.11941969e-03 7.73117563e-04 3.41523743e+01] [-2.11942001e-03 9.99997754e-01 -3.99658251e-07 3.43006899e-01] [-7.73116673e-04 -1.23890360e-06 9.99999701e-01 -2.44911721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.18, Y:0.34, Z:-0.25 [[ 9.99987671e-01 4.90518203e-03 7.73117553e-04 3.41826502e+01] [-4.90518317e-03 9.99987970e-01 -4.18508533e-07 3.43282149e-01] [-7.73110304e-04 -3.37377983e-06 9.99999701e-01 -2.45375197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.594203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.21, Y:0.35, Z:-0.25 [[ 9.99944318e-01 1.05243893e-02 7.73117547e-04 3.42130681e+01] [-1.05243921e-02 9.99944617e-01 -4.27937459e-07 3.45035804e-01] [-7.73079234e-04 -7.70867855e-06 9.99999701e-01 -2.46233596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.24, Y:0.35, Z:-0.25 [[ 9.99911138e-01 1.33085848e-02 7.73117542e-04 3.42423800e+01] [-1.33085885e-02 9.99911437e-01 -4.37176984e-07 3.45310595e-01] [-7.73054891e-04 -9.85196508e-06 9.99999701e-01 -2.45206688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.65420382200001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.27, Y:0.35, Z:-0.25 [[ 9.99822879e-01 1.88045748e-02 7.73117547e-04 3.42722390e+01] [-1.88045801e-02 9.99823178e-01 -4.27724858e-07 3.46274143e-01] [-7.72988887e-04 -1.41105017e-05 9.99999701e-01 -2.46405461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.30, Y:0.35, Z:-0.25 [[ 9.99781768e-01 2.08762933e-02 7.73117552e-04 3.43013567e+01] [-2.08762992e-02 9.99782066e-01 -4.18267693e-07 3.47090710e-01] [-7.72957796e-04 -1.57216569e-05 9.99999701e-01 -2.48731190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.33, Y:0.35, Z:-0.25 [[ 9.99746301e-01 2.25107815e-02 7.73117557e-04 3.43300726e+01] [-2.25107880e-02 9.99746600e-01 -4.08895413e-07 3.48127126e-01] [-7.72930854e-04 -1.69946937e-05 9.99999701e-01 -2.48901121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.36, Y:0.35, Z:-0.25 [[ 9.99725043e-01 2.34358954e-02 7.73117571e-04 3.43594590e+01] [-2.34359021e-02 9.99725342e-01 -3.81521693e-07 3.50480103e-01] [-7.72914169e-04 -1.77372910e-05 9.99999701e-01 -2.45801049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.774203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.39, Y:0.36, Z:-0.25 [[ 9.99701629e-01 2.44142596e-02 7.73117580e-04 3.43892509e+01] [-2.44142666e-02 9.99701927e-01 -3.62933203e-07 3.55956525e-01] [-7.72895995e-04 -1.85122738e-05 9.99999701e-01 -2.46398191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.42, Y:0.36, Z:-0.25 [[ 9.99706225e-01 2.42253120e-02 7.73117584e-04 3.44189633e+01] [-2.42253190e-02 9.99706524e-01 -3.53697780e-07 3.57950907e-01] [-7.72899261e-04 -1.83754262e-05 9.99999701e-01 -2.47195862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.834203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.45, Y:0.36, Z:-0.24 [[ 9.99720412e-01 2.36326276e-02 7.73117581e-04 3.44487451e+01] [-2.36326344e-02 9.99720710e-01 -3.60619023e-07 3.59512562e-01] [-7.72910179e-04 -1.79102869e-05 9.99999701e-01 -2.42702119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.48, Y:0.36, Z:-0.24 [[ 9.99738155e-01 2.28697243e-02 7.73117589e-04 3.44777007e+01] [-2.28697309e-02 9.99738454e-01 -3.41462062e-07 3.60734043e-01] [-7.72923192e-04 -1.73396186e-05 9.99999701e-01 -2.41392082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.51, Y:0.36, Z:-0.24 [[ 9.99787345e-01 2.06074624e-02 7.73117597e-04 3.45071422e+01] [-2.06074684e-02 9.99787644e-01 -3.22442459e-07 3.62416336e-01] [-7.72960065e-04 -1.56096225e-05 9.99999701e-01 -2.44299571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.54, Y:0.36, Z:-0.25 [[ 9.99823098e-01 1.87929345e-02 7.73117601e-04 3.45380182e+01] [-1.87929399e-02 9.99823397e-01 -3.13050095e-07 3.63326685e-01] [-7.72986949e-04 -1.42161579e-05 9.99999701e-01 -2.45111780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.954203822000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:34.57, Y:0.36, Z:-0.25 [[ 9.99859942e-01 1.67182403e-02 7.73117601e-04 3.45676498e+01] [-1.67182450e-02 9.99860240e-01 -3.13050095e-07 3.64771587e-01] [-7.73014784e-04 -1.26121632e-05 9.99999701e-01 -2.45391562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.984203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.60, Y:0.37, Z:-0.25 [[ 9.99916302e-01 1.29148057e-02 7.73117604e-04 3.45983109e+01] [-1.29148093e-02 9.99916600e-01 -3.03900752e-07 3.68097887e-01] [-7.73057052e-04 -9.68079114e-06 9.99999701e-01 -2.46912676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.014203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.63, Y:0.37, Z:-0.25 [[ 9.99930491e-01 1.17650051e-02 7.73117604e-04 3.46279081e+01] [-1.17650084e-02 9.99930790e-01 -3.03900752e-07 3.68857127e-01] [-7.73067672e-04 -8.79185550e-06 9.99999701e-01 -2.47842233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.66, Y:0.37, Z:-0.25 [[ 9.99939084e-01 1.10104415e-02 7.73117611e-04 3.46586588e+01] [-1.10104446e-02 9.99939383e-01 -2.85752031e-07 3.69467539e-01] [-7.73073893e-04 -8.22663402e-06 9.99999701e-01 -2.47379485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.69, Y:0.37, Z:-0.25 [[ 9.99940227e-01 1.09062211e-02 7.73117611e-04 3.46879931e+01] [-1.09062242e-02 9.99940525e-01 -2.85752031e-07 3.70159389e-01] [-7.73074747e-04 -8.14605901e-06 9.99999701e-01 -2.47538400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.72, Y:0.37, Z:-0.25 [[ 9.99933752e-01 1.14844912e-02 7.73117614e-04 3.47186589e+01] [-1.14844944e-02 9.99934051e-01 -2.76611563e-07 3.72096167e-01] [-7.73069805e-04 -8.60227168e-06 9.99999701e-01 -2.47786463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.134203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:34.75, Y:0.37, Z:-0.25 [[ 9.99928535e-01 1.19301160e-02 7.73117614e-04 3.47485532e+01] [-1.19301194e-02 9.99928834e-01 -2.76611563e-07 3.74127881e-01] [-7.73065894e-04 -8.94679364e-06 9.99999701e-01 -2.48458223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.164203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.78, Y:0.38, Z:-0.25 [[ 9.99926819e-01 1.20730726e-02 7.73117618e-04 3.47781213e+01] [-1.20730760e-02 9.99927118e-01 -2.67273876e-07 3.76808988e-01] [-7.73064498e-04 -9.06665346e-06 9.99999701e-01 -2.46403122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.194203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.81, Y:0.38, Z:-0.25 [[ 9.99913676e-01 1.31164920e-02 7.73117624e-04 3.48079761e+01] [-1.31164957e-02 9.99913975e-01 -2.48225098e-07 3.82262184e-01] [-7.73054372e-04 -9.89239034e-06 9.99999701e-01 -2.46478364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22420382200001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:34.84, Y:0.38, Z:-0.25 [[ 9.99901912e-01 1.39845906e-02 7.73117627e-04 3.48379927e+01] [-1.39845946e-02 9.99902211e-01 -2.38771311e-07 3.83125251e-01] [-7.73045363e-04 -1.05729887e-05 9.99999701e-01 -2.45834316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.87, Y:0.38, Z:-0.25 [[ 9.99896992e-01 1.43320359e-02 7.73117632e-04 3.48672336e+01] [-1.43320400e-02 9.99897291e-01 -2.20193358e-07 3.83236038e-01] [-7.73041382e-04 -1.08601822e-05 9.99999701e-01 -2.49084162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.90, Y:0.38, Z:-0.25 [[ 9.99889790e-01 1.48259730e-02 7.73117634e-04 3.48966198e+01] [-1.48259773e-02 9.99890089e-01 -2.10909714e-07 3.83223601e-01] [-7.73035787e-04 -1.12513380e-05 9.99999701e-01 -2.48561997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.93, Y:0.39, Z:-0.25 [[ 9.99889468e-01 1.48476635e-02 7.73117639e-04 3.49261242e+01] [-1.48476678e-02 9.99889767e-01 -1.92819674e-07 3.85660188e-01] [-7.73035279e-04 -1.12861955e-05 9.99999701e-01 -2.45237906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.344203822000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:34.95, Y:0.39, Z:-0.25 [[ 9.99879487e-01 1.55052681e-02 7.73117643e-04 3.49547770e+01] [-1.55052726e-02 9.99879786e-01 -1.73817709e-07 3.91584390e-01] [-7.73027399e-04 -1.18136031e-05 9.99999701e-01 -2.45844316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.374203822000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:34.98, Y:0.39, Z:-0.25 [[ 9.99873727e-01 1.58723610e-02 7.73117649e-04 3.49840288e+01] [-1.58723656e-02 9.99874026e-01 -1.45482882e-07 3.93572551e-01] [-7.73022565e-04 -1.21257415e-05 9.99999701e-01 -2.45757129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.01, Y:0.39, Z:-0.25 [[ 9.99867106e-01 1.62841073e-02 7.73117652e-04 3.50126891e+01] [-1.62841120e-02 9.99867405e-01 -1.26676450e-07 3.94864041e-01] [-7.73017203e-04 -1.24628748e-05 9.99999701e-01 -2.48220022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.04, Y:0.40, Z:-0.25 [[ 9.99859228e-01 1.67608687e-02 7.73117654e-04 3.50415192e+01] [-1.67608736e-02 9.99859527e-01 -1.06915899e-07 3.96027220e-01] [-7.73010844e-04 -1.28512264e-05 9.99999701e-01 -2.53169210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.464203822 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:35.07, Y:0.40, Z:-0.25 [[ 9.99846265e-01 1.75171216e-02 7.73117657e-04 3.50716397e+01] [-1.75171268e-02 9.99846563e-01 -7.91687309e-08 3.99872726e-01] [-7.73000420e-04 -1.34636435e-05 9.99999701e-01 -2.49110551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.494203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.10, Y:0.40, Z:-0.25 [[ 9.99850573e-01 1.72694367e-02 7.73117658e-04 3.50997671e+01] [-1.72694419e-02 9.99850872e-01 -6.97960408e-08 4.01110847e-01] [-7.73003570e-04 -1.32815248e-05 9.99999701e-01 -2.51935492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.13, Y:0.40, Z:-0.25 [[ 9.99854821e-01 1.70217036e-02 7.73117660e-04 3.51292508e+01] [-1.70217087e-02 9.99855120e-01 -3.25605760e-08 4.01672007e-01] [-7.73006205e-04 -1.31272277e-05 9.99999701e-01 -2.49315597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.554203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.16, Y:0.40, Z:-0.25 [[ 9.99861728e-01 1.66110466e-02 7.73117660e-04 3.51588248e+01] [-1.66110515e-02 9.99862027e-01 -1.38744081e-08 4.02756155e-01] [-7.73011221e-04 -1.28284248e-05 9.99999701e-01 -2.47382264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.584203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.19, Y:0.41, Z:-0.25 [[ 9.99881911e-01 1.53481517e-02 7.73117660e-04 3.51873714e+01] [-1.53481563e-02 9.99882210e-01 5.40466146e-09 4.07113273e-01] [-7.73026511e-04 -1.18713347e-05 9.99999701e-01 -2.50602290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.22, Y:0.41, Z:-0.25 [[ 9.99897469e-01 1.42987477e-02 7.73117659e-04 3.52156397e+01] [-1.42987520e-02 9.99897768e-01 2.60565634e-08 4.08920848e-01] [-7.73038249e-04 -1.10806715e-05 9.99999701e-01 -2.50387650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.644203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.25, Y:0.41, Z:-0.25 [[ 9.99915776e-01 1.29553963e-02 7.73117657e-04 3.52450098e+01] [-1.29554002e-02 9.99916075e-01 5.30649858e-08 4.10314801e-01] [-7.73052086e-04 -1.00691092e-05 9.99999701e-01 -2.50224484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.674203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:35.28, Y:0.41, Z:-0.25 [[ 9.99946128e-01 1.03510503e-02 7.73117656e-04 3.52751321e+01] [-1.03510534e-02 9.99946426e-01 7.11824145e-08 4.12623323e-01] [-7.73075500e-04 -8.07376073e-06 9.99999701e-01 -2.49872780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.704203822000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:35.30, Y:0.41, Z:-0.25 [[ 9.99957634e-01 9.17238777e-03 7.73117655e-04 3.53048259e+01] [-9.17239058e-03 9.99957933e-01 8.04835259e-08 4.12426740e-01] [-7.73084394e-04 -7.17181721e-06 9.99999701e-01 -2.50695803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.734203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.33, Y:0.41, Z:-0.25 [[ 9.99968107e-01 7.94906432e-03 7.73117655e-04 3.53347710e+01] [-7.94906676e-03 9.99968406e-01 7.66012958e-08 4.11466434e-01] [-7.73092620e-04 -6.22216270e-06 9.99999701e-01 -2.47921654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.764203822000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.37, Y:0.41, Z:-0.24 [[ 9.99987928e-01 4.85235254e-03 7.73117653e-04 3.53655883e+01] [-4.85235406e-03 9.99988227e-01 9.46268887e-08 4.10678269e-01] [-7.73108092e-04 -3.84606633e-06 9.99999701e-01 -2.44772910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.79420382200001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:35.40, Y:0.41, Z:-0.24 [[ 9.99995303e-01 2.96587601e-03 7.73117653e-04 3.53960557e+01] [-2.96587697e-03 9.99995602e-01 9.46268889e-08 4.11619171e-01] [-7.73113972e-04 -2.38759829e-06 9.99999701e-01 -2.42823978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.824203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.43, Y:0.41, Z:-0.25 [[ 9.99998788e-01 1.35143670e-03 7.73117653e-04 3.54262570e+01] [-1.35143718e-03 9.99999087e-01 9.46268886e-08 4.12826836e-01] [-7.73116819e-04 -1.13944671e-06 9.99999701e-01 -2.45838371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.854203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.46, Y:0.41, Z:-0.25 [[ 9.99998788e-01 1.35143671e-03 7.73117654e-04 3.54572512e+01] [-1.35143718e-03 9.99999087e-01 8.52329732e-08 4.12830259e-01] [-7.73116833e-04 -1.13005281e-06 9.99999701e-01 -2.45862332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.884203822 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:35.49, Y:0.41, Z:-0.24 [[ 9.99999136e-01 -1.06305906e-03 7.73117654e-04 3.54880967e+01] [ 1.06305931e-03 9.99999435e-01 8.52329732e-08 4.11171252e-01] [-7.73117308e-04 7.36637020e-07 9.99999701e-01 -2.44487862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.914203822000005 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:35.52, Y:0.41, Z:-0.24 [[ 9.99998468e-01 -1.57070581e-03 7.73117655e-04 3.55195094e+01] [ 1.57070622e-03 9.99998766e-01 7.63026903e-08 4.09421443e-01] [-7.73116821e-04 1.13803814e-06 9.99999701e-01 -2.40262084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.944203822000006 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:35.55, Y:0.41, Z:-0.24 [[ 9.99998103e-01 -1.78790967e-03 7.73117656e-04 3.55507569e+01] [ 1.78791016e-03 9.99998402e-01 5.75877586e-08 4.08971905e-01] [-7.73116523e-04 1.32467726e-06 9.99999701e-01 -2.38974934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.97420382200001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:35.58, Y:0.41, Z:-0.24 [[ 9.99998964e-01 -1.21409815e-03 7.73117657e-04 3.55814978e+01] [ 1.21409848e-03 9.99999263e-01 3.88074419e-08 4.09064934e-01] [-7.73117134e-04 8.99833572e-07 9.99999701e-01 -2.40364173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.004203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.61, Y:0.41, Z:-0.24 [[ 9.99999261e-01 -9.37776479e-04 7.73117657e-04 3.56118294e+01] [ 9.37776736e-04 9.99999560e-01 2.94622583e-08 4.08140444e-01] [-7.73117345e-04 6.95549517e-07 9.99999701e-01 -2.43320385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.034203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:35.64, Y:0.41, Z:-0.24 [[ 9.99999684e-01 -1.84264990e-04 7.73117658e-04 3.56433628e+01] [ 1.84265029e-04 9.99999983e-01 2.02389523e-08 4.07669461e-01] [-7.73117648e-04 1.22219602e-07 9.99999701e-01 -2.43996866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.064203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:35.67, Y:0.41, Z:-0.25 [[ 9.99999510e-01 6.18514922e-04 7.73117658e-04 3.56738723e+01] [-6.18515109e-04 9.99999809e-01 1.94056463e-09 4.05749776e-01] [-7.73117509e-04 -4.80125516e-07 9.99999701e-01 -2.47654837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.094203822000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:35.70, Y:0.40, Z:-0.25 [[ 9.99999391e-01 7.88152985e-04 7.73117657e-04 3.57045182e+01] [-7.88153208e-04 9.99999689e-01 -1.62528347e-08 4.03650257e-01] [-7.73117430e-04 -5.93082337e-07 9.99999701e-01 -2.45774973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124203822000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:35.74, Y:0.40, Z:-0.25 [[ 9.99999184e-01 1.01707062e-03 7.73117657e-04 3.57352183e+01] [-1.01707091e-03 9.99999483e-01 -1.62528348e-08 4.01768447e-01] [-7.73117274e-04 -7.70062656e-07 9.99999701e-01 -2.47508835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.15420382200001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:35.77, Y:0.40, Z:-0.25 [[ 9.99999196e-01 1.00503193e-03 7.73117653e-04 3.57657224e+01] [-1.00503218e-03 9.99999495e-01 -6.55522778e-08 4.01209796e-01] [-7.73117329e-04 -7.11455897e-07 9.99999701e-01 -2.46915242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.80, Y:0.40, Z:-0.24 [[ 9.99999452e-01 7.05627994e-04 7.73117653e-04 3.57966711e+01] [-7.05628154e-04 9.99999751e-01 -6.55522779e-08 4.03279932e-01] [-7.73117507e-04 -4.79981341e-07 9.99999701e-01 -2.44769364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.214203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:35.83, Y:0.40, Z:-0.25 [[ 9.99999505e-01 6.26509012e-04 7.73117653e-04 3.58269101e+01] [-6.26509149e-04 9.99999804e-01 -6.55522780e-08 4.03532537e-01] [-7.73117543e-04 -4.18813037e-07 9.99999701e-01 -2.46710700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.244203822 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:35.86, Y:0.40, Z:-0.25 [[ 9.99999701e-01 1.06873219e-05 7.73117646e-04 3.58571324e+01] [-1.06872371e-05 1.00000000e+00 -1.14032866e-07 3.98262004e-01] [-7.73117647e-04 1.05770341e-07 9.99999701e-01 -2.47592545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.274203822000004 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:35.89, Y:0.39, Z:-0.25 [[ 9.99999678e-01 -2.15537514e-04 7.73117646e-04 3.58874183e+01] [ 2.15537667e-04 9.99999977e-01 -1.14032866e-07 3.94151086e-01] [-7.73117604e-04 2.80668803e-07 9.99999701e-01 -2.46111175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304203822000005 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:35.92, Y:0.39, Z:-0.25 [[ 9.99999695e-01 -1.06422092e-04 7.73117646e-04 3.59176893e+01] [ 1.06422212e-04 9.99999994e-01 -1.14032866e-07 3.91518120e-01] [-7.73117630e-04 1.96309722e-07 9.99999701e-01 -2.45128937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.334203822000006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:35.95, Y:0.39, Z:-0.24 [[ 9.99999700e-01 4.04259994e-05 7.73117641e-04 3.59483851e+01] [-4.04259021e-05 9.99999999e-01 -1.41791882e-07 3.90489405e-01] [-7.73117646e-04 1.10537862e-07 9.99999701e-01 -2.43316482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.98, Y:0.39, Z:-0.25 [[ 9.99999560e-01 5.31212617e-04 7.73117641e-04 3.59784576e+01] [-5.31212667e-04 9.99999859e-01 -1.41791882e-07 3.89283701e-01] [-7.73117607e-04 -2.68898064e-07 9.99999701e-01 -2.45661894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.394203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:36.01, Y:0.39, Z:-0.24 [[ 9.99996639e-01 2.47485133e-03 7.73117639e-04 3.60093368e+01] [-2.47485195e-03 9.99996938e-01 -1.51026203e-07 3.85186142e-01] [-7.73115645e-04 -1.76232600e-06 9.99999701e-01 -2.41478576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.424203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:36.04, Y:0.38, Z:-0.24 [[ 9.99991166e-01 4.13169315e-03 7.73117639e-04 3.60403068e+01] [-4.13169427e-03 9.99991465e-01 -1.51026203e-07 3.83805244e-01] [-7.73111664e-04 -3.04326085e-06 9.99999701e-01 -2.40268889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.454203822000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:36.07, Y:0.38, Z:-0.24 [[ 9.99979632e-01 6.33542083e-03 7.73117639e-04 3.60708437e+01] [-6.33542260e-03 9.99979931e-01 -1.51026203e-07 3.82508180e-01] [-7.73103080e-04 -4.74700384e-06 9.99999701e-01 -2.42007513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.484203822000005 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:36.10, Y:0.38, Z:-0.24 [[ 9.99937120e-01 1.11874103e-02 7.73117637e-04 3.61011221e+01] [-1.11874135e-02 9.99937419e-01 -1.60429493e-07 3.78782239e-01] [-7.73071049e-04 -8.48876729e-06 9.99999701e-01 -2.44973771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.514203822000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.13, Y:0.38, Z:-0.25 [[ 9.99899969e-01 1.41227995e-02 7.73117637e-04 3.61303421e+01] [-1.41228035e-02 9.99900268e-01 -1.60429493e-07 3.77714585e-01] [-7.73042799e-04 -1.07581751e-05 9.99999701e-01 -2.45863117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54420382200001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:36.16, Y:0.38, Z:-0.24 [[ 9.99850284e-01 1.72861890e-02 7.73117635e-04 3.61604763e+01] [-1.72861941e-02 9.99850583e-01 -1.68387342e-07 3.77911687e-01] [-7.73005029e-04 -1.31958994e-05 9.99999701e-01 -2.44959803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.574203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:36.19, Y:0.38, Z:-0.25 [[ 9.99715196e-01 2.38522220e-02 7.73117639e-04 3.61898698e+01] [-2.38522290e-02 9.99715495e-01 -1.50242444e-07 3.77233243e-01] [-7.72901267e-04 -1.82903793e-05 9.99999701e-01 -2.45534501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.604203822 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:36.22, Y:0.38, Z:-0.25 [[ 9.99642050e-01 2.67427571e-02 7.73117642e-04 3.62187993e+01] [-2.67427650e-02 9.99642348e-01 -1.31625033e-07 3.76290443e-01] [-7.72844655e-04 -2.05437255e-05 9.99999701e-01 -2.49016752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.634203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:36.25, Y:0.38, Z:-0.25 [[ 9.99570587e-01 2.92923874e-02 7.73117646e-04 3.62483683e+01] [-2.92923961e-02 9.99570886e-01 -1.03740683e-07 3.75006958e-01] [-7.72788929e-04 -2.25427722e-05 9.99999701e-01 -2.49363176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.664203822000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:36.28, Y:0.38, Z:-0.24 [[ 9.99459469e-01 3.28659747e-02 7.73117648e-04 3.62778677e+01] [-3.28659845e-02 9.99459768e-01 -8.57311300e-08 3.76056775e-01] [-7.72702802e-04 -2.53235878e-05 9.99999701e-01 -2.44815839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.694203822000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:36.31, Y:0.38, Z:-0.24 [[ 9.99433044e-01 3.36599512e-02 7.73117650e-04 3.63062921e+01] [-3.36599612e-02 9.99433343e-01 -6.71137192e-08 3.77474988e-01] [-7.72681816e-04 -2.59560344e-05 9.99999701e-01 -2.44948579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72420382200001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:36.34, Y:0.38, Z:-0.25 [[ 9.99429903e-01 3.37530886e-02 7.73117651e-04 3.63353887e+01] [-3.37530986e-02 9.99430202e-01 -4.71301066e-08 3.78176655e-01] [-7.72678721e-04 -2.60480131e-05 9.99999701e-01 -2.45229970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.754203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:36.36, Y:0.38, Z:-0.24 [[ 9.99493686e-01 3.18083816e-02 7.73117651e-04 3.63649548e+01] [-3.18083911e-02 9.99493985e-01 -2.54780790e-08 3.77780211e-01] [-7.72727253e-04 -2.45661635e-05 9.99999701e-01 -2.44529195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.784203822 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:36.39, Y:0.38, Z:-0.25 [[ 9.99554521e-01 2.98355792e-02 7.73117652e-04 3.63939372e+01] [-2.98355881e-02 9.99554820e-01 -6.76396324e-09 3.77023705e-01] [-7.72773677e-04 -2.30596588e-05 9.99999701e-01 -2.47097819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.814203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:36.42, Y:0.38, Z:-0.24 [[ 9.99618039e-01 2.76256872e-02 7.73117651e-04 3.64239275e+01] [-2.76256955e-02 9.99618338e-01 2.11460230e-08 3.75812119e-01] [-7.72821997e-04 -2.13790507e-05 9.99999701e-01 -2.44614824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.844203822000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:36.45, Y:0.37, Z:-0.24 [[ 9.99679189e-01 2.53164160e-02 7.73117650e-04 3.64538408e+01] [-2.53164236e-02 9.99679488e-01 3.95769348e-08 3.73922417e-01] [-7.72868854e-04 -1.96121382e-05 9.99999701e-01 -2.44213431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.874203822000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:36.48, Y:0.37, Z:-0.25 [[ 9.99792085e-01 2.03761942e-02 7.73117649e-04 3.64833328e+01] [-2.03762003e-02 9.99792384e-01 5.80350356e-08 3.71381555e-01] [-7.72955954e-04 -1.58112231e-05 9.99999701e-01 -2.47120066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90420382200001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:36.51, Y:0.37, Z:-0.25 [[ 9.99843222e-01 1.76899445e-02 7.73117647e-04 3.65135936e+01] [-1.76899499e-02 9.99843521e-01 7.64260443e-08 3.71384643e-01] [-7.72995318e-04 -1.37528265e-05 9.99999701e-01 -2.46689822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.934203822 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:36.54, Y:0.37, Z:-0.25 [[ 9.99885840e-01 1.50900380e-02 7.73117647e-04 3.65428033e+01] [-1.50900425e-02 9.99886139e-01 7.64260443e-08 3.71289056e-01] [-7.73028465e-04 -1.17427955e-05 9.99999701e-01 -2.49507544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.964203822 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:36.57, Y:0.37, Z:-0.25 [[ 9.99946035e-01 1.03599431e-02 7.73117646e-04 3.65737067e+01] [-1.03599462e-02 9.99946334e-01 8.58217447e-08 3.66641189e-01] [-7.73075267e-04 -8.09527436e-06 9.99999701e-01 -2.46483614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.994203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:36.60, Y:0.36, Z:-0.25 [[ 9.99961911e-01 8.69356106e-03 7.73117646e-04 3.66033530e+01] [-8.69356372e-03 9.99962210e-01 8.58217447e-08 3.63873181e-01] [-7.73087684e-04 -6.80696599e-06 9.99999701e-01 -2.47341606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.024203822000004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:36.63, Y:0.36, Z:-0.25 [[ 9.99970902e-01 7.58924263e-03 7.73117645e-04 3.66334017e+01] [-7.58924497e-03 9.99971201e-01 9.49545733e-08 3.62227156e-01] [-7.73094659e-04 -5.96233100e-06 9.99999701e-01 -2.45945706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.054203822000005 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:36.66, Y:0.36, Z:-0.25 [[ 9.99975624e-01 6.93924847e-03 7.73117645e-04 3.66625916e+01] [-6.93925062e-03 9.99975923e-01 9.49545733e-08 3.61341867e-01] [-7.73098371e-04 -5.45980935e-06 9.99999701e-01 -2.50415942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.084203822000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:36.69, Y:0.36, Z:-0.25 [[ 9.99969828e-01 7.72956437e-03 7.73117646e-04 3.66930261e+01] [-7.72956674e-03 9.99970126e-01 8.22650492e-08 3.61661736e-01] [-7.73093914e-04 -6.05812701e-06 9.99999701e-01 -2.46373936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.11420382200001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:36.72, Y:0.36, Z:-0.25 [[ 9.99958776e-01 9.04701949e-03 7.73117646e-04 3.67239041e+01] [-9.04702226e-03 9.99959075e-01 8.22650490e-08 3.61708986e-01] [-7.73085262e-04 -7.07667421e-06 9.99999701e-01 -2.45960366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.144203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:36.75, Y:0.36, Z:-0.25 [[ 9.99947201e-01 1.02467882e-02 7.73117646e-04 3.67533087e+01] [-1.02467913e-02 9.99947500e-01 8.22650489e-08 3.61394803e-01] [-7.73076214e-04 -8.00423589e-06 9.99999701e-01 -2.49788929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.174203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:36.78, Y:0.36, Z:-0.25 [[ 9.99935183e-01 1.13592649e-02 7.73117645e-04 3.67833910e+01] [-1.13592684e-02 9.99935481e-01 9.16661389e-08 3.60543659e-01] [-7.73066723e-04 -8.87371102e-06 9.99999701e-01 -2.48872837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.204203822000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.81, Y:0.36, Z:-0.25 [[ 9.99919775e-01 1.26429774e-02 7.73117644e-04 3.68133589e+01] [-1.26429812e-02 9.99920074e-01 1.01144173e-07 3.57282762e-01] [-7.73054573e-04 -9.87564791e-06 9.99999701e-01 -2.50458278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.234203822000005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:36.84, Y:0.36, Z:-0.25 [[ 9.99914439e-01 1.30581897e-02 7.73117644e-04 3.68434059e+01] [-1.30581936e-02 9.99914738e-01 1.01144173e-07 3.57807820e-01] [-7.73050405e-04 -1.01966554e-05 9.99999701e-01 -2.47477679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.264203822000006 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:36.87, Y:0.36, Z:-0.25 [[ 9.99909438e-01 1.34357308e-02 7.73117644e-04 3.68733559e+01] [-1.34357349e-02 9.99909736e-01 1.01144173e-07 3.59603371e-01] [-7.73046500e-04 -1.04885387e-05 9.99999701e-01 -2.47930587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.29420382200001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.90, Y:0.36, Z:-0.25 [[ 9.99910873e-01 1.33284483e-02 7.73117642e-04 3.69027045e+01] [-1.33284524e-02 9.99911172e-01 1.10606800e-07 3.61293124e-01] [-7.73047494e-04 -1.04150586e-05 9.99999701e-01 -2.50729772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.324203822 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:36.93, Y:0.36, Z:-0.25 [[ 9.99919358e-01 1.26759856e-02 7.73117641e-04 3.69322343e+01] [-1.26759894e-02 9.99919656e-01 1.19935879e-07 3.61115624e-01] [-7.73054005e-04 -9.91995726e-06 9.99999701e-01 -2.49744437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.354203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.96, Y:0.36, Z:-0.24 [[ 9.99925430e-01 1.21875949e-02 7.73117639e-04 3.69621852e+01] [-1.21875986e-02 9.99925728e-01 1.28994524e-07 3.59305779e-01] [-7.73058646e-04 -9.55143239e-06 9.99999701e-01 -2.44568933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.384203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:36.99, Y:0.36, Z:-0.24 [[ 9.99931934e-01 1.16417152e-02 7.73117638e-04 3.69914195e+01] [-1.16417188e-02 9.99932233e-01 1.38436766e-07 3.58134516e-01] [-7.73063634e-04 -9.13884545e-06 9.99999701e-01 -2.43139666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.414203822000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.02, Y:0.36, Z:-0.25 [[ 9.99934496e-01 1.14195833e-02 7.73117636e-04 3.70212435e+01] [-1.14195868e-02 9.99934794e-01 1.47829130e-07 3.57859824e-01] [-7.73065536e-04 -8.97650341e-06 9.99999701e-01 -2.46599388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.444203822000006 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:37.05, Y:0.36, Z:-0.25 [[ 9.99928775e-01 1.19099437e-02 7.73117634e-04 3.70506148e+01] [-1.19099474e-02 9.99929074e-01 1.57152268e-07 3.57670855e-01] [-7.73060928e-04 -9.36493141e-06 9.99999701e-01 -2.52373941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.47420382200001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:37.08, Y:0.36, Z:-0.25 [[ 9.99920430e-01 1.25910861e-02 7.73117636e-04 3.70809150e+01] [-1.25910900e-02 9.99920729e-01 1.44911130e-07 3.57133828e-01] [-7.73054526e-04 -9.87929331e-06 9.99999701e-01 -2.49091424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.504203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:37.11, Y:0.36, Z:-0.25 [[ 9.99906929e-01 1.36211315e-02 7.73117636e-04 3.71107290e+01] [-1.36211357e-02 9.99907228e-01 1.44911130e-07 3.56410131e-01] [-7.73043939e-04 -1.06756379e-05 9.99999701e-01 -2.50942437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.534203822 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:37.14, Y:0.35, Z:-0.25 [[ 9.99885361e-01 1.51217456e-02 7.73117638e-04 3.71413664e+01] [-1.51217502e-02 9.99885660e-01 1.35178732e-07 3.51645568e-01] [-7.73027195e-04 -1.18260550e-05 9.99999701e-01 -2.52420512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.564203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:37.17, Y:0.35, Z:-0.25 [[ 9.99875711e-01 1.57469264e-02 7.73117638e-04 3.71720913e+01] [-1.57469312e-02 9.99876009e-01 1.35178732e-07 3.48975176e-01] [-7.73019650e-04 -1.23093922e-05 9.99999701e-01 -2.53356756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.594203822000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:37.20, Y:0.35, Z:-0.25 [[ 9.99851353e-01 1.72242496e-02 7.73117638e-04 3.72016336e+01] [-1.72242549e-02 9.99851652e-01 1.35178732e-07 3.49119599e-01] [-7.73000619e-04 -1.34515339e-05 9.99999701e-01 -2.54983214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.624203822000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:37.23, Y:0.35, Z:-0.26 [[ 9.99776683e-01 2.11184061e-02 7.73117636e-04 3.72313421e+01] [-2.11184125e-02 9.99776981e-01 1.44620974e-07 3.53053495e-01] [-7.72942162e-04 -1.64716059e-05 9.99999701e-01 -2.55406910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.65420382200001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:37.26, Y:0.35, Z:-0.26 [[ 9.99722686e-01 2.35361975e-02 7.73117634e-04 3.72604267e+01] [-2.35362047e-02 9.99722985e-01 1.53707132e-07 3.53640727e-01] [-7.72899852e-04 -1.83499194e-05 9.99999701e-01 -2.55568510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.684203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:37.29, Y:0.35, Z:-0.26 [[ 9.99665176e-01 2.58638508e-02 7.73117628e-04 3.72888808e+01] [-2.58638586e-02 9.99665474e-01 1.80643660e-07 3.53776883e-01] [-7.72854328e-04 -2.01763882e-05 9.99999701e-01 -2.56518609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.714203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:37.32, Y:0.36, Z:-0.25 [[ 9.99532630e-01 3.05601834e-02 7.73117621e-04 3.73190031e+01] [-3.05601927e-02 9.99532928e-01 2.07319822e-07 3.56761941e-01] [-7.72750184e-04 -2.38338464e-05 9.99999701e-01 -2.48689414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.744203822 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:37.35, Y:0.36, Z:-0.25 [[ 9.99451911e-01 3.30950196e-02 7.73117615e-04 3.73474783e+01] [-3.30950297e-02 9.99452209e-01 2.26232999e-07 3.57974776e-01] [-7.72686622e-04 -2.58124594e-05 9.99999701e-01 -2.48263630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.774203822000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:37.38, Y:0.36, Z:-0.25 [[ 9.99452707e-01 3.30709535e-02 7.73117608e-04 3.73776334e+01] [-3.30709636e-02 9.99453006e-01 2.48022921e-07 3.58029245e-01] [-7.72686515e-04 -2.58156314e-05 9.99999701e-01 -2.48286944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804203822000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.41, Y:0.36, Z:-0.25 [[ 9.99393490e-01 3.48145667e-02 7.73117602e-04 3.74059925e+01] [-3.48145773e-02 9.99393789e-01 2.66639066e-07 3.58062237e-01] [-7.72639646e-04 -2.71822398e-05 9.99999701e-01 -2.49511550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.834203822000006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:37.44, Y:0.36, Z:-0.25 [[ 9.99305107e-01 3.72653274e-02 7.73117591e-04 3.74358126e+01] [-3.72653388e-02 9.99305406e-01 2.94411616e-07 3.60296213e-01] [-7.72569617e-04 -2.91046960e-05 9.99999701e-01 -2.50198757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86420382200001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:37.46, Y:0.36, Z:-0.25 [[ 9.99299662e-01 3.74110537e-02 7.73117584e-04 3.74641217e+01] [-3.74110651e-02 9.99299961e-01 3.13109715e-07 3.61935944e-01] [-7.72564658e-04 -2.92360427e-05 9.99999701e-01 -2.52702972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.894203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.49, Y:0.36, Z:-0.26 [[ 9.99332940e-01 3.65113446e-02 7.73117575e-04 3.74927999e+01] [-3.65113558e-02 9.99333238e-01 3.33934949e-07 3.63156429e-01] [-7.72589897e-04 -2.85612830e-05 9.99999701e-01 -2.56339446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.924203822 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:37.52, Y:0.36, Z:-0.26 [[ 9.99392797e-01 3.48344634e-02 7.73117565e-04 3.75216963e+01] [-3.48344741e-02 9.99393096e-01 3.55055694e-07 3.64668220e-01] [-7.72635988e-04 -2.72859839e-05 9.99999701e-01 -2.55887067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.954203822000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.55, Y:0.37, Z:-0.25 [[ 9.99538332e-01 3.03730868e-02 7.73117552e-04 3.75513884e+01] [-3.03730961e-02 9.99538631e-01 3.80883446e-07 3.71347085e-01] [-7.72749291e-04 -2.38626813e-05 9.99999701e-01 -2.50896948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.984203822000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.58, Y:0.37, Z:-0.25 [[ 9.99615613e-01 2.77133127e-02 7.73117543e-04 3.75813427e+01] [-2.77133213e-02 9.99615912e-01 3.98671394e-07 3.73952354e-01] [-7.72809550e-04 -2.18241730e-05 9.99999701e-01 -2.45928825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.014203822000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.61, Y:0.37, Z:-0.25 [[ 9.99740312e-01 2.27752201e-02 7.73117533e-04 3.76098657e+01] [-2.27752272e-02 9.99740611e-01 4.17577811e-07 3.73431258e-01] [-7.72907484e-04 -1.80253969e-05 9.99999701e-01 -2.48781128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04420382200001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:37.64, Y:0.37, Z:-0.25 [[ 9.99779243e-01 2.09968303e-02 7.73117517e-04 3.76392448e+01] [-2.09968369e-02 9.99779542e-01 4.45781015e-07 3.73432814e-01] [-7.72937717e-04 -1.66787050e-05 9.99999701e-01 -2.51051844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.074203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:37.67, Y:0.38, Z:-0.25 [[ 9.99810485e-01 1.94524264e-02 7.73117511e-04 3.76689485e+01] [-1.94524325e-02 9.99810784e-01 4.54762336e-07 3.75082483e-01] [-7.72962379e-04 -1.54936924e-05 9.99999701e-01 -2.52888550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.104203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.70, Y:0.38, Z:-0.25 [[ 9.99834230e-01 1.81910766e-02 7.73117506e-04 3.76998706e+01] [-1.81910824e-02 9.99834529e-01 4.63545782e-07 3.77794419e-01] [-7.72981145e-04 -1.45273132e-05 9.99999701e-01 -2.49851451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.134203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.73, Y:0.39, Z:-0.25 [[ 9.99877299e-01 1.56457505e-02 7.73117506e-04 3.77302624e+01] [-1.56457556e-02 9.99877598e-01 4.63545782e-07 3.86144042e-01] [-7.73015622e-04 -1.25594964e-05 9.99999701e-01 -2.46873181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.164203822000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.76, Y:0.39, Z:-0.25 [[ 9.99898627e-01 1.42174958e-02 7.73117506e-04 3.77590811e+01] [-1.42175004e-02 9.99898926e-01 4.63545782e-07 3.89223659e-01] [-7.73032774e-04 -1.14552972e-05 9.99999701e-01 -2.50715525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.194203822000006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:37.79, Y:0.39, Z:-0.25 [[ 9.99921008e-01 1.25451321e-02 7.73117488e-04 3.77889177e+01] [-1.25451363e-02 9.99921307e-01 4.91767109e-07 3.89994316e-01] [-7.73050480e-04 -1.01905925e-05 9.99999701e-01 -2.51347753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22420382200001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.82, Y:0.39, Z:-0.26 [[ 9.99945032e-01 1.04563833e-02 7.73117476e-04 3.78187696e+01] [-1.04563868e-02 9.99945330e-01 5.10638266e-07 3.89176156e-01] [-7.73069870e-04 -8.59462557e-06 9.99999701e-01 -2.56272756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.254203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.85, Y:0.39, Z:-0.25 [[ 9.99975443e-01 6.96537801e-03 7.73117469e-04 3.78494272e+01] [-6.96538049e-03 9.99975741e-01 5.19998559e-07 3.89613762e-01] [-7.73095093e-04 -5.90504313e-06 9.99999701e-01 -2.52849744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.284203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.88, Y:0.39, Z:-0.25 [[ 9.99982999e-01 5.77966229e-03 7.73117469e-04 3.78794123e+01] [-5.77966441e-03 9.99983298e-01 5.19998559e-07 3.90372282e-01] [-7.73101551e-04 -4.98834924e-06 9.99999701e-01 -2.50671859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.91, Y:0.39, Z:-0.25 [[ 9.99987064e-01 5.02731506e-03 7.73117463e-04 3.79091150e+01] [-5.02731698e-03 9.99987363e-01 5.29167039e-07 3.90616441e-01] [-7.73105033e-04 -4.41586674e-06 9.99999701e-01 -2.49426477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.344203822000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:37.94, Y:0.39, Z:-0.25 [[ 9.99987934e-01 4.85117705e-03 7.73117457e-04 3.79394441e+01] [-4.85117891e-03 9.99988233e-01 5.38266410e-07 3.90086878e-01] [-7.73105748e-04 -4.28879102e-06 9.99999701e-01 -2.45732240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.374203822000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.97, Y:0.39, Z:-0.24 [[ 9.99987968e-01 4.84427895e-03 7.73117457e-04 3.79696618e+01] [-4.84428082e-03 9.99988266e-01 5.38266410e-07 3.89136879e-01] [-7.73105778e-04 -4.28345800e-06 9.99999701e-01 -2.42060437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40420382200001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.00, Y:0.39, Z:-0.24 [[ 9.99986034e-01 5.22818989e-03 7.73117457e-04 3.80006141e+01] [-5.22819187e-03 9.99986333e-01 5.38266410e-07 3.88989703e-01] [-7.73104076e-04 -4.58026529e-06 9.99999701e-01 -2.42178333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.434203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.03, Y:0.39, Z:-0.24 [[ 9.99984109e-01 5.58427244e-03 7.73117457e-04 3.80303098e+01] [-5.58427453e-03 9.99984408e-01 5.38266409e-07 3.89256118e-01] [-7.73102396e-04 -4.85555798e-06 9.99999701e-01 -2.44438137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.464203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:38.06, Y:0.39, Z:-0.25 [[ 9.99973073e-01 7.29767862e-03 7.73117450e-04 3.80606677e+01] [-7.29768122e-03 9.99973372e-01 5.47398627e-07 3.87698842e-01] [-7.73092869e-04 -6.18934859e-06 9.99999701e-01 -2.46133351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.494203822 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:38.09, Y:0.39, Z:-0.25 [[ 9.99965967e-01 8.21387270e-03 7.73117450e-04 3.80907060e+01] [-8.21387558e-03 9.99966266e-01 5.47398627e-07 3.85576916e-01] [-7.73086873e-04 -6.89767054e-06 9.99999701e-01 -2.45530843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.12, Y:0.38, Z:-0.24 [[ 9.99959826e-01 8.93025220e-03 7.73117450e-04 3.81210908e+01] [-8.93025529e-03 9.99960124e-01 5.47398627e-07 3.83580399e-01] [-7.73081733e-04 -7.45151284e-06 9.99999701e-01 -2.44358438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.554203822000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.15, Y:0.38, Z:-0.25 [[ 9.99953085e-01 9.65556901e-03 7.73117450e-04 3.81508130e+01] [-9.65557232e-03 9.99953384e-01 5.47398627e-07 3.82092973e-01] [-7.73076125e-04 -8.01226440e-06 9.99999701e-01 -2.47261716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.584203822000006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:38.18, Y:0.38, Z:-0.25 [[ 9.99941243e-01 1.08126273e-02 7.73117444e-04 3.81816375e+01] [-1.08126310e-02 9.99941542e-01 5.56673131e-07 3.81610359e-01] [-7.73066229e-04 -8.91607406e-06 9.99999701e-01 -2.46966320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.61420382200001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.21, Y:0.38, Z:-0.25 [[ 9.99935353e-01 1.13442111e-02 7.73117444e-04 3.82114234e+01] [-1.13442149e-02 9.99935652e-01 5.56673131e-07 3.81636049e-01] [-7.73061380e-04 -9.32704756e-06 9.99999701e-01 -2.46798415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.644203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:38.24, Y:0.38, Z:-0.24 [[ 9.99929008e-01 1.18903714e-02 7.73117437e-04 3.82408312e+01] [-1.18903754e-02 9.99929307e-01 5.66112000e-07 3.81916363e-01] [-7.73056051e-04 -9.75872835e-06 9.99999701e-01 -2.44454064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.674203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.27, Y:0.38, Z:-0.24 [[ 9.99916252e-01 1.29186467e-02 7.73117423e-04 3.82701262e+01] [-1.29186510e-02 9.99916551e-01 5.84649409e-07 3.81307297e-01] [-7.73045354e-04 -1.05722346e-05 9.99999701e-01 -2.42006192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.704203822000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.30, Y:0.38, Z:-0.25 [[ 9.99889746e-01 1.48289307e-02 7.73117408e-04 3.82993333e+01] [-1.48289356e-02 9.99890045e-01 6.03621243e-07 3.77817174e-01] [-7.73023449e-04 -1.20680629e-05 9.99999701e-01 -2.46580298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.734203822000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:38.33, Y:0.38, Z:-0.25 [[ 9.99877855e-01 1.56101455e-02 7.73117393e-04 3.83287771e+01] [-1.56101506e-02 9.99878154e-01 6.22493696e-07 3.76292636e-01] [-7.73013474e-04 -1.26908966e-05 9.99999701e-01 -2.48786925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.764203822000006 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:38.36, Y:0.38, Z:-0.25 [[ 9.99841477e-01 1.77882617e-02 7.73117385e-04 3.83580132e+01] [-1.77882675e-02 9.99841776e-01 6.31725892e-07 3.76494028e-01] [-7.72983822e-04 -1.43840446e-05 9.99999701e-01 -2.50465775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.79420382200001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.39, Y:0.38, Z:-0.25 [[ 9.99830573e-01 1.83909648e-02 7.73117378e-04 3.83878812e+01] [-1.83909708e-02 9.99830872e-01 6.40858718e-07 3.75704011e-01] [-7.72974836e-04 -1.48591293e-05 9.99999701e-01 -2.49094966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.42, Y:0.37, Z:-0.25 [[ 9.99833422e-01 1.82354388e-02 7.73117362e-04 3.84180984e+01] [-1.82354448e-02 9.99833720e-01 6.59334904e-07 3.74268826e-01] [-7.72976785e-04 -1.47573640e-05 9.99999701e-01 -2.47173811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.854203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.45, Y:0.37, Z:-0.24 [[ 9.99843625e-01 1.76671131e-02 7.73117362e-04 3.84481281e+01] [-1.76671189e-02 9.99843924e-01 6.59334904e-07 3.72755087e-01] [-7.72985048e-04 -1.43179881e-05 9.99999701e-01 -2.43646539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.884203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.48, Y:0.37, Z:-0.24 [[ 9.99870080e-01 1.61004946e-02 7.73117354e-04 3.84785470e+01] [-1.61004999e-02 9.99870379e-01 6.68703861e-07 3.71792387e-01] [-7.73006375e-04 -1.31161929e-05 9.99999701e-01 -2.39705936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.914203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.51, Y:0.37, Z:-0.24 [[ 9.99878444e-01 1.55724191e-02 7.73117354e-04 3.85077298e+01] [-1.55724243e-02 9.99878742e-01 6.68703861e-07 3.71868899e-01] [-7.73013194e-04 -1.27079340e-05 9.99999701e-01 -2.39296612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.944203822000006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:38.54, Y:0.37, Z:-0.25 [[ 9.99879601e-01 1.54979047e-02 7.73117337e-04 3.85368277e+01] [-1.54979099e-02 9.99879900e-01 6.87837114e-07 3.71317660e-01] [-7.73013825e-04 -1.26694571e-05 9.99999701e-01 -2.45771408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.97420382200001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:38.57, Y:0.37, Z:-0.25 [[ 9.99873714e-01 1.58732054e-02 7.73117347e-04 3.85668329e+01] [-1.58732107e-02 9.99874013e-01 6.76277406e-07 3.69994621e-01] [-7.73009209e-04 -1.29480465e-05 9.99999701e-01 -2.45272121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.60, Y:0.36, Z:-0.25 [[ 9.99859982e-01 1.67158462e-02 7.73117330e-04 3.85965471e+01] [-1.67158517e-02 9.99860280e-01 6.94507860e-07 3.64838469e-01] [-7.72997702e-04 -1.36177252e-05 9.99999701e-01 -2.45983678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.63, Y:0.36, Z:-0.24 [[ 9.99851922e-01 1.71911893e-02 7.73117314e-04 3.86257996e+01] [-1.71911950e-02 9.99852220e-01 7.12870639e-07 3.62375760e-01] [-7.72990808e-04 -1.40035756e-05 9.99999701e-01 -2.44575861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.66, Y:0.36, Z:-0.25 [[ 9.99838151e-01 1.79742422e-02 7.73117296e-04 3.86558318e+01] [-1.79742482e-02 9.99838450e-01 7.31586022e-07 3.60630166e-01] [-7.72979249e-04 -1.46276698e-05 9.99999701e-01 -2.45183048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.69, Y:0.36, Z:-0.25 [[ 9.99800082e-01 1.99799371e-02 7.73117278e-04 3.86850144e+01] [-1.99799436e-02 9.99800381e-01 7.50219299e-07 3.57646152e-01] [-7.72947959e-04 -1.61969089e-05 9.99999701e-01 -2.47534100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.124203822000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:38.72, Y:0.36, Z:-0.25 [[ 9.99776903e-01 2.11079827e-02 7.73117269e-04 3.87151669e+01] [-2.11079896e-02 9.99777202e-01 7.59493800e-07 3.56475272e-01] [-7.72928988e-04 -1.70782756e-05 9.99999701e-01 -2.48442766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.15420382200001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.75, Y:0.36, Z:-0.25 [[ 9.99747103e-01 2.24751680e-02 7.73117250e-04 3.87451227e+01] [-2.24751753e-02 9.99747401e-01 7.77902761e-07 3.55627672e-01] [-7.72904478e-04 -1.81536517e-05 9.99999701e-01 -2.47340974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18420382200001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.77, Y:0.36, Z:-0.25 [[ 9.99707806e-01 2.41599835e-02 7.73117231e-04 3.87738807e+01] [-2.41599914e-02 9.99708105e-01 7.96594247e-07 3.55002831e-01] [-7.72872316e-04 -1.94748671e-05 9.99999701e-01 -2.48105909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.80, Y:0.35, Z:-0.25 [[ 9.99599080e-01 2.83033792e-02 7.73117201e-04 3.88031186e+01] [-2.83033883e-02 9.99599379e-01 8.24615216e-07 3.52009647e-01] [-7.72784134e-04 -2.27061210e-05 9.99999701e-01 -2.45519692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.83, Y:0.35, Z:-0.25 [[ 9.99540893e-01 3.02887151e-02 7.73117180e-04 3.88326051e+01] [-3.02887248e-02 9.99541191e-01 8.43622679e-07 3.49924388e-01] [-7.72736915e-04 -2.42599688e-05 9.99999701e-01 -2.45672555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.274203822000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.86, Y:0.35, Z:-0.24 [[ 9.99489497e-01 3.19397576e-02 7.73117189e-04 3.88626235e+01] [-3.19397678e-02 9.99489795e-01 8.35429205e-07 3.49859019e-01] [-7.72696058e-04 -2.55281862e-05 9.99999701e-01 -2.43843887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.304203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.89, Y:0.35, Z:-0.24 [[ 9.99392691e-01 3.48375099e-02 7.73117168e-04 3.88910329e+01] [-3.48375210e-02 9.99392989e-01 8.54294925e-07 3.52438356e-01] [-7.72618116e-04 -2.77872617e-05 9.99999701e-01 -2.43777110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.334203822000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.92, Y:0.35, Z:-0.24 [[ 9.99358804e-01 3.57964218e-02 7.73117136e-04 3.89203810e+01] [-3.57964332e-02 9.99359102e-01 8.82471938e-07 3.52092207e-01] [-7.72590058e-04 -2.85567420e-05 9.99999701e-01 -2.39910917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.95, Y:0.35, Z:-0.24 [[ 9.99334028e-01 3.64815513e-02 7.73117115e-04 3.89485860e+01] [-3.64815629e-02 9.99334326e-01 9.00578150e-07 3.52056890e-01] [-7.72569617e-04 -2.91044990e-05 9.99999701e-01 -2.37794277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.98, Y:0.35, Z:-0.24 [[ 9.99318088e-01 3.69155856e-02 7.73117110e-04 3.89774376e+01] [-3.69155974e-02 9.99318387e-01 9.04733184e-07 3.53043119e-01] [-7.72556745e-04 -2.94441962e-05 9.99999701e-01 -2.36673038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.01, Y:0.35, Z:-0.24 [[ 9.99308602e-01 3.71714914e-02 7.73117078e-04 3.90074331e+01] [-3.71715033e-02 9.99308901e-01 9.31525303e-07 3.53165348e-01] [-7.72548151e-04 -2.96688052e-05 9.99999701e-01 -2.37654319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.04, Y:0.35, Z:-0.24 [[ 9.99319929e-01 3.68657209e-02 7.73117055e-04 3.90375847e+01] [-3.68657327e-02 9.99320228e-01 9.49954962e-07 3.51904311e-01] [-7.72556491e-04 -2.94508356e-05 9.99999701e-01 -2.38372552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.484203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.07, Y:0.35, Z:-0.24 [[ 9.99339973e-01 3.63183310e-02 7.73117044e-04 3.90665771e+01] [-3.63183426e-02 9.99340271e-01 9.59276478e-07 3.51335610e-01] [-7.72572157e-04 -2.90369730e-05 9.99999701e-01 -2.41109316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.514203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.10, Y:0.35, Z:-0.24 [[ 9.99416682e-01 3.41423107e-02 7.73117008e-04 3.90967099e+01] [-3.41423217e-02 9.99416981e-01 9.87050883e-07 3.52957818e-01] [-7.72632566e-04 -2.73824847e-05 9.99999701e-01 -2.38579406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.13, Y:0.35, Z:-0.24 [[ 9.99470594e-01 3.25259052e-02 7.73116984e-04 3.91251077e+01] [-3.25259157e-02 9.99470892e-01 1.00539701e-06 3.53573834e-01] [-7.72675221e-04 -2.61512026e-05 9.99999701e-01 -2.41819264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.15, Y:0.35, Z:-0.24 [[ 9.99535934e-01 3.04519140e-02 7.73116948e-04 3.91546483e+01] [-3.04519239e-02 9.99536233e-01 1.03286796e-06 3.53644433e-01] [-7.72726948e-04 -2.45752871e-05 9.99999701e-01 -2.43784949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.18, Y:0.35, Z:-0.24 [[ 9.99644188e-01 2.66626925e-02 7.73116923e-04 3.91842650e+01] [-2.66627012e-02 9.99644487e-01 1.05071865e-06 3.52513471e-01] [-7.72814055e-04 -2.16637303e-05 9.99999701e-01 -2.42294129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.21, Y:0.35, Z:-0.24 [[ 9.99678710e-01 2.53353388e-02 7.73116898e-04 3.92137174e+01] [-2.53353472e-02 9.99679009e-01 1.06937036e-06 3.51444463e-01] [-7.72841641e-04 -2.06562118e-05 9.99999701e-01 -2.42288219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.664203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.24, Y:0.35, Z:-0.24 [[ 9.99678710e-01 2.53353388e-02 7.73116885e-04 3.92447082e+01] [-2.53353472e-02 9.99679009e-01 1.07864485e-06 3.51487695e-01] [-7.72841393e-04 -2.06654830e-05 9.99999701e-01 -2.42312179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.694203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.27, Y:0.35, Z:-0.24 [[ 9.99704829e-01 2.42828595e-02 7.73116885e-04 3.92748002e+01] [-2.42828676e-02 9.99705128e-01 1.07864485e-06 3.50007757e-01] [-7.72862721e-04 -1.98518214e-05 9.99999701e-01 -2.39150708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.31, Y:0.35, Z:-0.24 [[ 9.99715787e-01 2.38274426e-02 7.73116888e-04 3.93054420e+01] [-2.38274506e-02 9.99716086e-01 1.07595928e-06 3.48193225e-01] [-7.72871752e-04 -1.94970579e-05 9.99999701e-01 -2.36037082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.34, Y:0.35, Z:-0.24 [[ 9.99724165e-01 2.34732887e-02 7.73116888e-04 3.93351060e+01] [-2.34732966e-02 9.99724464e-01 1.07595928e-06 3.48159058e-01] [-7.72878611e-04 -1.92232645e-05 9.99999701e-01 -2.35309010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.37, Y:0.35, Z:-0.23 [[ 9.99738469e-01 2.28559972e-02 7.73116876e-04 3.93658122e+01] [-2.28560048e-02 9.99738767e-01 1.08502102e-06 3.50244435e-01] [-7.72890113e-04 -1.87551003e-05 9.99999701e-01 -2.31722201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.40, Y:0.35, Z:-0.23 [[ 9.99754148e-01 2.21595717e-02 7.73116876e-04 3.93952103e+01] [-2.21595792e-02 9.99754446e-01 1.08502102e-06 3.52112053e-01] [-7.72902990e-04 -1.82166989e-05 9.99999701e-01 -2.33523721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.42, Y:0.35, Z:-0.23 [[ 9.99783278e-01 2.08038302e-02 7.73116862e-04 3.94245246e+01] [-2.08038372e-02 9.99783577e-01 1.09448702e-06 3.50314000e-01] [-7.72926772e-04 -1.71780472e-05 9.99999701e-01 -2.33854594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.874203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.45, Y:0.35, Z:-0.23 [[ 9.99801088e-01 1.99295690e-02 7.73116872e-04 3.94546149e+01] [-1.99295758e-02 9.99801386e-01 1.08736959e-06 3.47498836e-01] [-7.72941650e-04 -1.64950446e-05 9.99999701e-01 -2.32373400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.48, Y:0.34, Z:-0.23 [[ 9.99824902e-01 1.86967474e-02 7.73116872e-04 3.94837365e+01] [-1.86967539e-02 9.99825200e-01 1.08736959e-06 3.44824961e-01] [-7.72961401e-04 -1.55419551e-05 9.99999701e-01 -2.32299950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.93420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.51, Y:0.34, Z:-0.23 [[ 9.99862498e-01 1.65646317e-02 7.73116859e-04 3.95144564e+01] [-1.65646375e-02 9.99862797e-01 1.09651321e-06 3.41435803e-01] [-7.72992622e-04 -1.39027629e-05 9.99999701e-01 -2.32479151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.54, Y:0.34, Z:-0.23 [[ 9.99869515e-01 1.61355070e-02 7.73116859e-04 3.95449321e+01] [-1.61355127e-02 9.99869814e-01 1.09651321e-06 3.40766989e-01] [-7.72998518e-04 -1.35710070e-05 9.99999701e-01 -2.29800926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.57, Y:0.34, Z:-0.23 [[ 9.99867299e-01 1.62722452e-02 7.73116859e-04 3.95747908e+01] [-1.62722509e-02 9.99867598e-01 1.09651321e-06 3.39897587e-01] [-7.72996654e-04 -1.36767192e-05 9.99999701e-01 -2.30455932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.60, Y:0.34, Z:-0.23 [[ 9.99862081e-01 1.65897867e-02 7.73116846e-04 3.96038891e+01] [-1.65897925e-02 9.99862380e-01 1.10607139e-06 3.39426213e-01] [-7.72992100e-04 -1.39317669e-05 9.99999701e-01 -2.33582425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.054203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.63, Y:0.34, Z:-0.23 [[ 9.99849936e-01 1.73062806e-02 7.73116860e-04 3.96341122e+01] [-1.73062866e-02 9.99850235e-01 1.09554512e-06 3.38170646e-01] [-7.72982115e-04 -1.44751627e-05 9.99999701e-01 -2.32382662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.084203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.66, Y:0.34, Z:-0.23 [[ 9.99847223e-01 1.74623500e-02 7.73116860e-04 3.96632199e+01] [-1.74623561e-02 9.99847521e-01 1.09554512e-06 3.36119923e-01] [-7.72979846e-04 -1.45958197e-05 9.99999701e-01 -2.33854472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.69, Y:0.33, Z:-0.23 [[ 9.99851550e-01 1.72128148e-02 7.73116847e-04 3.96938434e+01] [-1.72128208e-02 9.99851848e-01 1.10466088e-06 3.33745283e-01] [-7.72983295e-04 -1.44120187e-05 9.99999701e-01 -2.32217292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.72, Y:0.33, Z:-0.23 [[ 9.99871484e-01 1.60130576e-02 7.73116847e-04 3.97235649e+01] [-1.60130633e-02 9.99871783e-01 1.10466088e-06 3.30687358e-01] [-7.73000031e-04 -1.34844879e-05 9.99999701e-01 -2.31152882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.75, Y:0.33, Z:-0.23 [[ 9.99880410e-01 1.54456619e-02 7.73116834e-04 3.97530234e+01] [-1.54456673e-02 9.99880709e-01 1.11407405e-06 3.29152325e-01] [-7.73007400e-04 -1.30552462e-05 9.99999701e-01 -2.30743975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.78, Y:0.33, Z:-0.23 [[ 9.99889926e-01 1.48167969e-02 7.73116821e-04 3.97834054e+01] [-1.48168022e-02 9.99890225e-01 1.12322850e-06 3.27114697e-01] [-7.73015309e-04 -1.25782239e-05 9.99999701e-01 -2.28822255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.234203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.81, Y:0.33, Z:-0.23 [[ 9.99898959e-01 1.41941849e-02 7.73116821e-04 3.98125013e+01] [-1.41941900e-02 9.99899257e-01 1.12322850e-06 3.25408096e-01] [-7.73022991e-04 -1.20968821e-05 9.99999701e-01 -2.29746183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.264203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.84, Y:0.32, Z:-0.23 [[ 9.99907998e-01 1.35424796e-02 7.73116835e-04 3.98427514e+01] [-1.35424845e-02 9.99908296e-01 1.11343109e-06 3.23819971e-01] [-7.73030858e-04 -1.15832514e-05 9.99999701e-01 -2.28515485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.87, Y:0.32, Z:-0.23 [[ 9.99926445e-01 1.21039757e-02 7.73116835e-04 3.98732567e+01] [-1.21039802e-02 9.99926744e-01 1.11343109e-06 3.16723889e-01] [-7.73046722e-04 -1.04711400e-05 9.99999701e-01 -2.27232769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.90, Y:0.31, Z:-0.23 [[ 9.99935514e-01 1.13300717e-02 7.73116835e-04 3.99034034e+01] [-1.13300759e-02 9.99935813e-01 1.11343109e-06 3.12140764e-01] [-7.73054595e-04 -9.87283172e-06 9.99999701e-01 -2.26134809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.93, Y:0.31, Z:-0.23 [[ 9.99938604e-01 1.10539738e-02 7.73116835e-04 3.99340654e+01] [-1.10539780e-02 9.99938903e-01 1.11343109e-06 3.08473168e-01] [-7.73057292e-04 -9.65937922e-06 9.99999701e-01 -2.29233232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.96, Y:0.30, Z:-0.23 [[ 9.99928890e-01 1.19002701e-02 7.73116902e-04 3.99647423e+01] [-1.19002744e-02 9.99929189e-01 1.06421848e-06 3.04483066e-01] [-7.73049493e-04 -1.02644461e-05 9.99999701e-01 -2.28826006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.99, Y:0.30, Z:-0.23 [[ 9.99911176e-01 1.33056927e-02 7.73116902e-04 3.99948144e+01] [-1.33056975e-02 9.99911475e-01 1.06421848e-06 3.02520600e-01] [-7.73034302e-04 -1.13509836e-05 9.99999701e-01 -2.30818895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.444203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.03, Y:0.30, Z:-0.23 [[ 9.99890270e-01 1.47936013e-02 7.73116915e-04 4.00253066e+01] [-1.47936065e-02 9.99890569e-01 1.05481584e-06 3.00316286e-01] [-7.73016708e-04 -1.24918875e-05 9.99999701e-01 -2.33281405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.47420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.06, Y:0.30, Z:-0.24 [[ 9.99867337e-01 1.62699505e-02 7.73116979e-04 4.00560339e+01] [-1.62699562e-02 9.99867636e-01 1.00597088e-06 2.98218290e-01] [-7.72998279e-04 -1.35844168e-05 9.99999701e-01 -2.35227484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.09, Y:0.30, Z:-0.24 [[ 9.99814803e-01 1.92292014e-02 7.73116979e-04 4.00868371e+01] [-1.92292079e-02 9.99815102e-01 1.00597088e-06 2.95326865e-01] [-7.72954687e-04 -1.58722117e-05 9.99999701e-01 -2.36234016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.12, Y:0.29, Z:-0.23 [[ 9.99784182e-01 2.07603625e-02 7.73116990e-04 4.01170315e+01] [-2.07603695e-02 9.99784480e-01 9.97001617e-07 2.94353539e-01] [-7.72929670e-04 -1.70469808e-05 9.99999701e-01 -2.32667778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.15, Y:0.29, Z:-0.23 [[ 9.99747309e-01 2.24659710e-02 7.73116990e-04 4.01477202e+01] [-2.24659785e-02 9.99747608e-01 9.97001617e-07 2.93238839e-01] [-7.72899463e-04 -1.83655793e-05 9.99999701e-01 -2.34811489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.594203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.18, Y:0.29, Z:-0.24 [[ 9.99671730e-01 2.56092698e-02 7.73117002e-04 4.01783389e+01] [-2.56092783e-02 9.99672029e-01 9.87676324e-07 2.90768853e-01] [-7.72838148e-04 -2.07863205e-05 9.99999701e-01 -2.36708074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.624203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.21, Y:0.29, Z:-0.24 [[ 9.99636057e-01 2.69658167e-02 7.73117002e-04 4.02089976e+01] [-2.69658255e-02 9.99636356e-01 9.87676324e-07 2.89530095e-01] [-7.72809229e-04 -2.18350550e-05 9.99999701e-01 -2.38879401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.65420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.24, Y:0.29, Z:-0.24 [[ 9.99605638e-01 2.80708213e-02 7.73117014e-04 4.02396744e+01] [-2.80708305e-02 9.99605937e-01 9.78385908e-07 2.88981667e-01] [-7.72784893e-04 -2.26800367e-05 9.99999701e-01 -2.39566457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.27, Y:0.29, Z:-0.24 [[ 9.99546555e-01 3.01012866e-02 7.73117063e-04 4.02700438e+01] [-3.01012963e-02 9.99546853e-01 9.37774917e-07 2.90598895e-01] [-7.72738500e-04 -2.42091755e-05 9.99999701e-01 -2.35888343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.30, Y:0.29, Z:-0.24 [[ 9.99527485e-01 3.07279741e-02 7.73117063e-04 4.02991822e+01] [-3.07279840e-02 9.99527784e-01 9.37774917e-07 2.91943263e-01] [-7.72723169e-04 -2.46936606e-05 9.99999701e-01 -2.36516310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.33, Y:0.29, Z:-0.24 [[ 9.99525736e-01 3.07848208e-02 7.73117052e-04 4.03301192e+01] [-3.07848308e-02 9.99526035e-01 9.46721432e-07 2.92616676e-01] [-7.72721477e-04 -2.47465501e-05 9.99999701e-01 -2.35023534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.774203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.36, Y:0.29, Z:-0.24 [[ 9.99540328e-01 3.03073429e-02 7.73117052e-04 4.03608881e+01] [-3.03073527e-02 9.99540627e-01 9.46721432e-07 2.92206516e-01] [-7.72733210e-04 -2.43774174e-05 9.99999701e-01 -2.37639644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.804203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.39, Y:0.29, Z:-0.24 [[ 9.99595508e-01 2.84292528e-02 7.73117064e-04 4.03926376e+01] [-2.84292620e-02 9.99595807e-01 9.37436280e-07 2.91743364e-01] [-7.72777924e-04 -2.29162046e-05 9.99999701e-01 -2.36171851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.834203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.42, Y:0.29, Z:-0.24 [[ 9.99627982e-01 2.72635135e-02 7.73117086e-04 4.04229623e+01] [-2.72635223e-02 9.99628281e-01 9.18852266e-07 2.92166632e-01] [-7.72804652e-04 -2.19964054e-05 9.99999701e-01 -2.38650009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.45, Y:0.29, Z:-0.24 [[ 9.99658188e-01 2.61325467e-02 7.73117097e-04 4.04531030e+01] [-2.61325553e-02 9.99658486e-01 9.09589985e-07 2.92543671e-01] [-7.72829297e-04 -2.11128043e-05 9.99999701e-01 -2.40641997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.894203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:40.48, Y:0.29, Z:-0.24 [[ 9.99721953e-01 2.35673199e-02 7.73117107e-04 4.04834494e+01] [-2.35673276e-02 9.99722252e-01 9.00593744e-07 2.93976643e-01] [-7.72881151e-04 -1.91206475e-05 9.99999701e-01 -2.37628353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.51, Y:0.30, Z:-0.24 [[ 9.99757142e-01 2.20240736e-02 7.73117107e-04 4.05143037e+01] [-2.20240809e-02 9.99757441e-01 9.00593744e-07 2.95063505e-01] [-7.72909745e-04 -1.79275687e-05 9.99999701e-01 -2.37244334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.954203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.54, Y:0.30, Z:-0.24 [[ 9.99791745e-01 2.03928577e-02 7.73117107e-04 4.05442093e+01] [-2.03928645e-02 9.99792044e-01 9.00593744e-07 2.96204879e-01] [-7.72937967e-04 -1.66664786e-05 9.99999701e-01 -2.36208522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.984203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.57, Y:0.30, Z:-0.24 [[ 9.99819927e-01 1.89608784e-02 7.73117118e-04 4.05749442e+01] [-1.89608847e-02 9.99820226e-01 8.91541168e-07 2.97014831e-01] [-7.72961227e-04 -1.55503652e-05 9.99999701e-01 -2.36290154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.014203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.61, Y:0.29, Z:-0.24 [[ 9.99867243e-01 1.62757235e-02 7.73117118e-04 4.06056816e+01] [-1.62757291e-02 9.99867542e-01 8.91541168e-07 2.93818510e-01] [-7.73000201e-04 -1.34744676e-05 9.99999701e-01 -2.36631366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.64, Y:0.29, Z:-0.24 [[ 9.99882736e-01 1.52943167e-02 7.73117118e-04 4.06357806e+01] [-1.52943219e-02 9.99883035e-01 8.91541168e-07 2.91736177e-01] [-7.73013054e-04 -1.27157387e-05 9.99999701e-01 -2.40837632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.67, Y:0.29, Z:-0.24 [[ 9.99908692e-01 1.34911113e-02 7.73117128e-04 4.06666364e+01] [-1.34911160e-02 9.99908991e-01 8.82195991e-07 2.93467070e-01] [-7.73034866e-04 -1.13123283e-05 9.99999701e-01 -2.40812884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.70, Y:0.30, Z:-0.24 [[ 9.99912349e-01 1.32172864e-02 7.73117128e-04 4.06966443e+01] [-1.32172910e-02 9.99912648e-01 8.82195990e-07 2.95355545e-01] [-7.73037934e-04 -1.11006328e-05 9.99999701e-01 -2.38894755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.73, Y:0.30, Z:-0.24 [[ 9.99908024e-01 1.35405100e-02 7.73117138e-04 4.07274702e+01] [-1.35405147e-02 9.99908323e-01 8.73191744e-07 2.96359572e-01] [-7.73034438e-04 -1.13415154e-05 9.99999701e-01 -2.36417685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.164203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.76, Y:0.30, Z:-0.24 [[ 9.99899684e-01 1.41429598e-02 7.73117138e-04 4.07580147e+01] [-1.41429647e-02 9.99899983e-01 8.73191744e-07 2.95888391e-01] [-7.73027464e-04 -1.18072725e-05 9.99999701e-01 -2.35404992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.194203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.79, Y:0.29, Z:-0.23 [[ 9.99879486e-01 1.55053506e-02 7.73117148e-04 4.07887290e+01] [-1.55053559e-02 9.99879785e-01 8.64173927e-07 2.93377455e-01] [-7.73010809e-04 -1.28515263e-05 9.99999701e-01 -2.32938762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.82, Y:0.29, Z:-0.23 [[ 9.99871573e-01 1.60074939e-02 7.73117148e-04 4.08188505e+01] [-1.60074994e-02 9.99871872e-01 8.64173927e-07 2.92787156e-01] [-7.73004257e-04 -1.32397352e-05 9.99999701e-01 -2.31405159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.85, Y:0.29, Z:-0.23 [[ 9.99858345e-01 1.68134752e-02 7.73117148e-04 4.08494402e+01] [-1.68134809e-02 9.99858643e-01 8.64173927e-07 2.93191200e-01] [-7.72993334e-04 -1.38628419e-05 9.99999701e-01 -2.30745833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.88, Y:0.29, Z:-0.23 [[ 9.99842596e-01 1.77252563e-02 7.73117148e-04 4.08796115e+01] [-1.77252623e-02 9.99842895e-01 8.64173926e-07 2.94341784e-01] [-7.72980370e-04 -1.45677421e-05 9.99999701e-01 -2.33978941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.91, Y:0.30, Z:-0.24 [[ 9.99808068e-01 1.95762314e-02 7.73117159e-04 4.09105694e+01] [-1.95762379e-02 9.99808367e-01 8.54992469e-07 2.97082363e-01] [-7.72952266e-04 -1.59895538e-05 9.99999701e-01 -2.36535868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.344203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.94, Y:0.30, Z:-0.24 [[ 9.99792370e-01 2.03622174e-02 7.73117169e-04 4.09406447e+01] [-2.03622241e-02 9.99792668e-01 8.45928300e-07 2.97551769e-01] [-7.72939652e-04 -1.65881377e-05 9.99999701e-01 -2.38183133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.374203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.97, Y:0.30, Z:-0.24 [[ 9.99775415e-01 2.11783518e-02 7.73117178e-04 4.09709304e+01] [-2.11783588e-02 9.99775713e-01 8.36921579e-07 2.97317655e-01] [-7.72926054e-04 -1.72100866e-05 9.99999701e-01 -2.36435579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.00, Y:0.30, Z:-0.24 [[ 9.99744829e-01 2.25760693e-02 7.73117178e-04 4.10017262e+01] [-2.25760767e-02 9.99745128e-01 8.36921579e-07 2.97492534e-01] [-7.72901238e-04 -1.82906607e-05 9.99999701e-01 -2.36834731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.03, Y:0.30, Z:-0.24 [[ 9.99730939e-01 2.31829927e-02 7.73117178e-04 4.10324775e+01] [-2.31830002e-02 9.99731238e-01 8.36921579e-07 2.97997075e-01] [-7.72889992e-04 -1.87598721e-05 9.99999701e-01 -2.40159374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.06, Y:0.30, Z:-0.24 [[ 9.99719850e-01 2.36563491e-02 7.73117228e-04 4.10632404e+01] [-2.36563568e-02 9.99720149e-01 7.88541684e-07 2.98289480e-01] [-7.72882216e-04 -1.90774577e-05 9.99999701e-01 -2.42339372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.09, Y:0.30, Z:-0.24 [[ 9.99708676e-01 2.41239800e-02 7.73117237e-04 4.10941340e+01] [-2.41239878e-02 9.99708974e-01 7.79558948e-07 2.98001297e-01] [-7.72873434e-04 -1.94300027e-05 9.99999701e-01 -2.38615817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.12, Y:0.30, Z:-0.24 [[ 9.99704625e-01 2.42912645e-02 7.73117237e-04 4.11239553e+01] [-2.42912724e-02 9.99704924e-01 7.79558948e-07 2.96092028e-01] [-7.72870171e-04 -1.95593301e-05 9.99999701e-01 -2.35887721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.554203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.15, Y:0.30, Z:-0.23 [[ 9.99712536e-01 2.39634744e-02 7.73117280e-04 4.11549183e+01] [-2.39634821e-02 9.99712835e-01 7.34072007e-07 2.95493280e-01] [-7.72877676e-04 -1.92604431e-05 9.99999701e-01 -2.34162025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.584203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.19, Y:0.30, Z:-0.23 [[ 9.99712536e-01 2.39634744e-02 7.73117280e-04 4.11859140e+01] [-2.39634821e-02 9.99712835e-01 7.34072007e-07 2.95522711e-01] [-7.72877676e-04 -1.92604431e-05 9.99999701e-01 -2.34185988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.22, Y:0.30, Z:-0.24 [[ 9.99731415e-01 2.31624633e-02 7.73117280e-04 4.12161555e+01] [-2.31624708e-02 9.99731714e-01 7.34072007e-07 2.96245203e-01] [-7.72892860e-04 -1.86411812e-05 9.99999701e-01 -2.35108774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.25, Y:0.30, Z:-0.24 [[ 9.99753516e-01 2.21880582e-02 7.73117288e-04 4.12461604e+01] [-2.21880654e-02 9.99753815e-01 7.25022527e-07 2.97621619e-01] [-7.72910871e-04 -1.78788208e-05 9.99999701e-01 -2.36042117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.28, Y:0.30, Z:-0.24 [[ 9.99810016e-01 1.94765252e-02 7.73117297e-04 4.12771040e+01] [-1.94765316e-02 9.99810314e-01 7.16060613e-07 2.96443226e-01] [-7.72956701e-04 -1.57735680e-05 9.99999701e-01 -2.35665691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.31, Y:0.29, Z:-0.23 [[ 9.99833278e-01 1.82433393e-02 7.73117297e-04 4.13073227e+01] [-1.82433453e-02 9.99833576e-01 7.16060612e-07 2.93674783e-01] [-7.72975568e-04 -1.48201870e-05 9.99999701e-01 -2.34958005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.734203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.34, Y:0.29, Z:-0.24 [[ 9.99854544e-01 1.70379674e-02 7.73117297e-04 4.13381308e+01] [-1.70379731e-02 9.99854843e-01 7.16060612e-07 2.91532688e-01] [-7.72992873e-04 -1.38883081e-05 9.99999701e-01 -2.35603780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.764203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.37, Y:0.29, Z:-0.24 [[ 9.99907770e-01 1.35592780e-02 7.73117305e-04 4.13698787e+01] [-1.35592826e-02 9.99908069e-01 7.07027288e-07 2.89569587e-01] [-7.73036644e-04 -1.11898781e-05 9.99999701e-01 -2.37359574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.40, Y:0.29, Z:-0.24 [[ 9.99930494e-01 1.17647160e-02 7.73117321e-04 4.14016853e+01] [-1.17647200e-02 9.99930793e-01 6.88999761e-07 2.87731874e-01] [-7.73055710e-04 -9.78446071e-06 9.99999701e-01 -2.36415942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.43, Y:0.29, Z:-0.24 [[ 9.99943787e-01 1.05747518e-02 7.73117337e-04 4.14323633e+01] [-1.05747555e-02 9.99944086e-01 6.70668233e-07 2.85888799e-01] [-7.73067016e-04 -8.84615732e-06 9.99999701e-01 -2.37653502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.46, Y:0.28, Z:-0.23 [[ 9.99944896e-01 1.04693050e-02 7.73117345e-04 4.14631943e+01] [-1.04693086e-02 9.99945195e-01 6.61517421e-07 2.84073948e-01] [-7.73068049e-04 -8.75548503e-06 9.99999701e-01 -2.32727067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.884203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.49, Y:0.28, Z:-0.23 [[ 9.99929441e-01 1.18539017e-02 7.73117352e-04 4.14941555e+01] [-1.18539057e-02 9.99929740e-01 6.52516236e-07 2.83040230e-01] [-7.73055298e-04 -9.81693041e-06 9.99999701e-01 -2.33165153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.914203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.53, Y:0.28, Z:-0.23 [[ 9.99906371e-01 1.36620131e-02 7.73117367e-04 4.15257064e+01] [-1.36620176e-02 9.99906670e-01 6.34601587e-07 2.81653197e-01] [-7.73036542e-04 -1.11968853e-05 9.99999701e-01 -2.33254826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.944203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.56, Y:0.28, Z:-0.24 [[ 9.99874203e-01 1.58423526e-02 7.73117382e-04 4.15563512e+01] [-1.58423579e-02 9.99874502e-01 6.16108966e-07 2.80919796e-01] [-7.73010596e-04 -1.28640337e-05 9.99999701e-01 -2.36396758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.97420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.59, Y:0.28, Z:-0.24 [[ 9.99795146e-01 2.02254468e-02 7.73117389e-04 4.15867447e+01] [-2.02254533e-02 9.99795445e-01 6.06922359e-07 2.82698557e-01] [-7.72946968e-04 -1.62434477e-05 9.99999701e-01 -2.37770153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.62, Y:0.28, Z:-0.24 [[ 9.99747612e-01 2.24525075e-02 7.73117389e-04 4.16173563e+01] [-2.24525147e-02 9.99747911e-01 6.06922359e-07 2.83508713e-01] [-7.72908867e-04 -1.79651987e-05 9.99999701e-01 -2.37472911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.65, Y:0.28, Z:-0.24 [[ 9.99704382e-01 2.43012669e-02 7.73117389e-04 4.16473628e+01] [-2.43012746e-02 9.99704680e-01 6.06922359e-07 2.84054292e-01] [-7.72874323e-04 -1.93944809e-05 9.99999701e-01 -2.37380773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.68, Y:0.28, Z:-0.24 [[ 9.99668127e-01 2.57495455e-02 7.73117389e-04 4.16773193e+01] [-2.57495537e-02 9.99668425e-01 6.06922359e-07 2.84006971e-01] [-7.72845415e-04 -2.05141487e-05 9.99999701e-01 -2.38900143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.71, Y:0.29, Z:-0.24 [[ 9.99631299e-01 2.71416328e-02 7.73117423e-04 4.17076660e+01] [-2.71416413e-02 9.99631598e-01 5.59212333e-07 2.85259683e-01] [-7.72817427e-04 -2.15426820e-05 9.99999701e-01 -2.41817091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.124203822000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.74, Y:0.29, Z:-0.24 [[ 9.99632256e-01 2.71063704e-02 7.73117423e-04 4.17383509e+01] [-2.71063789e-02 9.99632555e-01 5.59212333e-07 2.85936157e-01] [-7.72818187e-04 -2.15154205e-05 9.99999701e-01 -2.42479552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.15420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.77, Y:0.29, Z:-0.24 [[ 9.99639901e-01 2.68229589e-02 7.73117423e-04 4.17685280e+01] [-2.68229673e-02 9.99640199e-01 5.59212333e-07 2.87053672e-01] [-7.72824256e-04 -2.12963143e-05 9.99999701e-01 -2.40685454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.80, Y:0.29, Z:-0.24 [[ 9.99641692e-01 2.67561070e-02 7.73117430e-04 4.17993866e+01] [-2.67561155e-02 9.99641991e-01 5.50261377e-07 2.88453064e-01] [-7.72825924e-04 -2.12356834e-05 9.99999701e-01 -2.38777630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.83, Y:0.29, Z:-0.24 [[ 9.99645827e-01 2.66011818e-02 7.73117430e-04 4.18299041e+01] [-2.66011901e-02 9.99646126e-01 5.50261377e-07 2.89163580e-01] [-7.72829206e-04 -2.11159102e-05 9.99999701e-01 -2.38062578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.86, Y:0.29, Z:-0.24 [[ 9.99642418e-01 2.67289722e-02 7.73117430e-04 4.18603066e+01] [-2.67289807e-02 9.99642717e-01 5.50261377e-07 2.88892555e-01] [-7.72826500e-04 -2.12147054e-05 9.99999701e-01 -2.41736082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.89, Y:0.29, Z:-0.24 [[ 9.99660750e-01 2.60343349e-02 7.73117436e-04 4.18911238e+01] [-2.60343431e-02 9.99661049e-01 5.40890233e-07 2.91151715e-01] [-7.72841306e-04 -2.06683113e-05 9.99999701e-01 -2.39713242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.304203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.92, Y:0.29, Z:-0.24 [[ 9.99678618e-01 2.53389687e-02 7.73117443e-04 4.19213853e+01] [-2.53389767e-02 9.99678917e-01 5.31711958e-07 2.93465074e-01] [-7.72855734e-04 -2.01215459e-05 9.99999701e-01 -2.39276768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.334203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.95, Y:0.29, Z:-0.24 [[ 9.99703489e-01 2.43379666e-02 7.73117449e-04 4.19512628e+01] [-2.43379743e-02 9.99703788e-01 5.22607998e-07 2.94989516e-01] [-7.72875723e-04 -1.93385656e-05 9.99999701e-01 -2.38857565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.98, Y:0.30, Z:-0.24 [[ 9.99735168e-01 2.29999003e-02 7.73117455e-04 4.19813496e+01] [-2.29999076e-02 9.99735467e-01 5.13686172e-07 2.95607209e-01] [-7.72901125e-04 -1.82951801e-05 9.99999701e-01 -2.38680152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.01, Y:0.30, Z:-0.24 [[ 9.99812641e-01 1.93412683e-02 7.73117455e-04 4.20122721e+01] [-1.93412745e-02 9.99812940e-01 5.13686172e-07 2.95538002e-01] [-7.72962900e-04 -1.54666668e-05 9.99999701e-01 -2.38318126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.04, Y:0.30, Z:-0.24 [[ 9.99844276e-01 1.76302379e-02 7.73117455e-04 4.20430464e+01] [-1.76302435e-02 9.99844575e-01 5.13686172e-07 2.95356218e-01] [-7.72988237e-04 -1.41438552e-05 9.99999701e-01 -2.41345948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.07, Y:0.30, Z:-0.24 [[ 9.99871908e-01 1.59865480e-02 7.73117480e-04 4.20733999e+01] [-1.59865531e-02 9.99872207e-01 4.72166524e-07 2.95260118e-01] [-7.73011133e-04 -1.28315897e-05 9.99999701e-01 -2.35327277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.484203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.10, Y:0.29, Z:-0.24 [[ 9.99907953e-01 1.35457390e-02 7.73117480e-04 4.21039543e+01] [-1.35457435e-02 9.99908252e-01 4.72166524e-07 2.94911638e-01] [-7.73040152e-04 -1.09445741e-05 9.99999701e-01 -2.37174538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.514203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.13, Y:0.29, Z:-0.24 [[ 9.99921363e-01 1.25167980e-02 7.73117505e-04 4.21340406e+01] [-1.25168021e-02 9.99921662e-01 4.27660328e-07 2.94531037e-01] [-7.73051587e-04 -1.01045855e-05 9.99999701e-01 -2.39107970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.16, Y:0.29, Z:-0.24 [[ 9.99931846e-01 1.16493011e-02 7.73117505e-04 4.21643089e+01] [-1.16493049e-02 9.99932145e-01 4.27660328e-07 2.93955659e-01] [-7.73060063e-04 -9.43391271e-06 9.99999701e-01 -2.40123515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.20, Y:0.29, Z:-0.24 [[ 9.99937878e-01 1.11194473e-02 7.73117505e-04 4.21953074e+01] [-1.11194510e-02 9.99938177e-01 4.27660328e-07 2.92812397e-01] [-7.73064953e-04 -9.02427597e-06 9.99999701e-01 -2.40269661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.23, Y:0.29, Z:-0.24 [[ 9.99940640e-01 1.08682313e-02 7.73117504e-04 4.22262379e+01] [-1.08682349e-02 9.99940939e-01 4.29574023e-07 2.91019507e-01] [-7.73067174e-04 -8.83197114e-06 9.99999701e-01 -2.43157730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.26, Y:0.29, Z:-0.25 [[ 9.99937177e-01 1.11823520e-02 7.73117509e-04 4.22567300e+01] [-1.11823557e-02 9.99937476e-01 4.20427926e-07 2.90771255e-01] [-7.73064469e-04 -9.06567648e-06 9.99999701e-01 -2.45404412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.664203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.29, Y:0.29, Z:-0.25 [[ 9.99930705e-01 1.17468283e-02 7.73117514e-04 4.22868545e+01] [-1.17468321e-02 9.99931004e-01 4.11310092e-07 2.90610961e-01] [-7.73059340e-04 -9.49296324e-06 9.99999701e-01 -2.46391489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.694203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.32, Y:0.29, Z:-0.25 [[ 9.99918971e-01 1.27064262e-02 7.73117514e-04 4.23172594e+01] [-1.27064303e-02 9.99919270e-01 4.11310092e-07 2.90507784e-01] [-7.73049874e-04 -1.02348406e-05 9.99999701e-01 -2.46102277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.35, Y:0.29, Z:-0.25 [[ 9.99889765e-01 1.48276772e-02 7.73117514e-04 4.23479511e+01] [-1.48276819e-02 9.99890064e-01 4.11310092e-07 2.88483677e-01] [-7.73026421e-04 -1.18748053e-05 9.99999701e-01 -2.45975941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.38, Y:0.29, Z:-0.25 [[ 9.99869233e-01 1.61529733e-02 7.73117514e-04 4.23789341e+01] [-1.61529784e-02 9.99869532e-01 4.11310092e-07 2.86905552e-01] [-7.73010003e-04 -1.28994068e-05 9.99999701e-01 -2.45372831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.41, Y:0.29, Z:-0.24 [[ 9.99830981e-01 1.83687792e-02 7.73117514e-04 4.24094966e+01] [-1.83687850e-02 9.99831280e-01 4.11310092e-07 2.86507171e-01] [-7.72979518e-04 -1.46124699e-05 9.99999701e-01 -2.41800275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.44, Y:0.29, Z:-0.24 [[ 9.99703877e-01 2.43220351e-02 7.73117514e-04 4.24403632e+01] [-2.43220427e-02 9.99704175e-01 4.11310092e-07 2.89806906e-01] [-7.72878802e-04 -1.92149855e-05 9.99999701e-01 -2.40912417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.47, Y:0.29, Z:-0.24 [[ 9.99619470e-01 2.75738675e-02 7.73117533e-04 4.24711962e+01] [-2.75738760e-02 9.99619768e-01 3.70456105e-07 2.91641799e-01] [-7.72813354e-04 -2.16881621e-05 9.99999701e-01 -2.39599981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.874203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.50, Y:0.29, Z:-0.24 [[ 9.99531334e-01 3.06025201e-02 7.73117537e-04 4.25015828e+01] [-3.06025296e-02 9.99531633e-01 3.61061547e-07 2.92762614e-01] [-7.72744385e-04 -2.40202446e-05 9.99999701e-01 -2.38435044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.53, Y:0.29, Z:-0.24 [[ 9.99443351e-01 3.33525076e-02 7.73117542e-04 4.25308505e+01] [-3.33525178e-02 9.99443650e-01 3.51713700e-07 2.94277451e-01] [-7.72675687e-04 -2.61369345e-05 9.99999701e-01 -2.38977406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.93420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.56, Y:0.30, Z:-0.24 [[ 9.99283550e-01 3.78389961e-02 7.73117545e-04 4.25608594e+01] [-3.78390076e-02 9.99283848e-01 3.45084267e-07 3.00749131e-01] [-7.72550818e-04 -2.95988377e-05 9.99999701e-01 -2.38317126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.59, Y:0.30, Z:-0.24 [[ 9.99246903e-01 3.87947060e-02 7.73117548e-04 4.25917644e+01] [-3.87947179e-02 9.99247202e-01 3.37915760e-07 3.03302926e-01] [-7.72522437e-04 -3.03305384e-05 9.99999701e-01 -2.38477052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.994203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:42.62, Y:0.31, Z:-0.24 [[ 9.99250838e-01 3.86932262e-02 7.73117548e-04 4.26222429e+01] [-3.86932380e-02 9.99251136e-01 3.37915760e-07 3.05425330e-01] [-7.72525513e-04 -3.02520839e-05 9.99999701e-01 -2.39799932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.65, Y:0.31, Z:-0.24 [[ 9.99354798e-01 3.59080781e-02 7.73117548e-04 4.26521611e+01] [-3.59080891e-02 9.99355097e-01 3.37915759e-07 3.09645541e-01] [-7.72606828e-04 -2.80988715e-05 9.99999701e-01 -2.43269072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.054203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.68, Y:0.31, Z:-0.24 [[ 9.99429676e-01 3.37598177e-02 7.73117552e-04 4.26823757e+01] [-3.37598280e-02 9.99429975e-01 3.28661944e-07 3.11979049e-01] [-7.72665760e-04 -2.64287901e-05 9.99999701e-01 -2.42734406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.084203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.71, Y:0.31, Z:-0.24 [[ 9.99487226e-01 3.20107351e-02 7.73117552e-04 4.27131625e+01] [-3.20107449e-02 9.99487525e-01 3.28661943e-07 3.14321168e-01] [-7.72710827e-04 -2.50765622e-05 9.99999701e-01 -2.41768047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.74, Y:0.32, Z:-0.24 [[ 9.99533151e-01 3.05431380e-02 7.73117552e-04 4.27435177e+01] [-3.05431474e-02 9.99533449e-01 3.28661943e-07 3.16633870e-01] [-7.72746815e-04 -2.39419518e-05 9.99999701e-01 -2.43701979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.77, Y:0.32, Z:-0.24 [[ 9.99626512e-01 2.73173597e-02 7.73117567e-04 4.27742409e+01] [-2.73173680e-02 9.99626811e-01 2.87145158e-07 3.22979357e-01] [-7.72821204e-04 -2.14065750e-05 9.99999701e-01 -2.39329469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.80, Y:0.33, Z:-0.24 [[ 9.99663022e-01 2.59469438e-02 7.73117567e-04 4.28037898e+01] [-2.59469518e-02 9.99663321e-01 2.87145158e-07 3.26484940e-01] [-7.72849824e-04 -2.03470926e-05 9.99999701e-01 -2.39207979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.83, Y:0.33, Z:-0.24 [[ 9.99694329e-01 2.47113463e-02 7.73117564e-04 4.28331241e+01] [-2.47113539e-02 9.99694628e-01 2.96459712e-07 3.29405948e-01] [-7.72874149e-04 -1.94011508e-05 9.99999701e-01 -2.38200799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.234203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.86, Y:0.34, Z:-0.24 [[ 9.99761245e-01 2.18370131e-02 7.73117566e-04 4.28641141e+01] [-2.18370198e-02 9.99761544e-01 2.89843512e-07 3.35849435e-01] [-7.72926882e-04 -1.71723579e-05 9.99999701e-01 -2.39489066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.264203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.89, Y:0.34, Z:-0.24 [[ 9.99795991e-01 2.01836103e-02 7.73117569e-04 4.28949989e+01] [-2.01836166e-02 9.99796290e-01 2.80875731e-07 3.38875465e-01] [-7.72954409e-04 -1.58851270e-05 9.99999701e-01 -2.40374622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.93, Y:0.34, Z:-0.24 [[ 9.99824701e-01 1.87074563e-02 7.73117569e-04 4.29250373e+01] [-1.87074621e-02 9.99825000e-01 2.80875731e-07 3.41478721e-01] [-7.72977019e-04 -1.47438941e-05 9.99999701e-01 -2.40151128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.96, Y:0.34, Z:-0.24 [[ 9.99841923e-01 1.77631886e-02 7.73117569e-04 4.29550314e+01] [-1.77631942e-02 9.99842222e-01 2.80875731e-07 3.43764656e-01] [-7.72990599e-04 -1.40138688e-05 9.99999701e-01 -2.40120684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.98, Y:0.35, Z:-0.23 [[ 9.99853175e-01 1.71181301e-02 7.73117566e-04 4.29849923e+01] [-1.71181355e-02 9.99853474e-01 2.89846044e-07 3.49708536e-01] [-7.72999323e-04 -1.35241347e-05 9.99999701e-01 -2.34864383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.01, Y:0.35, Z:-0.23 [[ 9.99855798e-01 1.69642479e-02 7.73117558e-04 4.30146538e+01] [-1.69642532e-02 9.99856097e-01 3.08932073e-07 3.53168844e-01] [-7.73001063e-04 -1.34242495e-05 9.99999701e-01 -2.34893765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.04, Y:0.36, Z:-0.24 [[ 9.99860440e-01 1.66883946e-02 7.73117554e-04 4.30442915e+01] [-1.66883998e-02 9.99860739e-01 3.18394698e-07 3.55357693e-01] [-7.73004576e-04 -1.32204451e-05 9.99999701e-01 -2.36308567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.444203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.07, Y:0.36, Z:-0.24 [[ 9.99871332e-01 1.60225103e-02 7.73117551e-04 4.30737543e+01] [-1.60225153e-02 9.99871631e-01 3.27666581e-07 3.60410230e-01] [-7.73013056e-04 -1.27149122e-05 9.99999701e-01 -2.39350847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.47420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.10, Y:0.36, Z:-0.24 [[ 9.99871687e-01 1.60003862e-02 7.73117547e-04 4.31039139e+01] [-1.60003912e-02 9.99871986e-01 3.36610661e-07 3.60471021e-01] [-7.73013191e-04 -1.27067507e-05 9.99999701e-01 -2.39374165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.13, Y:0.36, Z:-0.23 [[ 9.99874343e-01 1.58335515e-02 7.73117539e-04 4.31340190e+01] [-1.58335565e-02 9.99874641e-01 3.53717381e-07 3.64320554e-01] [-7.73015021e-04 -1.25948731e-05 9.99999701e-01 -2.34615259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.16, Y:0.37, Z:-0.23 [[ 9.99875274e-01 1.57746275e-02 7.73117530e-04 4.31633342e+01] [-1.57746325e-02 9.99875573e-01 3.72329502e-07 3.66992732e-01] [-7.73015460e-04 -1.25679279e-05 9.99999701e-01 -2.34243958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.19, Y:0.37, Z:-0.23 [[ 9.99881573e-01 1.53701586e-02 7.73117525e-04 4.31928781e+01] [-1.53701635e-02 9.99881872e-01 3.81590279e-07 3.68597196e-01] [-7.73020333e-04 -1.22644879e-05 9.99999701e-01 -2.31864538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.594203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.22, Y:0.37, Z:-0.23 [[ 9.99889136e-01 1.48700046e-02 7.73117516e-04 4.32219646e+01] [-1.48700094e-02 9.99889435e-01 4.00247311e-07 3.69989130e-01] [-7.73026084e-04 -1.18964676e-05 9.99999701e-01 -2.31856109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.624203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.25, Y:0.37, Z:-0.23 [[ 9.99893626e-01 1.45650221e-02 7.73117519e-04 4.32517663e+01] [-1.45650267e-02 9.99893924e-01 3.93539231e-07 3.70608622e-01] [-7.73029778e-04 -1.16539747e-05 9.99999701e-01 -2.31720924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.65420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.28, Y:0.37, Z:-0.23 [[ 9.99899360e-01 1.41658827e-02 7.73117509e-04 4.32808156e+01] [-1.41658872e-02 9.99899659e-01 4.12059678e-07 3.71127296e-01] [-7.73034096e-04 -1.13639137e-05 9.99999701e-01 -2.32609665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.31, Y:0.37, Z:-0.23 [[ 9.99907100e-01 1.36085541e-02 7.73117504e-04 4.33107428e+01] [-1.36085585e-02 9.99907399e-01 4.21284081e-07 3.72384384e-01] [-7.73040180e-04 -1.09422597e-05 9.99999701e-01 -2.31460033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.34, Y:0.38, Z:-0.23 [[ 9.99923175e-01 1.23711636e-02 7.73117493e-04 4.33401210e+01] [-1.23711676e-02 9.99923474e-01 4.40079726e-07 3.77062051e-01] [-7.73052886e-04 -1.00044120e-05 9.99999701e-01 -2.33378249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.37, Y:0.38, Z:-0.24 [[ 9.99923475e-01 1.23469296e-02 7.73117482e-04 4.33698328e+01] [-1.23469337e-02 9.99923774e-01 4.58702422e-07 3.78698688e-01] [-7.73052887e-04 -1.00042976e-05 9.99999701e-01 -2.37003740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.774203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.40, Y:0.38, Z:-0.24 [[ 9.99924003e-01 1.23041016e-02 7.73117477e-04 4.33998274e+01] [-1.23041057e-02 9.99924302e-01 4.67965816e-07 3.78910891e-01] [-7.73053195e-04 -9.98044938e-06 9.99999701e-01 -2.36395484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.804203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.43, Y:0.38, Z:-0.24 [[ 9.99915376e-01 1.29862475e-02 7.73117465e-04 4.34290027e+01] [-1.29862518e-02 9.99915675e-01 4.86824817e-07 3.78099674e-01] [-7.73045950e-04 -1.05266817e-05 9.99999701e-01 -2.36965911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.834203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.46, Y:0.38, Z:-0.24 [[ 9.99909705e-01 1.34158461e-02 7.73117453e-04 4.34580819e+01] [-1.34158505e-02 9.99910003e-01 5.05504383e-07 3.78954702e-01] [-7.73041093e-04 -1.08774869e-05 9.99999701e-01 -2.36434573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.49, Y:0.38, Z:-0.24 [[ 9.99907049e-01 1.36123607e-02 7.73117447e-04 4.34880862e+01] [-1.36123651e-02 9.99907347e-01 5.14787395e-07 3.80801870e-01] [-7.73038808e-04 -1.10386965e-05 9.99999701e-01 -2.35589981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.52, Y:0.38, Z:-0.24 [[ 9.99903963e-01 1.38371896e-02 7.73117434e-04 4.35179702e+01] [-1.38371942e-02 9.99904261e-01 5.32947370e-07 3.82356170e-01] [-7.73036042e-04 -1.12306722e-05 9.99999701e-01 -2.35212878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.55, Y:0.38, Z:-0.24 [[ 9.99897472e-01 1.42984983e-02 7.73117421e-04 4.35471387e+01] [-1.42985030e-02 9.99897771e-01 5.51162629e-07 3.83377777e-01] [-7.73030505e-04 -1.16055279e-05 9.99999701e-01 -2.38007344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.954203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.58, Y:0.38, Z:-0.24 [[ 9.99888815e-01 1.48915916e-02 7.73117414e-04 4.35769440e+01] [-1.48915965e-02 9.99889114e-01 5.60240633e-07 3.83353283e-01] [-7.73023344e-04 -1.20731309e-05 9.99999701e-01 -2.37976546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.984203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.61, Y:0.38, Z:-0.24 [[ 9.99878175e-01 1.55896420e-02 7.73117401e-04 4.36069376e+01] [-1.55896471e-02 9.99878474e-01 5.78363065e-07 3.83714301e-01] [-7.73014431e-04 -1.26309200e-05 9.99999701e-01 -2.36774864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.014203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.64, Y:0.39, Z:-0.24 [[ 9.99864804e-01 1.64248433e-02 7.73117387e-04 4.36358823e+01] [-1.64248487e-02 9.99865103e-01 5.96589663e-07 3.85090839e-01] [-7.73003297e-04 -1.32948451e-05 9.99999701e-01 -2.36221998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.66, Y:0.39, Z:-0.24 [[ 9.99834520e-01 1.81751428e-02 7.73117365e-04 4.36645821e+01] [-1.81751487e-02 9.99834818e-01 6.23767328e-07 3.88697037e-01] [-7.72978323e-04 -1.46751872e-05 9.99999701e-01 -2.36578587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.69, Y:0.39, Z:-0.23 [[ 9.99819637e-01 1.89762106e-02 7.73117342e-04 4.36946231e+01] [-1.89762168e-02 9.99819935e-01 6.50583121e-07 3.90406380e-01] [-7.72965786e-04 -1.53213080e-05 9.99999701e-01 -2.34477190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.72, Y:0.39, Z:-0.24 [[ 9.99804745e-01 1.97452115e-02 7.73117326e-04 4.37243008e+01] [-1.97452179e-02 9.99805044e-01 6.69298505e-07 3.92679188e-01] [-7.72953387e-04 -1.59345379e-05 9.99999701e-01 -2.35928612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.75, Y:0.40, Z:-0.24 [[ 9.99767574e-01 2.15453214e-02 7.73117310e-04 4.37526583e+01] [-2.15453284e-02 9.99767872e-01 6.87950223e-07 3.98403133e-01] [-7.72923026e-04 -1.73448566e-05 9.99999701e-01 -2.41450128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.164203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.78, Y:0.40, Z:-0.24 [[ 9.99757165e-01 2.20230292e-02 7.73117284e-04 4.37827358e+01] [-2.20230364e-02 9.99757464e-01 7.15757934e-07 4.00389374e-01] [-7.72914011e-04 -1.77419742e-05 9.99999701e-01 -2.43575613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.194203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.81, Y:0.40, Z:-0.25 [[ 9.99757661e-01 2.20004911e-02 7.73117266e-04 4.38117696e+01] [-2.20004982e-02 9.99757960e-01 7.34137388e-07 4.01323737e-01] [-7.72913989e-04 -1.77429245e-05 9.99999701e-01 -2.47118621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.84, Y:0.41, Z:-0.24 [[ 9.99812903e-01 1.93277207e-02 7.73117239e-04 4.38411636e+01] [-1.93277270e-02 9.99813202e-01 7.61675414e-07 4.05272373e-01] [-7.72958101e-04 -1.57041319e-05 9.99999701e-01 -2.41681137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.87, Y:0.41, Z:-0.24 [[ 9.99851495e-01 1.72159863e-02 7.73117220e-04 4.38710436e+01] [-1.72159920e-02 9.99851794e-01 7.80287528e-07 4.08366883e-01] [-7.72989206e-04 -1.40901515e-05 9.99999701e-01 -2.42563954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.90, Y:0.41, Z:-0.24 [[ 9.99896854e-01 1.43416676e-02 7.73117211e-04 4.39006336e+01] [-1.43416725e-02 9.99897153e-01 7.89517122e-07 4.11207127e-01] [-7.73026375e-04 -1.18772295e-05 9.99999701e-01 -2.38931807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.93, Y:0.41, Z:-0.24 [[ 9.99939013e-01 1.10169006e-02 7.73117191e-04 4.39294531e+01] [-1.10169045e-02 9.99939312e-01 8.08418080e-07 4.12839706e-01] [-7.73061366e-04 -9.32572702e-06 9.99999701e-01 -2.37811164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.344203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.96, Y:0.41, Z:-0.23 [[ 9.99987488e-01 4.94221718e-03 7.73117161e-04 4.39595948e+01] [-4.94221931e-03 9.99987787e-01 8.36605101e-07 4.14748219e-01] [-7.73103584e-04 -4.65750919e-06 9.99999701e-01 -2.32177128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.374203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.99, Y:0.42, Z:-0.23 [[ 9.99996793e-01 2.41185926e-03 7.73117161e-04 4.39890483e+01] [-2.41186063e-03 9.99997091e-01 8.36605101e-07 4.16013095e-01] [-7.73112894e-04 -2.70125326e-06 9.99999701e-01 -2.31206689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40420382200001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:44.02, Y:0.42, Z:-0.23 [[ 9.99999582e-01 4.88324760e-04 7.73117151e-04 4.40189652e+01] [-4.88325560e-04 9.99999881e-01 8.45726543e-07 4.15430911e-01] [-7.73116646e-04 -1.22325905e-06 9.99999701e-01 -2.33695714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.05, Y:0.41, Z:-0.23 [[ 9.99999326e-01 -8.65780934e-04 7.73117161e-04 4.40499609e+01] [ 8.65780546e-04 9.99999625e-01 8.36709320e-07 4.13686291e-01] [-7.73117595e-04 -1.67358959e-07 9.99999701e-01 -2.34703202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.464203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:44.08, Y:0.41, Z:-0.23 [[ 9.99998669e-01 -1.43651867e-03 7.73117170e-04 4.40809545e+01] [ 1.43651846e-03 9.99998968e-01 8.27731129e-07 4.12822091e-01] [-7.73117561e-04 2.82867060e-07 9.99999701e-01 -2.31703632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.11, Y:0.41, Z:-0.23 [[ 9.99999535e-01 -5.76110066e-04 7.73117190e-04 4.41111629e+01] [ 5.76109613e-04 9.99999834e-01 8.09164162e-07 4.13159345e-01] [-7.73117527e-04 -3.63763541e-07 9.99999701e-01 -2.30329704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.14, Y:0.41, Z:-0.23 [[ 9.99995419e-01 2.92639506e-03 7.73117199e-04 4.41412196e+01] [-2.92639656e-03 9.99995718e-01 7.99929846e-07 4.14125693e-01] [-7.73111548e-04 -3.06237369e-06 9.99999701e-01 -2.31305828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.554203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.17, Y:0.41, Z:-0.23 [[ 9.99986399e-01 5.15786938e-03 7.73117208e-04 4.41717234e+01] [-5.15787153e-03 9.99986698e-01 7.90842241e-07 4.14864861e-01] [-7.73102845e-04 -4.77847073e-06 9.99999701e-01 -2.31836916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.584203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.20, Y:0.42, Z:-0.23 [[ 9.99971964e-01 7.44799637e-03 7.73117208e-04 4.42011994e+01] [-7.44799921e-03 9.99972263e-01 7.90842240e-07 4.15224962e-01] [-7.73089874e-04 -6.54899642e-06 9.99999701e-01 -2.32071953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.23, Y:0.42, Z:-0.23 [[ 9.99954795e-01 9.47682674e-03 7.73117199e-04 4.42311594e+01] [-9.47683019e-03 9.99955094e-01 7.99839528e-07 4.15709278e-01] [-7.73074901e-04 -8.12650378e-06 9.99999701e-01 -2.32103828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.26, Y:0.42, Z:-0.23 [[ 9.99924499e-01 1.22637340e-02 7.73117190e-04 4.42606801e+01] [-1.22637383e-02 9.99924798e-01 8.08778143e-07 4.16278462e-01] [-7.73049131e-04 -1.02900239e-05 9.99999701e-01 -2.32021285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.29, Y:0.42, Z:-0.23 [[ 9.99913575e-01 1.31242444e-02 7.73117170e-04 4.42896423e+01] [-1.31242490e-02 9.99913873e-01 8.26921831e-07 4.16549997e-01] [-7.73039732e-04 -1.09734326e-05 9.99999701e-01 -2.34409793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.32, Y:0.42, Z:-0.23 [[ 9.99902145e-01 1.39678864e-02 7.73117140e-04 4.43191972e+01] [-1.39678913e-02 9.99902444e-01 8.54026693e-07 4.16410292e-01] [-7.73029789e-04 -1.16527593e-05 9.99999701e-01 -2.34998867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.734203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.35, Y:0.42, Z:-0.24 [[ 9.99891454e-01 1.47133239e-02 7.73117120e-04 4.43474818e+01] [-1.47133290e-02 9.99891753e-01 8.71887114e-07 4.15891450e-01] [-7.73020604e-04 -1.22469190e-05 9.99999701e-01 -2.35766788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.764203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.38, Y:0.41, Z:-0.24 [[ 9.99884083e-01 1.52060073e-02 7.73117100e-04 4.43772233e+01] [-1.52060125e-02 9.99884382e-01 8.89649798e-07 4.14978949e-01] [-7.73014185e-04 -1.26455750e-05 9.99999701e-01 -2.35561662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.41, Y:0.42, Z:-0.24 [[ 9.99884945e-01 1.51492264e-02 7.73117079e-04 4.44066157e+01] [-1.51492316e-02 9.99885244e-01 9.07541797e-07 4.15090557e-01] [-7.73014610e-04 -1.26195671e-05 9.99999701e-01 -2.35186347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.44, Y:0.42, Z:-0.24 [[ 9.99883920e-01 1.52167585e-02 7.73117057e-04 4.44350069e+01] [-1.52167637e-02 9.99884218e-01 9.25433796e-07 4.15777857e-01] [-7.73013463e-04 -1.26896660e-05 9.99999701e-01 -2.35887559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.47, Y:0.42, Z:-0.23 [[ 9.99893680e-01 1.45612808e-02 7.73117024e-04 4.44650024e+01] [-1.45612859e-02 9.99893979e-01 9.52147906e-07 4.16216324e-01] [-7.73021193e-04 -1.22096247e-05 9.99999701e-01 -2.32586592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.49, Y:0.42, Z:-0.23 [[ 9.99908838e-01 1.34802563e-02 7.73117001e-04 4.44935742e+01] [-1.34802611e-02 9.99909137e-01 9.71036665e-07 4.16347519e-01] [-7.73033663e-04 -1.13927672e-05 9.99999701e-01 -2.34425598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.914203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.52, Y:0.42, Z:-0.24 [[ 9.99923871e-01 1.23147766e-02 7.73116972e-04 4.45225169e+01] [-1.23147811e-02 9.99924170e-01 9.93202154e-07 4.16440127e-01] [-7.73046116e-04 -1.05138928e-05 9.99999701e-01 -2.35242139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.944203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.55, Y:0.42, Z:-0.24 [[ 9.99936432e-01 1.12487354e-02 7.73116938e-04 4.45514671e+01] [-1.12487395e-02 9.99936731e-01 1.01955411e-06 4.16592013e-01] [-7.73056554e-04 -9.71608037e-06 9.99999701e-01 -2.36805661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.97420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.58, Y:0.42, Z:-0.23 [[ 9.99945610e-01 1.04009654e-02 7.73116903e-04 4.45809723e+01] [-1.04009693e-02 9.99945908e-01 1.04543267e-06 4.15852138e-01] [-7.73064210e-04 -9.08654100e-06 9.99999701e-01 -2.34572851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.61, Y:0.41, Z:-0.24 [[ 9.99962260e-01 8.65335490e-03 7.73116877e-04 4.46105403e+01] [-8.65335830e-03 9.99962559e-01 1.06420011e-06 4.13045866e-01] [-7.73078722e-04 -7.75421729e-06 9.99999701e-01 -2.39190804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.64, Y:0.41, Z:-0.24 [[ 9.99965677e-01 8.24907013e-03 7.73116864e-04 4.46400586e+01] [-8.24907342e-03 9.99965976e-01 1.07354311e-06 4.11779293e-01] [-7.73081703e-04 -7.45100403e-06 9.99999701e-01 -2.37634783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.67, Y:0.41, Z:-0.24 [[ 9.99964178e-01 8.42880999e-03 7.73116839e-04 4.46708494e+01] [-8.42881335e-03 9.99964477e-01 1.09114539e-06 4.11766066e-01] [-7.73080178e-04 -7.60756384e-06 9.99999701e-01 -2.36912360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.70, Y:0.42, Z:-0.23 [[ 9.99943678e-01 1.05850076e-02 7.73116839e-04 4.47007376e+01] [-1.05850116e-02 9.99943977e-01 1.09114539e-06 4.16812903e-01] [-7.73061977e-04 -9.27453465e-06 9.99999701e-01 -2.31912805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.124203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.73, Y:0.42, Z:-0.23 [[ 9.99925721e-01 1.21637052e-02 7.73116813e-04 4.47306104e+01] [-1.21637097e-02 9.99926019e-01 1.10907515e-06 4.20314389e-01] [-7.73046127e-04 -1.05129612e-05 9.99999701e-01 -2.31382837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.15420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.76, Y:0.42, Z:-0.23 [[ 9.99907704e-01 1.35641603e-02 7.73116800e-04 4.47590721e+01] [-1.35641653e-02 9.99908002e-01 1.11796962e-06 4.22987400e-01] [-7.73030511e-04 -1.16045505e-05 9.99999701e-01 -2.29674836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.79, Y:0.42, Z:-0.23 [[ 9.99895951e-01 1.44044665e-02 7.73116761e-04 4.47891713e+01] [-1.44044717e-02 9.99896250e-01 1.14423741e-06 4.23199971e-01] [-7.73020069e-04 -1.22804569e-05 9.99999701e-01 -2.27101857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.82, Y:0.42, Z:-0.23 [[ 9.99902937e-01 1.39111108e-02 7.73116734e-04 4.48186964e+01] [-1.39111158e-02 9.99903236e-01 1.16231127e-06 4.22856554e-01] [-7.73025755e-04 -1.19171149e-05 9.99999701e-01 -2.28057439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.85, Y:0.42, Z:-0.23 [[ 9.99910226e-01 1.33769513e-02 7.73116706e-04 4.48471933e+01] [-1.33769562e-02 9.99910525e-01 1.18087742e-06 4.23573566e-01] [-7.73031734e-04 -1.15227197e-05 9.99999701e-01 -2.31477655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.88, Y:0.43, Z:-0.23 [[ 9.99919878e-01 1.26348830e-02 7.73116663e-04 4.48763005e+01] [-1.26348877e-02 9.99920177e-01 1.20862456e-06 4.25333716e-01] [-7.73039679e-04 -1.09767699e-05 9.99999701e-01 -2.34072501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.304203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.91, Y:0.43, Z:-0.23 [[ 9.99934071e-01 1.14566708e-02 7.73116634e-04 4.49058974e+01] [-1.14566752e-02 9.99934370e-01 1.22654941e-06 4.27481456e-01] [-7.73051842e-04 -1.00838147e-05 9.99999701e-01 -2.33639589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.334203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.93, Y:0.43, Z:-0.23 [[ 9.99966760e-01 8.11678057e-03 7.73116604e-04 4.49345321e+01] [-8.11678396e-03 9.99967058e-01 1.24525154e-06 4.29851096e-01] [-7.73081029e-04 -7.52043060e-06 9.99999701e-01 -2.33737077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.96, Y:0.43, Z:-0.23 [[ 9.99977984e-01 6.59045466e-03 7.73116558e-04 4.49637605e+01] [-6.59045761e-03 9.99978283e-01 1.27318717e-06 4.29772062e-01] [-7.73091377e-04 -6.36835105e-06 9.99999701e-01 -2.32449085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.99, Y:0.43, Z:-0.23 [[ 9.99977984e-01 6.59045465e-03 7.73116543e-04 4.49947575e+01] [-6.59045761e-03 9.99978283e-01 1.28226205e-06 4.29823467e-01] [-7.73091302e-04 -6.37742563e-06 9.99999701e-01 -2.32473051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.03, Y:0.43, Z:-0.23 [[ 9.99994848e-01 3.11557865e-03 7.73116543e-04 4.50254616e+01] [-3.11558057e-03 9.99995147e-01 1.28226205e-06 4.29852182e-01] [-7.73108796e-04 -3.69096232e-06 9.99999701e-01 -2.30760570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.06, Y:0.43, Z:-0.23 [[ 9.99999274e-01 9.24484745e-04 7.73116543e-04 4.50560801e+01] [-9.24486013e-04 9.99999573e-01 1.28226205e-06 4.29636987e-01] [-7.73115027e-04 -1.99699655e-06 9.99999701e-01 -2.30942354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.484203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.09, Y:0.43, Z:-0.23 [[ 9.99998973e-01 -1.20681761e-03 7.73116611e-04 4.50859670e+01] [ 1.20681701e-03 9.99999272e-01 1.24005398e-06 4.29542031e-01] [-7.73117544e-04 -3.07042428e-07 9.99999701e-01 -2.31658527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.514203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.12, Y:0.43, Z:-0.23 [[ 9.99995275e-01 -2.97515450e-03 7.73116675e-04 4.51172567e+01] [ 2.97515446e-03 9.99995574e-01 1.19835377e-06 4.29282571e-01] [-7.73116819e-04 1.10179342e-06 9.99999701e-01 -2.30612161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.15, Y:0.43, Z:-0.23 [[ 9.99988353e-01 -4.76402564e-03 7.73116704e-04 4.51475733e+01] [ 4.76402615e-03 9.99988652e-01 1.17964954e-06 4.29725330e-01] [-7.73113550e-04 2.50351239e-06 9.99999701e-01 -2.31439601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.18, Y:0.43, Z:-0.23 [[ 9.99987185e-01 -5.00320424e-03 7.73116718e-04 4.51785895e+01] [ 5.00320483e-03 9.99987484e-01 1.17037878e-06 4.30079634e-01] [-7.73112897e-04 2.69769751e-06 9.99999701e-01 -2.32153041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.21, Y:0.43, Z:-0.23 [[ 9.99985771e-01 -5.27817162e-03 7.73116758e-04 4.52094020e+01] [ 5.27817232e-03 9.99986070e-01 1.14288589e-06 4.30362808e-01] [-7.73112022e-04 2.93777384e-06 9.99999701e-01 -2.33928825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.24, Y:0.43, Z:-0.24 [[ 9.99983251e-01 -5.73587857e-03 7.73116840e-04 4.52401196e+01] [ 5.73587945e-03 9.99983550e-01 1.08477745e-06 4.30513288e-01] [-7.73110344e-04 3.34974571e-06 9.99999701e-01 -2.35109933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.664203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.27, Y:0.43, Z:-0.23 [[ 9.99971413e-01 -7.52161831e-03 7.73116876e-04 4.52717280e+01] [ 7.52161974e-03 9.99971712e-01 1.05843689e-06 4.29639895e-01] [-7.73102967e-04 4.75668452e-06 9.99999701e-01 -2.34508546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.694203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.30, Y:0.43, Z:-0.24 [[ 9.99961872e-01 -8.69807212e-03 7.73116900e-04 4.53030236e+01] [ 8.69807392e-03 9.99962171e-01 1.04059032e-06 4.28205362e-01] [-7.73096705e-04 5.68407730e-06 9.99999701e-01 -2.36196983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.33, Y:0.43, Z:-0.24 [[ 9.99948268e-01 -1.01422155e-02 7.73116935e-04 4.53342596e+01] [ 1.01422177e-02 9.99948566e-01 1.01390242e-06 4.26112782e-01] [-7.73087454e-04 6.82727031e-06 9.99999701e-01 -2.35874204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.37, Y:0.42, Z:-0.23 [[ 9.99920746e-01 -1.25659773e-02 7.73116958e-04 4.53665030e+01] [ 1.25659803e-02 9.99921045e-01 9.96155729e-07 4.19669494e-01] [-7.73068434e-04 8.71889566e-06 9.99999701e-01 -2.32998428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.40, Y:0.42, Z:-0.23 [[ 9.99908806e-01 -1.34826599e-02 7.73117003e-04 4.53978727e+01] [ 1.34826632e-02 9.99909105e-01 9.60216390e-07 4.16040581e-01] [-7.73059676e-04 9.46354736e-06 9.99999701e-01 -2.32286680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.814203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:45.43, Y:0.41, Z:-0.23 [[ 9.99903997e-01 -1.38346777e-02 7.73117025e-04 4.54283356e+01] [ 1.38346811e-02 9.99904296e-01 9.42038140e-07 4.13069861e-01] [-7.73056067e-04 9.75387977e-06 9.99999701e-01 -2.33922676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.46, Y:0.41, Z:-0.23 [[ 9.99924312e-01 -1.22789346e-02 7.73117036e-04 4.54595692e+01] [ 1.22789375e-02 9.99924611e-01 9.32985565e-07 4.07638856e-01] [-7.73070207e-04 8.56014082e-06 9.99999701e-01 -2.34026938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.874203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.49, Y:0.40, Z:-0.23 [[ 9.99940752e-01 -1.08579698e-02 7.73117057e-04 4.54906921e+01] [ 1.08579723e-02 9.99941050e-01 9.14856165e-07 4.04134967e-01] [-7.73081416e-04 7.47968164e-06 9.99999701e-01 -2.32694290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.52, Y:0.40, Z:-0.23 [[ 9.99957852e-01 -9.14859595e-03 7.73117089e-04 4.55209467e+01] [ 9.14859800e-03 9.99958151e-01 8.86822794e-07 4.00102630e-01] [-7.73092848e-04 6.18615204e-06 9.99999701e-01 -2.34704580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.93420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.55, Y:0.40, Z:-0.23 [[ 9.99971751e-01 -7.47665636e-03 7.73117100e-04 4.55521051e+01] [ 7.47665792e-03 9.99972049e-01 8.77472286e-07 3.96038003e-01] [-7.73102051e-04 4.90288459e-06 9.99999701e-01 -2.34338083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.58, Y:0.39, Z:-0.23 [[ 9.99991547e-01 -4.03841467e-03 7.73117120e-04 4.55836838e+01] [ 4.03841521e-03 9.99991846e-01 8.59299074e-07 3.88491970e-01] [-7.73114286e-04 2.26287613e-06 9.99999701e-01 -2.34587460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.61, Y:0.39, Z:-0.24 [[ 9.99997451e-01 -2.12134333e-03 7.73117140e-04 4.56135832e+01] [ 2.12134332e-03 9.99997750e-01 8.40799992e-07 3.85993739e-01] [-7.73117184e-04 7.99249029e-07 9.99999701e-01 -2.38474745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.64, Y:0.38, Z:-0.24 [[ 9.99999685e-01 -1.79412116e-04 7.73117150e-04 4.56449892e+01] [ 1.79411527e-04 9.99999984e-01 8.31557243e-07 3.84303501e-01] [-7.73117287e-04 -6.92850852e-07 9.99999701e-01 -2.37253742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.054203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.68, Y:0.38, Z:-0.23 [[ 9.99998498e-01 1.55151860e-03 7.73117168e-04 4.56756030e+01] [-1.55151969e-03 9.99998796e-01 8.14362642e-07 3.82136824e-01] [-7.73114974e-04 -2.01386793e-06 9.99999701e-01 -2.31432916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.084203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.71, Y:0.38, Z:-0.23 [[ 9.99992565e-01 3.77793267e-03 7.73117168e-04 4.57062789e+01] [-3.77793443e-03 9.99992864e-01 8.14362642e-07 3.75161019e-01] [-7.73108574e-04 -3.73514255e-06 9.99999701e-01 -2.27212655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.74, Y:0.37, Z:-0.23 [[ 9.99990887e-01 4.19855800e-03 7.73117178e-04 4.57368877e+01] [-4.19855988e-03 9.99991186e-01 8.05106218e-07 3.71887138e-01] [-7.73106983e-04 -4.05107765e-06 9.99999701e-01 -2.28265265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.77, Y:0.37, Z:-0.23 [[ 9.99990498e-01 4.29023936e-03 7.73117178e-04 4.57670519e+01] [-4.29024127e-03 9.99990797e-01 8.05106218e-07 3.68972281e-01] [-7.73106609e-04 -4.12195779e-06 9.99999701e-01 -2.31131911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.80, Y:0.36, Z:-0.23 [[ 9.99988279e-01 4.77956565e-03 7.73117187e-04 4.57973837e+01] [-4.77956770e-03 9.99988578e-01 7.95924760e-07 3.62560234e-01] [-7.73104552e-04 -4.49108137e-06 9.99999701e-01 -2.32102665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.83, Y:0.36, Z:-0.23 [[ 9.99986671e-01 5.10494657e-03 7.73117187e-04 4.58274507e+01] [-5.10494871e-03 9.99986970e-01 7.95924760e-07 3.58941197e-01] [-7.73103050e-04 -4.74263774e-06 9.99999701e-01 -2.32377010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.234203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.86, Y:0.36, Z:-0.23 [[ 9.99985650e-01 5.30113575e-03 7.73117187e-04 4.58581607e+01] [-5.30113795e-03 9.99985949e-01 7.95924760e-07 3.55855487e-01] [-7.73102105e-04 -4.89431420e-06 9.99999701e-01 -2.32227333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.264203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.89, Y:0.35, Z:-0.23 [[ 9.99985392e-01 5.34963510e-03 7.73117187e-04 4.58884416e+01] [-5.34963732e-03 9.99985691e-01 7.95924759e-07 3.53352638e-01] [-7.73101867e-04 -4.93180969e-06 9.99999701e-01 -2.32244156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.92, Y:0.35, Z:-0.23 [[ 9.99985807e-01 5.27149817e-03 7.73117187e-04 4.59190488e+01] [-5.27150036e-03 9.99986106e-01 7.95924759e-07 3.47717579e-01] [-7.73102250e-04 -4.87140099e-06 9.99999701e-01 -2.33275696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.95, Y:0.34, Z:-0.23 [[ 9.99984827e-01 5.45418736e-03 7.73117197e-04 4.59496797e+01] [-5.45418960e-03 9.99985126e-01 7.86613975e-07 3.43612717e-01] [-7.73101407e-04 -5.00332981e-06 9.99999701e-01 -2.33394562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.98, Y:0.34, Z:-0.23 [[ 9.99984196e-01 5.56862461e-03 7.73117206e-04 4.59797630e+01] [-5.56862687e-03 9.99984495e-01 7.77468881e-07 3.39252270e-01] [-7.73100889e-04 -5.08265784e-06 9.99999701e-01 -2.33764180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.01, Y:0.34, Z:-0.24 [[ 9.99982366e-01 5.88816319e-03 7.73117206e-04 4.60097257e+01] [-5.88816555e-03 9.99982665e-01 7.77468881e-07 3.35187412e-01] [-7.73099226e-04 -5.32969727e-06 9.99999701e-01 -2.35512935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.04, Y:0.33, Z:-0.24 [[ 9.99969237e-01 7.80559934e-03 7.73117215e-04 4.60401664e+01] [-7.80560226e-03 9.99969536e-01 7.68432471e-07 3.29665725e-01] [-7.73087665e-04 -6.80305432e-06 9.99999701e-01 -2.37474697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.444203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.07, Y:0.33, Z:-0.24 [[ 9.99956956e-01 9.24601739e-03 7.73117215e-04 4.60701399e+01] [-9.24602075e-03 9.99957255e-01 7.68432471e-07 3.27532095e-01] [-7.73077063e-04 -7.91665720e-06 9.99999701e-01 -2.38052791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.47420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.10, Y:0.32, Z:-0.24 [[ 9.99937329e-01 1.11686784e-02 7.73117255e-04 4.61008274e+01] [-1.11686823e-02 9.99937628e-01 7.26331056e-07 3.24515097e-01] [-7.73060922e-04 -9.36098655e-06 9.99999701e-01 -2.39168930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.13, Y:0.32, Z:-0.24 [[ 9.99925123e-01 1.22127470e-02 7.73117263e-04 4.61308818e+01] [-1.22127512e-02 9.99925422e-01 7.17361199e-07 3.23013067e-01] [-7.73050844e-04 -1.01591963e-05 9.99999701e-01 -2.39714336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.16, Y:0.32, Z:-0.24 [[ 9.99912481e-01 1.32072703e-02 7.73117271e-04 4.61616562e+01] [-1.32072748e-02 9.99912780e-01 7.08661250e-07 3.21198444e-01] [-7.73040480e-04 -1.09193715e-05 9.99999701e-01 -2.40511351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.19, Y:0.32, Z:-0.24 [[ 9.99898736e-01 1.42098868e-02 7.73117309e-04 4.61923421e+01] [-1.42098916e-02 9.99899034e-01 6.63656554e-07 3.19405438e-01] [-7.73029821e-04 -1.16495025e-05 9.99999701e-01 -2.37682562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.594203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.22, Y:0.32, Z:-0.23 [[ 9.99883914e-01 1.52171549e-02 7.73117309e-04 4.62231861e+01] [-1.52171599e-02 9.99884212e-01 6.63656554e-07 3.18419901e-01] [-7.73017693e-04 -1.24282293e-05 9.99999701e-01 -2.34620362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.624203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.25, Y:0.32, Z:-0.23 [[ 9.99864781e-01 1.64262358e-02 7.73117309e-04 4.62530121e+01] [-1.64262412e-02 9.99865080e-01 6.63656554e-07 3.15653545e-01] [-7.73002099e-04 -1.33629782e-05 9.99999701e-01 -2.33649509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.65420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.28, Y:0.31, Z:-0.23 [[ 9.99865355e-01 1.63912570e-02 7.73117346e-04 4.62832911e+01] [-1.63912624e-02 9.99865654e-01 6.17426025e-07 3.13966146e-01] [-7.73003361e-04 -1.32897122e-05 9.99999701e-01 -2.30636591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.31, Y:0.31, Z:-0.23 [[ 9.99869408e-01 1.61421855e-02 7.73117346e-04 4.63141647e+01] [-1.61421908e-02 9.99869706e-01 6.17426025e-07 3.12886952e-01] [-7.73006648e-04 -1.30971531e-05 9.99999701e-01 -2.28944611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.34, Y:0.31, Z:-0.23 [[ 9.99884696e-01 1.51656663e-02 7.73117346e-04 4.63441277e+01] [-1.51656713e-02 9.99884995e-01 6.17426024e-07 3.11581947e-01] [-7.73019070e-04 -1.23421984e-05 9.99999701e-01 -2.30545538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.37, Y:0.31, Z:-0.23 [[ 9.99892456e-01 1.46451190e-02 7.73117380e-04 4.63743567e+01] [-1.46451238e-02 9.99892754e-01 5.72278078e-07 3.09693553e-01] [-7.73026085e-04 -1.18946163e-05 9.99999701e-01 -2.31582700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.774203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.40, Y:0.31, Z:-0.23 [[ 9.99896583e-01 1.43605374e-02 7.73117380e-04 4.64045643e+01] [-1.43605421e-02 9.99896882e-01 5.72278078e-07 3.06761944e-01] [-7.73029439e-04 -1.16746036e-05 9.99999701e-01 -2.32806061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.804203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.43, Y:0.30, Z:-0.24 [[ 9.99900551e-01 1.40815910e-02 7.73117380e-04 4.64349484e+01] [-1.40815957e-02 9.99900849e-01 5.72278078e-07 3.04219713e-01] [-7.73032666e-04 -1.14589475e-05 9.99999701e-01 -2.36857234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.834203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.47, Y:0.30, Z:-0.24 [[ 9.99898412e-01 1.42326195e-02 7.73117380e-04 4.64655806e+01] [-1.42326242e-02 9.99898711e-01 5.72278078e-07 3.04005844e-01] [-7.73030927e-04 -1.15757091e-05 9.99999701e-01 -2.39548355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.50, Y:0.30, Z:-0.24 [[ 9.99895708e-01 1.44213601e-02 7.73117413e-04 4.64957331e+01] [-1.44213648e-02 9.99896007e-01 5.24049585e-07 3.03367693e-01] [-7.73029456e-04 -1.16734032e-05 9.99999701e-01 -2.40045237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.53, Y:0.30, Z:-0.24 [[ 9.99890713e-01 1.47636038e-02 7.73117413e-04 4.65261195e+01] [-1.47636086e-02 9.99891012e-01 5.24049585e-07 3.02606117e-01] [-7.73025415e-04 -1.19379952e-05 9.99999701e-01 -2.39483555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.56, Y:0.30, Z:-0.24 [[ 9.99879761e-01 1.54876287e-02 7.73117413e-04 4.65567724e+01] [-1.54876337e-02 9.99880059e-01 5.24049585e-07 3.01993784e-01] [-7.73016568e-04 -1.24977459e-05 9.99999701e-01 -2.40003103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.954203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.59, Y:0.30, Z:-0.24 [[ 9.99844352e-01 1.76259438e-02 7.73117419e-04 4.65875864e+01] [-1.76259495e-02 9.99844651e-01 5.15002601e-07 3.00245426e-01] [-7.72988238e-04 -1.41418510e-05 9.99999701e-01 -2.37017279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.984203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.62, Y:0.30, Z:-0.24 [[ 9.99827051e-01 1.85814737e-02 7.73117419e-04 4.66183897e+01] [-1.85814796e-02 9.99827349e-01 5.15002600e-07 2.98558674e-01] [-7.72974370e-04 -1.48805791e-05 9.99999701e-01 -2.38302158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.014203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.65, Y:0.30, Z:-0.24 [[ 9.99808356e-01 1.95615432e-02 7.73117425e-04 4.66487342e+01] [-1.95615494e-02 9.99808655e-01 5.05685888e-07 2.97491757e-01] [-7.72959600e-04 -1.56289637e-05 9.99999701e-01 -2.35582080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.68, Y:0.30, Z:-0.23 [[ 9.99805502e-01 1.97068425e-02 7.73117425e-04 4.66794338e+01] [-1.97068487e-02 9.99805801e-01 5.05685888e-07 2.97886432e-01] [-7.72957321e-04 -1.57412957e-05 9.99999701e-01 -2.34272109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.07420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.71, Y:0.30, Z:-0.23 [[ 9.99801704e-01 1.98986036e-02 7.73117425e-04 4.67103034e+01] [-1.98986100e-02 9.99802003e-01 5.05685888e-07 2.98282119e-01] [-7.72954287e-04 -1.58895477e-05 9.99999701e-01 -2.34159031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.74, Y:0.30, Z:-0.24 [[ 9.99806048e-01 1.96791454e-02 7.73117425e-04 4.67403702e+01] [-1.96791517e-02 9.99806347e-01 5.05685887e-07 2.97876595e-01] [-7.72957756e-04 -1.57198829e-05 9.99999701e-01 -2.35027648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.77, Y:0.30, Z:-0.23 [[ 9.99833063e-01 1.82551066e-02 7.73117425e-04 4.67705780e+01] [-1.82551125e-02 9.99833362e-01 5.05685887e-07 2.95867129e-01] [-7.72979362e-04 -1.46189470e-05 9.99999701e-01 -2.34616386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.164203822000005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:46.80, Y:0.30, Z:-0.24 [[ 9.99844349e-01 1.76261003e-02 7.73117425e-04 4.68004711e+01] [-1.76261059e-02 9.99844648e-01 5.05685887e-07 2.95225412e-01] [-7.72988406e-04 -1.41326568e-05 9.99999701e-01 -2.37287813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.194203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.83, Y:0.29, Z:-0.24 [[ 9.99851827e-01 1.71966982e-02 7.73117431e-04 4.68310465e+01] [-1.71967037e-02 9.99852126e-01 4.96186150e-07 2.94209909e-01] [-7.72994574e-04 -1.37911840e-05 9.99999701e-01 -2.38001394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.86, Y:0.29, Z:-0.24 [[ 9.99855051e-01 1.70082310e-02 7.73117431e-04 4.68619745e+01] [-1.70082365e-02 9.99855349e-01 4.96186150e-07 2.93492709e-01] [-7.72997160e-04 -1.36454783e-05 9.99999701e-01 -2.36824627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.89, Y:0.29, Z:-0.24 [[ 9.99855066e-01 1.70073103e-02 7.73117431e-04 4.68925744e+01] [-1.70073157e-02 9.99855365e-01 4.96186150e-07 2.91114246e-01] [-7.72997172e-04 -1.36447665e-05 9.99999701e-01 -2.37067039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.92, Y:0.29, Z:-0.24 [[ 9.99855066e-01 1.70073103e-02 7.73117437e-04 4.69235704e+01] [-1.70073157e-02 9.99855365e-01 4.86849591e-07 2.91133770e-01] [-7.72997337e-04 -1.36354314e-05 9.99999701e-01 -2.37091003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.95, Y:0.29, Z:-0.24 [[ 9.99855286e-01 1.69943829e-02 7.73117437e-04 4.69537514e+01] [-1.69943884e-02 9.99855585e-01 4.86849591e-07 2.89883092e-01] [-7.72997513e-04 -1.36254371e-05 9.99999701e-01 -2.37380261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.344203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.98, Y:0.29, Z:-0.24 [[ 9.99852869e-01 1.71360317e-02 7.73117437e-04 4.69839017e+01] [-1.71360372e-02 9.99853167e-01 4.86849591e-07 2.88838089e-01] [-7.72995575e-04 -1.37349471e-05 9.99999701e-01 -2.37109366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.374203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.02, Y:0.29, Z:-0.24 [[ 9.99854287e-01 1.70530641e-02 7.73117437e-04 4.70154833e+01] [-1.70530695e-02 9.99854586e-01 4.86849591e-07 2.87664572e-01] [-7.72996712e-04 -1.36708041e-05 9.99999701e-01 -2.38287497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.05, Y:0.29, Z:-0.24 [[ 9.99848995e-01 1.73605521e-02 7.73117448e-04 4.70465558e+01] [-1.73605577e-02 9.99849294e-01 4.68818287e-07 2.87519062e-01] [-7.72992795e-04 -1.38904975e-05 9.99999701e-01 -2.38340375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.43420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.08, Y:0.29, Z:-0.24 [[ 9.99833850e-01 1.82119441e-02 7.73117458e-04 4.70782806e+01] [-1.82119498e-02 9.99834149e-01 4.50536433e-07 2.87592633e-01] [-7.72981031e-04 -1.45304379e-05 9.99999701e-01 -2.38003410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.11, Y:0.29, Z:-0.24 [[ 9.99813449e-01 1.92994546e-02 7.73117469e-04 4.71087377e+01] [-1.92994607e-02 9.99813748e-01 4.32071100e-07 2.87784396e-01] [-7.72965135e-04 -1.53527407e-05 9.99999701e-01 -2.37081341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.14, Y:0.29, Z:-0.23 [[ 9.99772479e-01 2.13164669e-02 7.73117469e-04 4.71391802e+01] [-2.13164736e-02 9.99772778e-01 4.32071099e-07 2.86322815e-01] [-7.72932589e-04 -1.69121109e-05 9.99999701e-01 -2.34727926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.17, Y:0.29, Z:-0.24 [[ 9.99756538e-01 2.20514637e-02 7.73117469e-04 4.71698053e+01] [-2.20514706e-02 9.99756837e-01 4.32071099e-07 2.85878976e-01] [-7.72919947e-04 -1.74803430e-05 9.99999701e-01 -2.35504520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.554203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.20, Y:0.29, Z:-0.24 [[ 9.99742346e-01 2.26857643e-02 7.73117474e-04 4.71997248e+01] [-2.26857714e-02 9.99742645e-01 4.22615743e-07 2.85961755e-01] [-7.72908920e-04 -1.79612731e-05 9.99999701e-01 -2.38233269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.584203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.23, Y:0.29, Z:-0.24 [[ 9.99736109e-01 2.29589619e-02 7.73117479e-04 4.72301060e+01] [-2.29589691e-02 9.99736408e-01 4.13255943e-07 2.86915593e-01] [-7.72904203e-04 -1.81631272e-05 9.99999701e-01 -2.38610838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.26, Y:0.29, Z:-0.24 [[ 9.99732889e-01 2.30987509e-02 7.73117479e-04 4.72606355e+01] [-2.30987581e-02 9.99733188e-01 4.13255943e-07 2.89105976e-01] [-7.72901656e-04 -1.82711992e-05 9.99999701e-01 -2.41332055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.29, Y:0.29, Z:-0.24 [[ 9.99730593e-01 2.31979082e-02 7.73117483e-04 4.72909216e+01] [-2.31979155e-02 9.99730892e-01 4.04270153e-07 2.89603583e-01] [-7.72900053e-04 -1.83388753e-05 9.99999701e-01 -2.41781815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.32, Y:0.29, Z:-0.24 [[ 9.99724681e-01 2.34513090e-02 7.73117483e-04 4.73217717e+01] [-2.34513163e-02 9.99724980e-01 4.04270153e-07 2.89821445e-01] [-7.72895380e-04 -1.85347815e-05 9.99999701e-01 -2.40699390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.35, Y:0.29, Z:-0.24 [[ 9.99709495e-01 2.40899774e-02 7.73117483e-04 4.73525922e+01] [-2.40899849e-02 9.99709794e-01 4.04270152e-07 2.89081347e-01] [-7.72883381e-04 -1.90285412e-05 9.99999701e-01 -2.39707712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.734203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.38, Y:0.29, Z:-0.24 [[ 9.99719591e-01 2.36673146e-02 7.73117483e-04 4.73826610e+01] [-2.36673219e-02 9.99719890e-01 4.04270152e-07 2.88161815e-01] [-7.72891357e-04 -1.87017772e-05 9.99999701e-01 -2.40892729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.764203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.41, Y:0.29, Z:-0.24 [[ 9.99727822e-01 2.33170338e-02 7.73117505e-04 4.74126474e+01] [-2.33170410e-02 9.99728121e-01 3.57057933e-07 2.87953275e-01] [-7.72898985e-04 -1.83837733e-05 9.99999701e-01 -2.41979377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.44, Y:0.29, Z:-0.24 [[ 9.99734630e-01 2.30232875e-02 7.73117505e-04 4.74431648e+01] [-2.30232947e-02 9.99734929e-01 3.57057933e-07 2.88764874e-01] [-7.72904353e-04 -1.81566753e-05 9.99999701e-01 -2.40940124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.47, Y:0.29, Z:-0.24 [[ 9.99737700e-01 2.28895853e-02 7.73117505e-04 4.74737335e+01] [-2.28895924e-02 9.99737999e-01 3.57057932e-07 2.88159488e-01] [-7.72906775e-04 -1.80533089e-05 9.99999701e-01 -2.40304668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.50, Y:0.29, Z:-0.24 [[ 9.99743197e-01 2.26482213e-02 7.73117505e-04 4.75041291e+01] [-2.26482284e-02 9.99743496e-01 3.57057932e-07 2.87283629e-01] [-7.72911111e-04 -1.78667080e-05 9.99999701e-01 -2.39732375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.53, Y:0.29, Z:-0.24 [[ 9.99741212e-01 2.27356668e-02 7.73117505e-04 4.75343149e+01] [-2.27356739e-02 9.99741511e-01 3.57057932e-07 2.86058298e-01] [-7.72909545e-04 -1.79343130e-05 9.99999701e-01 -2.39388594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.914203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.57, Y:0.28, Z:-0.24 [[ 9.99723336e-01 2.35085812e-02 7.73117509e-04 4.75661074e+01] [-2.35085885e-02 9.99723635e-01 3.48040704e-07 2.83926956e-01] [-7.72895665e-04 -1.85228458e-05 9.99999701e-01 -2.38805539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.944203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.60, Y:0.28, Z:-0.24 [[ 9.99704720e-01 2.42873545e-02 7.73117517e-04 4.75972062e+01] [-2.42873620e-02 9.99705019e-01 3.30110180e-07 2.82860384e-01] [-7.72881444e-04 -1.91069977e-05 9.99999701e-01 -2.37747587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.97420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.63, Y:0.28, Z:-0.24 [[ 9.99668308e-01 2.57424869e-02 7.73117524e-04 4.76273965e+01] [-2.57424949e-02 9.99668607e-01 3.11953263e-07 2.82301529e-01] [-7.72853288e-04 -2.02138237e-05 9.99999701e-01 -2.39002315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.66, Y:0.29, Z:-0.24 [[ 9.99544237e-01 3.01781485e-02 7.73117528e-04 4.76574741e+01] [-3.01781578e-02 9.99544536e-01 3.02924912e-07 2.86263020e-01] [-7.72756259e-04 -2.36340496e-05 9.99999701e-01 -2.41455591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.69, Y:0.29, Z:-0.24 [[ 9.99480081e-01 3.22330593e-02 7.73117528e-04 4.76878756e+01] [-3.22330692e-02 9.99480380e-01 3.02924912e-07 2.88313175e-01] [-7.72706036e-04 -2.52227182e-05 9.99999701e-01 -2.42122085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.72, Y:0.29, Z:-0.24 [[ 9.99440733e-01 3.34308850e-02 7.73117528e-04 4.77186673e+01] [-3.34308952e-02 9.99441031e-01 3.02924912e-07 2.88761079e-01] [-7.72675252e-04 -2.61487665e-05 9.99999701e-01 -2.42825943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.75, Y:0.29, Z:-0.24 [[ 9.99362251e-01 3.57000565e-02 7.73117531e-04 4.77491444e+01] [-3.57000674e-02 9.99362549e-01 2.93915712e-07 2.87077649e-01] [-7.72614214e-04 -2.78940763e-05 9.99999701e-01 -2.42398434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.124203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.78, Y:0.29, Z:-0.24 [[ 9.99331758e-01 3.65436751e-02 7.73117531e-04 4.77796725e+01] [-3.65436862e-02 9.99332056e-01 2.93915711e-07 2.87277869e-01] [-7.72590392e-04 -2.85462838e-05 9.99999701e-01 -2.43920035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.15420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.81, Y:0.29, Z:-0.25 [[ 9.99308086e-01 3.71853724e-02 7.73117534e-04 4.78102146e+01] [-3.71853838e-02 9.99308384e-01 2.84962309e-07 2.88365707e-01] [-7.72572238e-04 -2.90334374e-05 9.99999701e-01 -2.46775607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.84, Y:0.29, Z:-0.24 [[ 9.99282369e-01 3.78701723e-02 7.73117549e-04 4.78413707e+01] [-3.78701838e-02 9.99282667e-01 2.38974300e-07 2.91539487e-01] [-7.72553916e-04 -2.95169064e-05 9.99999701e-01 -2.41500581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.87, Y:0.29, Z:-0.24 [[ 9.99280254e-01 3.79259345e-02 7.73117554e-04 4.78715663e+01] [-3.79259460e-02 9.99280553e-01 2.20349530e-07 2.92649370e-01] [-7.72552980e-04 -2.95414055e-05 9.99999701e-01 -2.41688983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.90, Y:0.29, Z:-0.24 [[ 9.99296370e-01 3.74988975e-02 7.73117564e-04 4.79018861e+01] [-3.74989088e-02 9.99296669e-01 1.78842314e-07 2.94239215e-01] [-7.72567099e-04 -2.91697815e-05 9.99999701e-01 -2.42464480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.93, Y:0.30, Z:-0.24 [[ 9.99327918e-01 3.66485352e-02 7.73117566e-04 4.79317712e+01] [-3.66485462e-02 9.99328216e-01 1.69738353e-07 2.95486961e-01] [-7.72591977e-04 -2.85032591e-05 9.99999701e-01 -2.44381728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.304203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.96, Y:0.30, Z:-0.25 [[ 9.99439616e-01 3.34642435e-02 7.73117573e-04 4.79630510e+01] [-3.34642536e-02 9.99439915e-01 1.22823041e-07 2.96279150e-01] [-7.72680451e-04 -2.59945567e-05 9.99999701e-01 -2.46787007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.334203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.99, Y:0.30, Z:-0.25 [[ 9.99499617e-01 3.16214848e-02 7.73117575e-04 4.79944518e+01] [-3.16214943e-02 9.99499916e-01 1.05441012e-07 2.96355702e-01] [-7.72727617e-04 -2.45525212e-05 9.99999701e-01 -2.45597909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.02, Y:0.30, Z:-0.25 [[ 9.99549723e-01 2.99959027e-02 7.73117577e-04 4.80248549e+01] [-2.99959117e-02 9.99550021e-01 8.74196187e-08 2.96709208e-01] [-7.72767069e-04 -2.32777469e-05 9.99999701e-01 -2.45601882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.06, Y:0.30, Z:-0.24 [[ 9.99648176e-01 2.65127467e-02 7.73117578e-04 4.80561242e+01] [-2.65127547e-02 9.99648475e-01 7.84473017e-08 2.99639586e-01] [-7.72843728e-04 -2.05758964e-05 9.99999701e-01 -2.42575116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.09, Y:0.30, Z:-0.24 [[ 9.99698820e-01 2.45289928e-02 7.73117580e-04 4.80860516e+01] [-2.45290002e-02 9.99699119e-01 6.02312640e-08 3.01370007e-01] [-7.72883486e-04 -1.90240144e-05 9.99999701e-01 -2.43298454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.12, Y:0.30, Z:-0.24 [[ 9.99754164e-01 2.21588229e-02 7.73117580e-04 4.81162668e+01] [-2.21588296e-02 9.99754463e-01 5.11574364e-08 3.01709258e-01] [-7.72926618e-04 -1.71825255e-05 9.99999701e-01 -2.43412431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.484203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.15, Y:0.30, Z:-0.24 [[ 9.99868193e-01 1.62172277e-02 7.73117580e-04 4.81474336e+01] [-1.62172326e-02 9.99868492e-01 5.11574363e-08 2.98476817e-01] [-7.73015080e-04 -1.25889783e-05 9.99999701e-01 -2.43996440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.514203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.18, Y:0.30, Z:-0.24 [[ 9.99916407e-01 1.29066277e-02 7.73117581e-04 4.81782298e+01] [-1.29066316e-02 9.99916706e-01 2.38457889e-08 2.97366632e-01] [-7.73052877e-04 -1.00021876e-05 9.99999701e-01 -2.44651452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.21, Y:0.30, Z:-0.24 [[ 9.99949692e-01 1.00007481e-02 7.73117581e-04 4.82090525e+01] [-1.00007511e-02 9.99949991e-01 1.47361622e-08 2.96943803e-01] [-7.73078771e-04 -7.74649190e-06 9.99999701e-01 -2.44834832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.57420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.24, Y:0.30, Z:-0.25 [[ 9.99971219e-01 7.54743726e-03 7.73117581e-04 4.82390476e+01] [-7.54743952e-03 9.99971518e-01 1.47361621e-08 2.96420465e-01] [-7.73095450e-04 -5.84979393e-06 9.99999701e-01 -2.45317833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.27, Y:0.30, Z:-0.24 [[ 9.99988153e-01 4.80576260e-03 7.73117580e-04 4.82706463e+01] [-4.80576401e-03 9.99988452e-01 -2.75535324e-08 2.95934322e-01] [-7.73108785e-04 -3.68786744e-06 9.99999701e-01 -2.43966473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.30, Y:0.30, Z:-0.24 [[ 9.99986565e-01 5.12556536e-03 7.73117579e-04 4.83006952e+01] [-5.12556686e-03 9.99986864e-01 -4.56555200e-08 2.96283487e-01] [-7.73107657e-04 -3.91701093e-06 9.99999701e-01 -2.42681700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.664203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.33, Y:0.30, Z:-0.24 [[ 9.99977489e-01 6.66505168e-03 7.73117579e-04 4.83306204e+01] [-6.66505364e-03 9.99977788e-01 -4.56555200e-08 2.95842102e-01] [-7.73100711e-04 -5.10721564e-06 9.99999701e-01 -2.43479791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.694203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.36, Y:0.29, Z:-0.24 [[ 9.99932202e-01 1.16186535e-02 7.73117578e-04 4.83615845e+01] [-1.16186569e-02 9.99932501e-01 -5.48588395e-08 2.94657051e-01] [-7.73066031e-04 -8.92773276e-06 9.99999701e-01 -2.43814111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.39, Y:0.30, Z:-0.25 [[ 9.99887455e-01 1.49826312e-02 7.73117577e-04 4.83923686e+01] [-1.49826357e-02 9.99887754e-01 -6.43003442e-08 2.95531081e-01] [-7.73031761e-04 -1.15190459e-05 9.99999701e-01 -2.45375573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.42, Y:0.30, Z:-0.24 [[ 9.99824719e-01 1.87065286e-02 7.73117570e-04 4.84230064e+01] [-1.87065341e-02 9.99825017e-01 -1.13281411e-07 2.96817035e-01] [-7.72984407e-04 -1.43490886e-05 9.99999701e-01 -2.42981100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.45, Y:0.30, Z:-0.24 [[ 9.99648477e-01 2.65014187e-02 7.73117570e-04 4.84530772e+01] [-2.65014266e-02 9.99648776e-01 -1.13281411e-07 2.99360545e-01] [-7.72849035e-04 -2.03754769e-05 9.99999701e-01 -2.44044891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.48, Y:0.30, Z:-0.24 [[ 9.99567793e-01 2.93875633e-02 7.73117569e-04 4.84832141e+01] [-2.93875720e-02 9.99568092e-01 -1.22698855e-07 3.01363736e-01] [-7.72787259e-04 -2.25974024e-05 9.99999701e-01 -2.41560057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.51, Y:0.30, Z:-0.24 [[ 9.99501621e-01 3.15580805e-02 7.73117569e-04 4.85127088e+01] [-3.15580899e-02 9.99501919e-01 -1.22698855e-07 3.03071672e-01] [-7.72736366e-04 -2.42754760e-05 9.99999701e-01 -2.42647607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.874203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.54, Y:0.30, Z:-0.24 [[ 9.99463406e-01 3.27460140e-02 7.73117570e-04 4.85419829e+01] [-3.27460237e-02 9.99463705e-01 -1.13655803e-07 3.04529904e-01] [-7.72706673e-04 -2.52029314e-05 9.99999701e-01 -2.44654818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.57, Y:0.31, Z:-0.24 [[ 9.99462689e-01 3.27679033e-02 7.73117571e-04 4.85724930e+01] [-3.27679130e-02 9.99462988e-01 -1.04794876e-07 3.05619056e-01] [-7.72705832e-04 -2.52287107e-05 9.99999701e-01 -2.41503880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.93420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.60, Y:0.31, Z:-0.24 [[ 9.99482752e-01 3.21501265e-02 7.73117571e-04 4.86034393e+01] [-3.21501360e-02 9.99483051e-01 -1.04794876e-07 3.05871300e-01] [-7.72721278e-04 -2.47510944e-05 9.99999701e-01 -2.40256306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.64, Y:0.31, Z:-0.24 [[ 9.99522745e-01 3.08817699e-02 7.73117568e-04 4.86352125e+01] [-3.08817791e-02 9.99523044e-01 -1.22710699e-07 3.05622334e-01] [-7.72752615e-04 -2.37525938e-05 9.99999701e-01 -2.39087011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.67, Y:0.30, Z:-0.24 [[ 9.99609185e-01 2.79442238e-02 7.73117565e-04 4.86656090e+01] [-2.79442320e-02 9.99609484e-01 -1.41216261e-07 3.03518687e-01] [-7.72819596e-04 -2.14630155e-05 9.99999701e-01 -2.40559092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.70, Y:0.30, Z:-0.24 [[ 9.99652411e-01 2.63525872e-02 7.73117563e-04 4.86965960e+01] [-2.63525949e-02 9.99652710e-01 -1.50438944e-07 3.02785544e-01] [-7.72853032e-04 -2.02232673e-05 9.99999701e-01 -2.40150361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.054203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.73, Y:0.30, Z:-0.24 [[ 9.99692298e-01 2.47933961e-02 7.73117563e-04 4.87273229e+01] [-2.47934034e-02 9.99692596e-01 -1.50438944e-07 3.02057154e-01] [-7.72883634e-04 -1.90178229e-05 9.99999701e-01 -2.40479316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.084203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.76, Y:0.30, Z:-0.24 [[ 9.99724559e-01 2.34565396e-02 7.73117563e-04 4.87575516e+01] [-2.34565465e-02 9.99724857e-01 -1.50438944e-07 3.01038015e-01] [-7.72908374e-04 -1.79842705e-05 9.99999701e-01 -2.39766393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.79, Y:0.30, Z:-0.24 [[ 9.99759808e-01 2.19026961e-02 7.73117563e-04 4.87878893e+01] [-2.19027026e-02 9.99760107e-01 -1.50438945e-07 2.97501035e-01] [-7.72935393e-04 -1.67829612e-05 9.99999701e-01 -2.43376951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.82, Y:0.30, Z:-0.24 [[ 9.99762837e-01 2.17640262e-02 7.73117561e-04 4.88181358e+01] [-2.17640326e-02 9.99763135e-01 -1.59781463e-07 2.96134935e-01] [-7.72937915e-04 -1.66664123e-05 9.99999701e-01 -2.43275709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.85, Y:0.30, Z:-0.24 [[ 9.99757181e-01 2.20222871e-02 7.73117559e-04 4.88489794e+01] [-2.20222936e-02 9.99757480e-01 -1.68766665e-07 2.95149245e-01] [-7.72933779e-04 -1.68570962e-05 9.99999701e-01 -2.42186419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.88, Y:0.30, Z:-0.24 [[ 9.99757181e-01 2.20222871e-02 7.73117559e-04 4.88799744e+01] [-2.20222936e-02 9.99757480e-01 -1.68766665e-07 2.95142479e-01] [-7.72933779e-04 -1.68570962e-05 9.99999701e-01 -2.42210382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.234203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.91, Y:0.29, Z:-0.24 [[ 9.99749195e-01 2.23818834e-02 7.73117559e-04 4.89098676e+01] [-2.23818900e-02 9.99749494e-01 -1.68766665e-07 2.93669675e-01] [-7.72927666e-04 -1.71351078e-05 9.99999701e-01 -2.42440624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.264203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.94, Y:0.29, Z:-0.24 [[ 9.99727979e-01 2.33103003e-02 7.73117557e-04 4.89400344e+01] [-2.33103071e-02 9.99728278e-01 -1.77849239e-07 2.89025135e-01] [-7.72911630e-04 -1.78438068e-05 9.99999701e-01 -2.40241215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.97, Y:0.29, Z:-0.24 [[ 9.99721901e-01 2.35695449e-02 7.73117557e-04 4.89700079e+01] [-2.35695518e-02 9.99722200e-01 -1.77849239e-07 2.87453322e-01] [-7.72906977e-04 -1.80442346e-05 9.99999701e-01 -2.42967229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.00, Y:0.29, Z:-0.24 [[ 9.99717191e-01 2.37684624e-02 7.73117555e-04 4.90008930e+01] [-2.37684693e-02 9.99717490e-01 -1.87174539e-07 2.86153105e-01] [-7.72903590e-04 -1.81886993e-05 9.99999701e-01 -2.44145864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.03, Y:0.28, Z:-0.24 [[ 9.99702195e-01 2.43910424e-02 7.73117555e-04 4.90315412e+01] [-2.43910495e-02 9.99702494e-01 -1.87174539e-07 2.84650177e-01] [-7.72892113e-04 -1.86700298e-05 9.99999701e-01 -2.42904577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.06, Y:0.28, Z:-0.24 [[ 9.99687593e-01 2.49823583e-02 7.73117555e-04 4.90617691e+01] [-2.49823656e-02 9.99687892e-01 -1.87174539e-07 2.82425170e-01] [-7.72880935e-04 -1.91271893e-05 9.99999701e-01 -2.43222780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.09, Y:0.28, Z:-0.24 [[ 9.99635161e-01 2.69990202e-02 7.73117543e-04 4.90928482e+01] [-2.69990281e-02 9.99635460e-01 -2.26577035e-07 2.78490263e-01] [-7.72841828e-04 -2.06469279e-05 9.99999701e-01 -2.39761323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.444203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.12, Y:0.28, Z:-0.24 [[ 9.99595416e-01 2.84324915e-02 7.73117538e-04 4.91228113e+01] [-2.84324998e-02 9.99595715e-01 -2.44593474e-07 2.77631363e-01] [-7.72811932e-04 -2.17371697e-05 9.99999701e-01 -2.40180681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.47420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.15, Y:0.28, Z:-0.24 [[ 9.99533135e-01 3.05436450e-02 7.73117535e-04 4.91533592e+01] [-3.05436539e-02 9.99533434e-01 -2.53546875e-07 2.77923918e-01] [-7.72764569e-04 -2.33604059e-05 9.99999701e-01 -2.39566193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.18, Y:0.28, Z:-0.24 [[ 9.99363287e-01 3.56710353e-02 7.73117535e-04 4.91842873e+01] [-3.56710458e-02 9.99363586e-01 -2.53546876e-07 2.80106381e-01] [-7.72634556e-04 -2.73245255e-05 9.99999701e-01 -2.41553408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.22, Y:0.28, Z:-0.24 [[ 9.99272623e-01 3.81264551e-02 7.73117535e-04 4.92152598e+01] [-3.81264663e-02 9.99272922e-01 -2.53546876e-07 2.81435228e-01] [-7.72565085e-04 -2.92228772e-05 9.99999701e-01 -2.43600211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.25, Y:0.28, Z:-0.25 [[ 9.99190006e-01 4.02334924e-02 7.73117532e-04 4.92458465e+01] [-4.02335043e-02 9.99190305e-01 -2.62544088e-07 2.82126116e-01] [-7.72502105e-04 -3.08428961e-05 9.99999701e-01 -2.49209703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.594203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.28, Y:0.28, Z:-0.25 [[ 9.99122294e-01 4.18813118e-02 7.73117529e-04 4.92775421e+01] [-4.18813241e-02 9.99122592e-01 -2.71516404e-07 2.82878973e-01] [-7.72450561e-04 -3.21079077e-05 9.99999701e-01 -2.46954147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.624203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.31, Y:0.29, Z:-0.24 [[ 9.99050757e-01 4.35544182e-02 7.73117522e-04 4.93088723e+01] [-4.35544310e-02 9.99051056e-01 -2.89362991e-07 2.86226133e-01] [-7.72396479e-04 -3.33836055e-05 9.99999701e-01 -2.44613627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.65420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.34, Y:0.29, Z:-0.24 [[ 9.99058294e-01 4.33811807e-02 7.73117515e-04 4.93397874e+01] [-4.33811934e-02 9.99058593e-01 -3.07250864e-07 2.87421675e-01] [-7.72403025e-04 -3.32317989e-05 9.99999701e-01 -2.41154855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.37, Y:0.29, Z:-0.24 [[ 9.99098821e-01 4.24375822e-02 7.73117507e-04 4.93705833e+01] [-4.24375947e-02 9.99099119e-01 -3.26035273e-07 2.87971242e-01] [-7.72434857e-04 -3.24835059e-05 9.99999701e-01 -2.42792958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.714203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:49.40, Y:0.29, Z:-0.24 [[ 9.99228520e-01 3.92653497e-02 7.73117503e-04 4.94009556e+01] [-3.92653612e-02 9.99228818e-01 -3.35397747e-07 2.94126126e-01] [-7.72534458e-04 -3.00215990e-05 9.99999701e-01 -2.40042175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.43, Y:0.30, Z:-0.24 [[ 9.99296633e-01 3.74918875e-02 7.73117488e-04 4.94318117e+01] [-3.74918984e-02 9.99296932e-01 -3.67337639e-07 2.97254277e-01] [-7.72587705e-04 -2.86185630e-05 9.99999701e-01 -2.36581493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.774203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.46, Y:0.30, Z:-0.23 [[ 9.99372525e-01 3.54112788e-02 7.73117467e-04 4.94634239e+01] [-3.54112891e-02 9.99372824e-01 -4.07241679e-07 2.98818956e-01] [-7.72647007e-04 -2.69701000e-05 9.99999701e-01 -2.34717224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.804203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.49, Y:0.30, Z:-0.23 [[ 9.99447744e-01 3.32206189e-02 7.73117457e-04 4.94938010e+01] [-3.32206285e-02 9.99448043e-01 -4.25463986e-07 2.99469441e-01] [-7.72704863e-04 -2.52582188e-05 9.99999701e-01 -2.34339761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.834203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.53, Y:0.30, Z:-0.23 [[ 9.99557055e-01 2.97505528e-02 7.73117452e-04 4.95255063e+01] [-2.97505613e-02 9.99557354e-01 -4.34565418e-07 3.01912410e-01] [-7.72788163e-04 -2.25663052e-05 9.99999701e-01 -2.29879245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.56, Y:0.30, Z:-0.23 [[ 9.99590480e-01 2.86054839e-02 7.73117441e-04 4.95565037e+01] [-2.86054921e-02 9.99590779e-01 -4.52470282e-07 3.03646874e-01] [-7.72814008e-04 -2.16631198e-05 9.99999701e-01 -2.30232763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.59, Y:0.31, Z:-0.24 [[ 9.99624516e-01 2.73903186e-02 7.73117436e-04 4.95859901e+01] [-2.73903265e-02 9.99624815e-01 -4.61556357e-07 3.05743254e-01] [-7.72840015e-04 -2.07145559e-05 9.99999701e-01 -2.35232549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.62, Y:0.31, Z:-0.24 [[ 9.99698547e-01 2.45401150e-02 7.73117441e-04 4.96171093e+01] [-2.45401220e-02 9.99698846e-01 -4.52481467e-07 3.08039949e-01] [-7.72895717e-04 -1.85200513e-05 9.99999701e-01 -2.36586205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.954203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.65, Y:0.31, Z:-0.24 [[ 9.99732416e-01 2.31192165e-02 7.73117430e-04 4.96464204e+01] [-2.31192231e-02 9.99732715e-01 -4.70459773e-07 3.06761347e-01] [-7.72921664e-04 -1.74035405e-05 9.99999701e-01 -2.39064997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.984203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.68, Y:0.30, Z:-0.24 [[ 9.99755300e-01 2.21075205e-02 7.73117435e-04 4.96773982e+01] [-2.21075267e-02 9.99755599e-01 -4.61480914e-07 3.04998551e-01] [-7.72938687e-04 -1.66303464e-05 9.99999701e-01 -2.37938807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.014203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.71, Y:0.31, Z:-0.24 [[ 9.99776068e-01 2.11474668e-02 7.73117435e-04 4.97077726e+01] [-2.11474727e-02 9.99776367e-01 -4.62817222e-07 3.06164503e-01] [-7.72954328e-04 -1.58867663e-05 9.99999701e-01 -2.40099253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.74, Y:0.31, Z:-0.24 [[ 9.99777786e-01 2.10660879e-02 7.73117435e-04 4.97387255e+01] [-2.10660938e-02 9.99778085e-01 -4.62817222e-07 3.09004925e-01] [-7.72955618e-04 -1.58238500e-05 9.99999701e-01 -2.42008666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.77, Y:0.31, Z:-0.25 [[ 9.99778206e-01 2.10461577e-02 7.73117429e-04 4.97680887e+01] [-2.10461636e-02 9.99778505e-01 -4.71889520e-07 3.11919332e-01] [-7.72956119e-04 -1.57993711e-05 9.99999701e-01 -2.45094999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.80, Y:0.32, Z:-0.24 [[ 9.99798330e-01 2.00674155e-02 7.73117429e-04 4.97987515e+01] [-2.00674211e-02 9.99798629e-01 -4.71889520e-07 3.15469609e-01] [-7.72971215e-04 -1.50426787e-05 9.99999701e-01 -2.43809304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.83, Y:0.32, Z:-0.24 [[ 9.99815153e-01 1.92109711e-02 7.73117429e-04 4.98284624e+01] [-1.92109765e-02 9.99815452e-01 -4.71889520e-07 3.15169651e-01] [-7.72983817e-04 -1.43805385e-05 9.99999701e-01 -2.43146892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.164203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.86, Y:0.31, Z:-0.24 [[ 9.99828055e-01 1.85273742e-02 7.73117426e-04 4.98592515e+01] [-1.85273794e-02 9.99828353e-01 -4.77445873e-07 3.14305154e-01] [-7.72993568e-04 -1.38464761e-05 9.99999701e-01 -2.37598725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.194203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.89, Y:0.31, Z:-0.24 [[ 9.99842209e-01 1.77470886e-02 7.73117426e-04 4.98890049e+01] [-1.77470935e-02 9.99842508e-01 -4.77445873e-07 3.14863553e-01] [-7.73004139e-04 -1.32432167e-05 9.99999701e-01 -2.36268010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.92, Y:0.32, Z:-0.23 [[ 9.99845835e-01 1.75416241e-02 7.73117393e-04 4.99195521e+01] [-1.75416289e-02 9.99846134e-01 -5.24934741e-07 3.16320340e-01] [-7.73007645e-04 -1.30368846e-05 9.99999701e-01 -2.33754495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.95, Y:0.32, Z:-0.23 [[ 9.99840949e-01 1.78179431e-02 7.73117393e-04 4.99501949e+01] [-1.78179481e-02 9.99841248e-01 -5.24934741e-07 3.18178959e-01] [-7.73004012e-04 -1.32505143e-05 9.99999701e-01 -2.33623405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.98, Y:0.32, Z:-0.23 [[ 9.99835203e-01 1.81374848e-02 7.73117393e-04 4.99809691e+01] [-1.81374898e-02 9.99835502e-01 -5.24934741e-07 3.20564209e-01] [-7.72999738e-04 -1.34975606e-05 9.99999701e-01 -2.32287810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.01, Y:0.32, Z:-0.24 [[ 9.99813944e-01 1.92738038e-02 7.73117393e-04 5.00106689e+01] [-1.92738092e-02 9.99814243e-01 -5.24934741e-07 3.22466612e-01] [-7.72983899e-04 -1.43760801e-05 9.99999701e-01 -2.35822064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.344203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.04, Y:0.32, Z:-0.24 [[ 9.99808432e-01 1.95576505e-02 7.73117400e-04 5.00407952e+01] [-1.95576560e-02 9.99808731e-01 -5.15545070e-07 3.22324700e-01] [-7.72979609e-04 -1.46049178e-05 9.99999701e-01 -2.36028733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.374203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.07, Y:0.32, Z:-0.24 [[ 9.99813268e-01 1.93088486e-02 7.73117400e-04 5.00713732e+01] [-1.93088539e-02 9.99813567e-01 -5.15545070e-07 3.23039594e-01] [-7.72983219e-04 -1.44125621e-05 9.99999701e-01 -2.35574551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.10, Y:0.33, Z:-0.24 [[ 9.99847414e-01 1.74514019e-02 7.73117400e-04 5.01007411e+01] [-1.74514067e-02 9.99847713e-01 -5.15545070e-07 3.25443453e-01] [-7.73008661e-04 -1.29765198e-05 9.99999701e-01 -2.38313877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.43420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.13, Y:0.33, Z:-0.24 [[ 9.99877316e-01 1.56446401e-02 7.73117400e-04 5.01307557e+01] [-1.56446444e-02 9.99877615e-01 -5.15545071e-07 3.25174003e-01] [-7.73030847e-04 -1.15796650e-05 9.99999701e-01 -2.41164702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.16, Y:0.32, Z:-0.24 [[ 9.99913651e-01 1.31183834e-02 7.73117400e-04 5.01615651e+01] [-1.31183869e-02 9.99913950e-01 -5.15545071e-07 3.23663444e-01] [-7.73057636e-04 -9.62655260e-06 9.99999701e-01 -2.42845565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.19, Y:0.32, Z:-0.24 [[ 9.99946645e-01 1.03009426e-02 7.73117400e-04 5.01915141e+01] [-1.03009453e-02 9.99946944e-01 -5.15545071e-07 3.21377522e-01] [-7.73081692e-04 -7.44832244e-06 9.99999701e-01 -2.44473978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.22, Y:0.32, Z:-0.24 [[ 9.99988004e-01 4.83669582e-03 7.73117393e-04 5.02220170e+01] [-4.83669686e-03 9.99988303e-01 -5.24613876e-07 3.18327256e-01] [-7.73110888e-04 -3.21472688e-06 9.99999701e-01 -2.39456577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.554203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.25, Y:0.32, Z:-0.24 [[ 9.99996616e-01 2.48388748e-03 7.73117393e-04 5.02520386e+01] [-2.48388782e-03 9.99996915e-01 -5.24613876e-07 3.17706458e-01] [-7.73116312e-04 -1.39572478e-06 9.99999701e-01 -2.38535587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.584203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.28, Y:0.31, Z:-0.24 [[ 9.99999591e-01 -4.68307406e-04 7.73117393e-04 5.02821807e+01] [ 4.68307951e-04 9.99999890e-01 -5.24613876e-07 3.14142014e-01] [-7.73117063e-04 8.86670684e-07 9.99999701e-01 -2.40408466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.31, Y:0.31, Z:-0.24 [[ 9.99999573e-01 -5.06376410e-04 7.73117393e-04 5.03126115e+01] [ 5.06376967e-04 9.99999872e-01 -5.24613876e-07 3.10325739e-01] [-7.73117029e-04 9.16102493e-07 9.99999701e-01 -2.39902446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.34, Y:0.31, Z:-0.24 [[ 9.99999596e-01 4.58528417e-04 7.73117393e-04 5.03433481e+01] [-4.58528149e-04 9.99999895e-01 -5.24613876e-07 3.06249528e-01] [-7.73117553e-04 1.70117577e-07 9.99999701e-01 -2.41591510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.37, Y:0.30, Z:-0.24 [[ 9.99997231e-01 2.22251337e-03 7.73117387e-04 5.03738470e+01] [-2.22251363e-03 9.99997530e-01 -5.33987699e-07 3.02592568e-01] [-7.73116664e-04 -1.18427771e-06 9.99999701e-01 -2.43971019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.40, Y:0.30, Z:-0.24 [[ 9.99990068e-01 4.38933975e-03 7.73117381e-04 5.04041291e+01] [-4.38934064e-03 9.99990367e-01 -5.43160222e-07 3.00114584e-01] [-7.73112317e-04 -2.85032071e-06 9.99999701e-01 -2.39087375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.734203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.43, Y:0.30, Z:-0.24 [[ 9.99952449e-01 9.72122355e-03 7.73117381e-04 5.04347105e+01] [-9.72122604e-03 9.99952748e-01 -5.43160222e-07 2.97623805e-01] [-7.73086129e-04 -6.97251442e-06 9.99999701e-01 -2.36740852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.764203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.47, Y:0.30, Z:-0.24 [[ 9.99921280e-01 1.25234223e-02 7.73117381e-04 5.04653996e+01] [-1.25234257e-02 9.99921579e-01 -5.43160222e-07 2.97065572e-01] [-7.73063554e-04 -9.13896058e-06 9.99999701e-01 -2.37983094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.50, Y:0.30, Z:-0.24 [[ 9.99830224e-01 1.84099543e-02 7.73117374e-04 5.04963764e+01] [-1.84099594e-02 9.99830522e-01 -5.52341682e-07 2.95543545e-01] [-7.72996516e-04 -1.36808115e-05 9.99999701e-01 -2.38862456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.53, Y:0.29, Z:-0.24 [[ 9.99776788e-01 2.11134163e-02 7.73117374e-04 5.05271740e+01] [-2.11134222e-02 9.99777087e-01 -5.52341683e-07 2.93780878e-01] [-7.72956698e-04 -1.57709351e-05 9.99999701e-01 -2.37451771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.56, Y:0.29, Z:-0.24 [[ 9.99720694e-01 2.36206543e-02 7.73117374e-04 5.05574514e+01] [-2.36206610e-02 9.99720993e-01 -5.52341683e-07 2.90803075e-01] [-7.72914716e-04 -1.77093560e-05 9.99999701e-01 -2.36978540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.59, Y:0.28, Z:-0.24 [[ 9.99616241e-01 2.76906597e-02 7.73117367e-04 5.05877924e+01] [-2.76906676e-02 9.99616540e-01 -5.61324421e-07 2.84964787e-01] [-7.72836451e-04 -2.08470270e-05 9.99999701e-01 -2.40747624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.914203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.62, Y:0.28, Z:-0.24 [[ 9.99565253e-01 2.94738317e-02 7.73117367e-04 5.06184841e+01] [-2.94738401e-02 9.99565552e-01 -5.61324421e-07 2.83815372e-01] [-7.72798033e-04 -2.22256573e-05 9.99999701e-01 -2.43231450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.944203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.65, Y:0.28, Z:-0.24 [[ 9.99505540e-01 3.14337011e-02 7.73117367e-04 5.06489656e+01] [-3.14337100e-02 9.99505839e-01 -5.61324421e-07 2.84412736e-01] [-7.72752967e-04 -2.37409003e-05 9.99999701e-01 -2.44890711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.97420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.68, Y:0.29, Z:-0.25 [[ 9.99355210e-01 3.58966198e-02 7.73117367e-04 5.06780201e+01] [-3.58966301e-02 9.99355508e-01 -5.61324421e-07 2.87082395e-01] [-7.72639249e-04 -2.71913457e-05 9.99999701e-01 -2.48676850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.71, Y:0.29, Z:-0.25 [[ 9.99263500e-01 3.83648149e-02 7.73117374e-04 5.07088917e+01] [-3.83648259e-02 9.99263799e-01 -5.52343102e-07 2.86793710e-01] [-7.72569395e-04 -2.91085772e-05 9.99999701e-01 -2.45881558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.74, Y:0.29, Z:-0.25 [[ 9.99164559e-01 4.08605597e-02 7.73117374e-04 5.07393646e+01] [-4.08605715e-02 9.99164858e-01 -5.52343102e-07 2.85553666e-01] [-7.72494280e-04 -3.10381360e-05 9.99999701e-01 -2.46658830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.77, Y:0.28, Z:-0.25 [[ 9.99026494e-01 4.41074392e-02 7.73117342e-04 5.07693420e+01] [-4.41074519e-02 9.99026793e-01 -5.94061796e-07 2.83368466e-01] [-7.72391141e-04 -3.35067525e-05 9.99999701e-01 -2.46593978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.80, Y:0.28, Z:-0.25 [[ 9.99025486e-01 4.41302714e-02 7.73117335e-04 5.08011691e+01] [-4.41302842e-02 9.99025784e-01 -6.03012751e-07 2.83298774e-01] [-7.72390763e-04 -3.35154626e-05 9.99999701e-01 -2.46618585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.124203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.83, Y:0.28, Z:-0.24 [[ 9.98990904e-01 4.49063015e-02 7.73117321e-04 5.08327186e+01] [-4.49063144e-02 9.98991203e-01 -6.20681984e-07 2.83964699e-01] [-7.72365274e-04 -3.40977938e-05 9.99999701e-01 -2.43158212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.15420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.86, Y:0.29, Z:-0.24 [[ 9.98970254e-01 4.53633618e-02 7.73117306e-04 5.08630605e+01] [-4.53633749e-02 9.98970552e-01 -6.38795163e-07 2.86600606e-01] [-7.72350400e-04 -3.44330728e-05 9.99999701e-01 -2.42806942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.89, Y:0.29, Z:-0.24 [[ 9.98953111e-01 4.57393018e-02 7.73117298e-04 5.08938197e+01] [-4.57393149e-02 9.98953410e-01 -6.47791407e-07 2.89672034e-01] [-7.72337791e-04 -3.47147423e-05 9.99999701e-01 -2.41902114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.92, Y:0.29, Z:-0.24 [[ 9.98990010e-01 4.49261945e-02 7.73117298e-04 5.09242960e+01] [-4.49262074e-02 9.98990308e-01 -6.47791407e-07 2.94435130e-01] [-7.72365791e-04 -3.40860910e-05 9.99999701e-01 -2.41652608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.95, Y:0.29, Z:-0.24 [[ 9.99033073e-01 4.39581766e-02 7.73117298e-04 5.09549094e+01] [-4.39581893e-02 9.99033372e-01 -6.47791407e-07 2.94654597e-01] [-7.72398457e-04 -3.33376715e-05 9.99999701e-01 -2.43835477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.98, Y:0.29, Z:-0.25 [[ 9.99086329e-01 4.27306549e-02 7.73117290e-04 5.09848524e+01] [-4.27306672e-02 9.99086628e-01 -6.56801197e-07 2.94429077e-01] [-7.72439212e-04 -3.23796165e-05 9.99999701e-01 -2.46660795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.304203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.02, Y:0.29, Z:-0.25 [[ 9.99233024e-01 3.91505572e-02 7.73117283e-04 5.10159915e+01] [-3.91505684e-02 9.99233323e-01 -6.65681457e-07 2.94521478e-01] [-7.72550613e-04 -2.96028102e-05 9.99999701e-01 -2.53250704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.334203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.05, Y:0.30, Z:-0.25 [[ 9.99317596e-01 3.69289028e-02 7.73117275e-04 5.10469445e+01] [-3.69289133e-02 9.99317895e-01 -6.74376590e-07 2.95829701e-01] [-7.72614832e-04 -2.78764644e-05 9.99999701e-01 -2.53574613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.08, Y:0.30, Z:-0.25 [[ 9.99389633e-01 3.49251169e-02 7.73117259e-04 5.10780042e+01] [-3.49251268e-02 9.99389932e-01 -6.92180918e-07 2.97931371e-01] [-7.72669779e-04 -2.63094599e-05 9.99999701e-01 -2.53078736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.11, Y:0.31, Z:-0.25 [[ 9.99530669e-01 3.06242550e-02 7.73117243e-04 5.11089059e+01] [-3.06242636e-02 9.99530967e-01 -7.10085778e-07 3.05725238e-01] [-7.72776371e-04 -2.29663937e-05 9.99999701e-01 -2.48788527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.14, Y:0.31, Z:-0.25 [[ 9.99595924e-01 2.84146376e-02 7.73117234e-04 5.11394360e+01] [-2.84146456e-02 9.99596222e-01 -7.19394322e-07 3.09524956e-01] [-7.72825508e-04 -2.12487486e-05 9.99999701e-01 -2.49364955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.17, Y:0.31, Z:-0.24 [[ 9.99653388e-01 2.63155296e-02 7.73117225e-04 5.11703542e+01] [-2.63155369e-02 9.99653686e-01 -7.28707752e-07 3.11411725e-01] [-7.72868661e-04 -1.96165397e-05 9.99999701e-01 -2.44098968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.484203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.20, Y:0.31, Z:-0.25 [[ 9.99730547e-01 2.31999004e-02 7.73117187e-04 5.12006134e+01] [-2.31999068e-02 9.99730846e-01 -7.67396675e-07 3.11194173e-01] [-7.72926903e-04 -1.71690568e-05 9.99999701e-01 -2.46250541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.514203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.23, Y:0.31, Z:-0.24 [[ 9.99766963e-01 2.15736456e-02 7.73117178e-04 5.12308900e+01] [-2.15736515e-02 9.99767262e-01 -7.76773176e-07 3.11440140e-01] [-7.72954001e-04 -1.59023684e-05 9.99999701e-01 -2.43651909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.26, Y:0.31, Z:-0.24 [[ 9.99808395e-01 1.95595536e-02 7.73117178e-04 5.12609088e+01] [-1.95595589e-02 9.99808694e-01 -7.76773176e-07 3.13103469e-01] [-7.72984469e-04 -1.43452066e-05 9.99999701e-01 -2.42173313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.29, Y:0.32, Z:-0.24 [[ 9.99891117e-01 1.47362012e-02 7.73117187e-04 5.12913687e+01] [-1.47362050e-02 9.99891416e-01 -7.67743776e-07 3.18499704e-01] [-7.73044552e-04 -1.06251532e-05 9.99999701e-01 -2.41122550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.32, Y:0.32, Z:-0.24 [[ 9.99924901e-01 1.22309030e-02 7.73117187e-04 5.13215861e+01] [-1.22309061e-02 9.99925200e-01 -7.67743776e-07 3.20671117e-01] [-7.73068747e-04 -8.68823760e-06 9.99999701e-01 -2.41036092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.35, Y:0.32, Z:-0.24 [[ 9.99950171e-01 9.95281576e-03 7.73117187e-04 5.13518416e+01] [-9.95281814e-03 9.99950469e-01 -7.67743776e-07 3.22226957e-01] [-7.73086535e-04 -6.92698924e-06 9.99999701e-01 -2.40446819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.664203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.38, Y:0.32, Z:-0.24 [[ 9.99967834e-01 7.98326997e-03 7.73117187e-04 5.13820641e+01] [-7.98327176e-03 9.99968133e-01 -7.67743776e-07 3.22847810e-01] [-7.73098679e-04 -5.40428552e-06 9.99999701e-01 -2.41114879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.694203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.41, Y:0.32, Z:-0.25 [[ 9.99984595e-01 5.49651075e-03 7.73117187e-04 5.14119071e+01] [-5.49651180e-03 9.99984894e-01 -7.67743776e-07 3.21697866e-01] [-7.73109728e-04 -3.48171579e-06 9.99999701e-01 -2.47380587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.44, Y:0.32, Z:-0.25 [[ 9.99986216e-01 5.19319867e-03 7.73117187e-04 5.14421415e+01] [-5.19319963e-03 9.99986515e-01 -7.67743776e-07 3.20647517e-01] [-7.73110748e-04 -3.24721869e-06 9.99999701e-01 -2.48563377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.47, Y:0.32, Z:-0.25 [[ 9.99983853e-01 5.62991592e-03 7.73117187e-04 5.14728763e+01] [-5.62991701e-03 9.99984152e-01 -7.67743776e-07 3.20865597e-01] [-7.73109256e-04 -3.58485422e-06 9.99999701e-01 -2.45542579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.50, Y:0.32, Z:-0.25 [[ 9.99965331e-01 8.29087495e-03 7.73117187e-04 5.15030640e+01] [-8.29087683e-03 9.99965630e-01 -7.67743777e-07 3.23819683e-01] [-7.73096980e-04 -5.64210221e-06 9.99999701e-01 -2.45960372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.53, Y:0.32, Z:-0.24 [[ 9.99950848e-01 9.88449220e-03 7.73117177e-04 5.15331853e+01] [-9.88449455e-03 9.99951147e-01 -7.77088954e-07 3.24141100e-01] [-7.73087089e-04 -6.86482177e-06 9.99999701e-01 -2.44342357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.56, Y:0.32, Z:-0.24 [[ 9.99933385e-01 1.15164237e-02 7.73117168e-04 5.15638724e+01] [-1.15164266e-02 9.99933684e-01 -7.86174040e-07 3.23599716e-01] [-7.73074952e-04 -8.11742542e-06 9.99999701e-01 -2.42424330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.874203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.59, Y:0.33, Z:-0.24 [[ 9.99904272e-01 1.38148225e-02 7.73117159e-04 5.15946764e+01] [-1.38148261e-02 9.99904571e-01 -7.95194340e-07 3.25070388e-01] [-7.73054366e-04 -9.88536085e-06 9.99999701e-01 -2.35742655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.63, Y:0.33, Z:-0.23 [[ 9.99892992e-01 1.46084719e-02 7.73117159e-04 5.16253048e+01] [-1.46084756e-02 9.99893291e-01 -7.95194340e-07 3.26511787e-01] [-7.73046276e-04 -1.04989539e-05 9.99999701e-01 -2.33495148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.93420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.65, Y:0.33, Z:-0.24 [[ 9.99877958e-01 1.56035555e-02 7.73117159e-04 5.16545166e+01] [-1.56035595e-02 9.99878257e-01 -7.95194340e-07 3.26259174e-01] [-7.73035445e-04 -1.12682823e-05 9.99999701e-01 -2.36549490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.68, Y:0.33, Z:-0.24 [[ 9.99859272e-01 1.67582639e-02 7.73117168e-04 5.16849025e+01] [-1.67582683e-02 9.99859570e-01 -7.85657624e-07 3.25629368e-01] [-7.73021766e-04 -1.21705579e-05 9.99999701e-01 -2.36795288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.71, Y:0.33, Z:-0.24 [[ 9.99810510e-01 1.94511463e-02 7.73117168e-04 5.17148672e+01] [-1.94511515e-02 9.99810808e-01 -7.85657624e-07 3.27626457e-01] [-7.72986183e-04 -1.42525104e-05 9.99999701e-01 -2.39723839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.75, Y:0.33, Z:-0.24 [[ 9.99787998e-01 2.05757227e-02 7.73117168e-04 5.17452539e+01] [-2.05757283e-02 9.99788297e-01 -7.85657624e-07 3.28801856e-01] [-7.72969663e-04 -1.51219577e-05 9.99999701e-01 -2.39719577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.054203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.78, Y:0.33, Z:-0.24 [[ 9.99767066e-01 2.15688490e-02 7.73117168e-04 5.17761611e+01] [-2.15688548e-02 9.99767365e-01 -7.85657624e-07 3.28435210e-01] [-7.72954260e-04 -1.58897774e-05 9.99999701e-01 -2.38908923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.084203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.81, Y:0.33, Z:-0.24 [[ 9.99751882e-01 2.22615486e-02 7.73117168e-04 5.18066276e+01] [-2.22615546e-02 9.99752181e-01 -7.85657624e-07 3.27515449e-01] [-7.72943065e-04 -1.64253274e-05 9.99999701e-01 -2.39645132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.84, Y:0.33, Z:-0.24 [[ 9.99750436e-01 2.23263777e-02 7.73117168e-04 5.18375053e+01] [-2.23263838e-02 9.99750735e-01 -7.85657625e-07 3.28804110e-01] [-7.72941998e-04 -1.64754491e-05 9.99999701e-01 -2.37275232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.87, Y:0.33, Z:-0.24 [[ 9.99771569e-01 2.13591200e-02 7.73117168e-04 5.18670023e+01] [-2.13591258e-02 9.99771868e-01 -7.85657625e-07 3.28829754e-01] [-7.72957576e-04 -1.57276287e-05 9.99999701e-01 -2.37821055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.90, Y:0.33, Z:-0.24 [[ 9.99786139e-01 2.06658823e-02 7.73117178e-04 5.18979557e+01] [-2.06658878e-02 9.99786438e-01 -7.76203844e-07 3.26808219e-01] [-7.72968110e-04 -1.52011150e-05 9.99999701e-01 -2.35899098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.93, Y:0.33, Z:-0.23 [[ 9.99806568e-01 1.96526885e-02 7.73117178e-04 5.19283610e+01] [-1.96526938e-02 9.99806867e-01 -7.76203844e-07 3.25761959e-01] [-7.72983118e-04 -1.44177815e-05 9.99999701e-01 -2.34069303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.234203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.96, Y:0.33, Z:-0.23 [[ 9.99827790e-01 1.85416388e-02 7.73117178e-04 5.19574669e+01] [-1.85416437e-02 9.99828089e-01 -7.76203844e-07 3.25858848e-01] [-7.72998663e-04 -1.35587931e-05 9.99999701e-01 -2.32583516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.264203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.99, Y:0.32, Z:-0.23 [[ 9.99874733e-01 1.58088842e-02 7.73117173e-04 5.19874861e+01] [-1.58088883e-02 9.99875032e-01 -7.80987556e-07 3.24707718e-01] [-7.73032904e-04 -1.14412333e-05 9.99999701e-01 -2.29636167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.02, Y:0.32, Z:-0.23 [[ 9.99898479e-01 1.42279458e-02 7.73117182e-04 5.20175625e+01] [-1.42279494e-02 9.99898778e-01 -7.71720921e-07 3.22428181e-01] [-7.73049905e-04 -1.02282296e-05 9.99999701e-01 -2.31256930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.05, Y:0.32, Z:-0.23 [[ 9.99931518e-01 1.16774361e-02 7.73117182e-04 5.20476205e+01] [-1.16774390e-02 9.99931816e-01 -7.71720921e-07 3.17249523e-01] [-7.73073480e-04 -8.25636064e-06 9.99999701e-01 -2.34542268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.08, Y:0.32, Z:-0.24 [[ 9.99938004e-01 1.11081008e-02 7.73117182e-04 5.20777290e+01] [-1.11081035e-02 9.99938303e-01 -7.71720921e-07 3.15611477e-01] [-7.73078056e-04 -7.81619259e-06 9.99999701e-01 -2.36155172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.11, Y:0.31, Z:-0.23 [[ 9.99937804e-01 1.11261071e-02 7.73117173e-04 5.21086380e+01] [-1.11261099e-02 9.99938103e-01 -7.81129604e-07 3.13588282e-01] [-7.73078010e-04 -7.82070558e-06 9.99999701e-01 -2.34802807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.14, Y:0.31, Z:-0.24 [[ 9.99934992e-01 1.13760384e-02 7.73117173e-04 5.21389744e+01] [-1.13760412e-02 9.99935291e-01 -7.81129603e-07 3.11186276e-01] [-7.73076031e-04 -8.01393395e-06 9.99999701e-01 -2.35472801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.444203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.17, Y:0.31, Z:-0.24 [[ 9.99926333e-01 1.21132380e-02 7.73117173e-04 5.21689485e+01] [-1.21132410e-02 9.99926632e-01 -7.81129604e-07 3.09865799e-01] [-7.73069913e-04 -8.58388257e-06 9.99999701e-01 -2.37490410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.47420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.20, Y:0.31, Z:-0.24 [[ 9.99889674e-01 1.48337850e-02 7.73117173e-04 5.21993262e+01] [-1.48337888e-02 9.99889973e-01 -7.81129604e-07 3.08327004e-01] [-7.73043696e-04 -1.06872135e-05 9.99999701e-01 -2.38028573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.23, Y:0.31, Z:-0.24 [[ 9.99866991e-01 1.62911626e-02 7.73117173e-04 5.22294161e+01] [-1.62911669e-02 9.99867290e-01 -7.81129604e-07 3.05750536e-01] [-7.73027298e-04 -1.18139552e-05 9.99999701e-01 -2.38852510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.26, Y:0.30, Z:-0.24 [[ 9.99812634e-01 1.93416645e-02 7.73117173e-04 5.22597119e+01] [-1.93416696e-02 9.99812932e-01 -7.81129604e-07 3.00164949e-01] [-7.72987656e-04 -1.41723937e-05 9.99999701e-01 -2.43968342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.29, Y:0.30, Z:-0.24 [[ 9.99778823e-01 2.10168442e-02 7.73117163e-04 5.22903469e+01] [-2.10168499e-02 9.99779122e-01 -7.90457553e-07 2.98858714e-01] [-7.72963011e-04 -1.54582047e-05 9.99999701e-01 -2.42812285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.594203822000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:52.32, Y:0.30, Z:-0.24 [[ 9.99747125e-01 2.24741647e-02 7.73117163e-04 5.23206647e+01] [-2.24741708e-02 9.99747424e-01 -7.90457553e-07 2.97682924e-01] [-7.72939657e-04 -1.65849095e-05 9.99999701e-01 -2.43653226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.624203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.35, Y:0.29, Z:-0.24 [[ 9.99694500e-01 2.47044296e-02 7.73117163e-04 5.23516193e+01] [-2.47044363e-02 9.99694799e-01 -7.90457553e-07 2.94496375e-01] [-7.72900735e-04 -1.83092077e-05 9.99999701e-01 -2.43494405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.65420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.38, Y:0.29, Z:-0.25 [[ 9.99658423e-01 2.61235447e-02 7.73117161e-04 5.23816470e+01] [-2.61235519e-02 9.99658722e-01 -7.92880706e-07 2.94126209e-01] [-7.72874026e-04 -1.94039564e-05 9.99999701e-01 -2.47026682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.41, Y:0.29, Z:-0.25 [[ 9.99625267e-01 2.73628939e-02 7.73117151e-04 5.24118078e+01] [-2.73629015e-02 9.99625566e-01 -8.02300850e-07 2.94878484e-01] [-7.72849623e-04 -2.03527282e-05 9.99999701e-01 -2.47240932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.44, Y:0.30, Z:-0.25 [[ 9.99539503e-01 3.03345339e-02 7.73117151e-04 5.24417146e+01] [-3.03345423e-02 9.99539802e-01 -8.02300850e-07 2.96488498e-01] [-7.72785701e-04 -2.26502235e-05 9.99999701e-01 -2.45796818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.47, Y:0.30, Z:-0.24 [[ 9.99501628e-01 3.15578599e-02 7.73117160e-04 5.24721389e+01] [-3.15578687e-02 9.99501926e-01 -7.93340936e-07 2.97084698e-01] [-7.72757127e-04 -2.36049843e-05 9.99999701e-01 -2.42743597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.774203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.50, Y:0.30, Z:-0.24 [[ 9.99475720e-01 3.23680008e-02 7.73117160e-04 5.25027058e+01] [-3.23680098e-02 9.99476019e-01 -7.93340936e-07 2.97012069e-01] [-7.72737740e-04 -2.42313388e-05 9.99999701e-01 -2.42019648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.804203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.53, Y:0.30, Z:-0.24 [[ 9.99470450e-01 3.25303113e-02 7.73117160e-04 5.25329496e+01] [-3.25303204e-02 9.99470749e-01 -7.93340936e-07 2.96779943e-01] [-7.72733795e-04 -2.43568281e-05 9.99999701e-01 -2.40122797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.834203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.56, Y:0.30, Z:-0.24 [[ 9.99501102e-01 3.15745153e-02 7.73117160e-04 5.25633718e+01] [-3.15745241e-02 9.99501400e-01 -7.93340936e-07 2.99227459e-01] [-7.72756734e-04 -2.36178613e-05 9.99999701e-01 -2.43652554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.60, Y:0.30, Z:-0.24 [[ 9.99519786e-01 3.09773902e-02 7.73117150e-04 5.25951713e+01] [-3.09773988e-02 9.99520085e-01 -8.02718079e-07 3.00758369e-01] [-7.72770986e-04 -2.31468257e-05 9.99999701e-01 -2.42711801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89420382200001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:52.63, Y:0.30, Z:-0.24 [[ 9.99555639e-01 2.97980968e-02 7.73117131e-04 5.26253041e+01] [-2.97981051e-02 9.99555938e-01 -8.20734509e-07 3.02243258e-01] [-7.72798276e-04 -2.22170557e-05 9.99999701e-01 -2.41162970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.66, Y:0.30, Z:-0.24 [[ 9.99653457e-01 2.63129059e-02 7.73117131e-04 5.26559681e+01] [-2.63129131e-02 9.99653755e-01 -8.20734509e-07 3.04564132e-01] [-7.72871040e-04 -1.95225138e-05 9.99999701e-01 -2.43027680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.954203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.69, Y:0.30, Z:-0.24 [[ 9.99706551e-01 2.42118593e-02 7.73117121e-04 5.26861184e+01] [-2.42118659e-02 9.99706850e-01 -8.29912780e-07 3.04880815e-01] [-7.72910576e-04 -1.78889388e-05 9.99999701e-01 -2.43356600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.984203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.72, Y:0.30, Z:-0.25 [[ 9.99745774e-01 2.25341759e-02 7.73117121e-04 5.27158141e+01] [-2.25341820e-02 9.99746073e-01 -8.29912781e-07 3.04996960e-01] [-7.72939508e-04 -1.65918601e-05 9.99999701e-01 -2.45724408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.014203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.75, Y:0.30, Z:-0.25 [[ 9.99745774e-01 2.25341759e-02 7.73117131e-04 5.27468077e+01] [-2.25341820e-02 9.99746073e-01 -8.20741739e-07 3.04964051e-01] [-7.72939311e-04 -1.66010290e-05 9.99999701e-01 -2.45748369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.78, Y:0.31, Z:-0.25 [[ 9.99784067e-01 2.07658779e-02 7.73117131e-04 5.27774447e+01] [-2.07658835e-02 9.99784366e-01 -8.20741739e-07 3.06213367e-01] [-7.72967464e-04 -1.52338958e-05 9.99999701e-01 -2.46316145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.81, Y:0.31, Z:-0.24 [[ 9.99801664e-01 1.99006103e-02 7.73117131e-04 5.28075519e+01] [-1.99006156e-02 9.99801963e-01 -8.20741740e-07 3.06253417e-01] [-7.72980359e-04 -1.45649279e-05 9.99999701e-01 -2.44747473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.84, Y:0.31, Z:-0.25 [[ 9.99821693e-01 1.88675737e-02 7.73117131e-04 5.28380355e+01] [-1.88675787e-02 9.99821991e-01 -8.20741740e-07 3.06387639e-01] [-7.72994995e-04 -1.37662529e-05 9.99999701e-01 -2.49462288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.87, Y:0.31, Z:-0.25 [[ 9.99848873e-01 1.73675913e-02 7.73117121e-04 5.28686754e+01] [-1.73675959e-02 9.99849172e-01 -8.30212058e-07 3.08570339e-01] [-7.73014932e-04 -1.25970991e-05 9.99999701e-01 -2.52849521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.164203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.90, Y:0.31, Z:-0.25 [[ 9.99857122e-01 1.68860426e-02 7.73117111e-04 5.28994664e+01] [-1.68860470e-02 9.99857421e-01 -8.39272740e-07 3.09818049e-01] [-7.73021053e-04 -1.22157390e-05 9.99999701e-01 -2.48366921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.194203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.93, Y:0.31, Z:-0.25 [[ 9.99859001e-01 1.67743734e-02 7.73117111e-04 5.29293216e+01] [-1.67743778e-02 9.99859300e-01 -8.39272740e-07 3.10567343e-01] [-7.73022412e-04 -1.21294041e-05 9.99999701e-01 -2.49469184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.96, Y:0.31, Z:-0.25 [[ 9.99854180e-01 1.70593623e-02 7.73117111e-04 5.29599908e+01] [-1.70593668e-02 9.99854478e-01 -8.39272740e-07 3.11848059e-01] [-7.73018923e-04 -1.23497380e-05 9.99999701e-01 -2.48486827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.99, Y:0.31, Z:-0.25 [[ 9.99849070e-01 1.73562463e-02 7.73117111e-04 5.29897625e+01] [-1.73562508e-02 9.99849369e-01 -8.39272740e-07 3.12643119e-01] [-7.73015222e-04 -1.25792684e-05 9.99999701e-01 -2.48196960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.02, Y:0.31, Z:-0.25 [[ 9.99845582e-01 1.75560376e-02 7.73117121e-04 5.30200854e+01] [-1.75560422e-02 9.99845881e-01 -8.30264972e-07 3.13256268e-01] [-7.73012545e-04 -1.27427400e-05 9.99999701e-01 -2.45481217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.05, Y:0.32, Z:-0.24 [[ 9.99843895e-01 1.76518312e-02 7.73117121e-04 5.30501171e+01] [-1.76518358e-02 9.99844194e-01 -8.30264972e-07 3.15754572e-01] [-7.73011320e-04 -1.28168011e-05 9.99999701e-01 -2.43266060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.344203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.08, Y:0.32, Z:-0.25 [[ 9.99843223e-01 1.76898934e-02 7.73117121e-04 5.30795713e+01] [-1.76898980e-02 9.99843522e-01 -8.30264972e-07 3.17788337e-01] [-7.73010832e-04 -1.28462282e-05 9.99999701e-01 -2.47375559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.374203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.11, Y:0.32, Z:-0.25 [[ 9.99841213e-01 1.78031237e-02 7.73117131e-04 5.31103559e+01] [-1.78031284e-02 9.99841512e-01 -8.20772326e-07 3.19449295e-01] [-7.73009213e-04 -1.29432615e-05 9.99999701e-01 -2.45665856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.14, Y:0.32, Z:-0.25 [[ 9.99848261e-01 1.74027782e-02 7.73117131e-04 5.31403939e+01] [-1.74027828e-02 9.99848560e-01 -8.20772326e-07 3.19460532e-01] [-7.73014334e-04 -1.26337417e-05 9.99999701e-01 -2.45348637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.43420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.17, Y:0.32, Z:-0.25 [[ 9.99855753e-01 1.69668759e-02 7.73117131e-04 5.31702564e+01] [-1.69668803e-02 9.99856052e-01 -8.20772326e-07 3.19953377e-01] [-7.73019768e-04 -1.22967319e-05 9.99999701e-01 -2.45572336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.20, Y:0.32, Z:-0.24 [[ 9.99867609e-01 1.62532033e-02 7.73117141e-04 5.32007247e+01] [-1.62532076e-02 9.99867908e-01 -8.11300849e-07 3.21513671e-01] [-7.73028204e-04 -1.17544399e-05 9.99999701e-01 -2.43772285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.23, Y:0.32, Z:-0.24 [[ 9.99882433e-01 1.53141126e-02 7.73117141e-04 5.32302915e+01] [-1.53141166e-02 9.99882732e-01 -8.11300849e-07 3.22872546e-01] [-7.73038903e-04 -1.10284006e-05 9.99999701e-01 -2.42833829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.26, Y:0.32, Z:-0.24 [[ 9.99930075e-01 1.18002849e-02 7.73117136e-04 5.32602134e+01] [-1.18002878e-02 9.99930374e-01 -8.15494694e-07 3.24520864e-01] [-7.73072931e-04 -8.30756706e-06 9.99999701e-01 -2.43752124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.554203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.29, Y:0.33, Z:-0.24 [[ 9.99954219e-01 9.53737691e-03 7.73117146e-04 5.32910726e+01] [-9.53737913e-03 9.99954518e-01 -8.06475826e-07 3.25226457e-01] [-7.73089675e-04 -6.56707243e-06 9.99999701e-01 -2.40698458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.584203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.32, Y:0.33, Z:-0.24 [[ 9.99973883e-01 7.18585220e-03 7.73117146e-04 5.33217662e+01] [-7.18585372e-03 9.99974181e-01 -8.06475826e-07 3.25599559e-01] [-7.73102980e-04 -4.74905196e-06 9.99999701e-01 -2.40983201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.35, Y:0.32, Z:-0.24 [[ 9.99999376e-01 8.06700948e-04 7.73117136e-04 5.33526242e+01] [-8.06700559e-04 9.99999675e-01 -8.15654098e-07 3.24239239e-01] [-7.73117543e-04 1.91979563e-07 9.99999701e-01 -2.40194437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.38, Y:0.32, Z:-0.24 [[ 9.99996689e-01 -2.45440513e-03 7.73117126e-04 5.33830689e+01] [ 2.45440650e-03 9.99996988e-01 -8.24706674e-07 3.23158354e-01] [-7.73112774e-04 2.72224765e-06 9.99999701e-01 -2.40700378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.41, Y:0.32, Z:-0.24 [[ 9.99976253e-01 -6.84801912e-03 7.73117126e-04 5.34137252e+01] [ 6.84802181e-03 9.99976552e-01 -8.24706674e-07 3.21975000e-01] [-7.73093351e-04 6.11901003e-06 9.99999701e-01 -2.42018616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.44, Y:0.32, Z:-0.24 [[ 9.99965719e-01 -8.24402669e-03 7.73117117e-04 5.34448771e+01] [ 8.24402979e-03 9.99966017e-01 -8.33745575e-07 3.20401784e-01] [-7.73083971e-04 7.20731754e-06 9.99999701e-01 -2.40240909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.734203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.47, Y:0.32, Z:-0.24 [[ 9.99957482e-01 -9.18888725e-03 7.73117096e-04 5.34749189e+01] [ 9.18889066e-03 9.99957781e-01 -8.52110365e-07 3.18244389e-01] [-7.73076627e-04 7.95616260e-06 9.99999701e-01 -2.40948758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.764203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.51, Y:0.32, Z:-0.24 [[ 9.99961926e-01 -8.69191191e-03 7.73117062e-04 5.35058412e+01] [ 8.69191519e-03 9.99962225e-01 -8.82443641e-07 3.16318908e-01] [-7.73080187e-04 7.60227798e-06 9.99999701e-01 -2.39162966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.54, Y:0.32, Z:-0.24 [[ 9.99968202e-01 -7.93708815e-03 7.73117040e-04 5.35358229e+01] [ 7.93709122e-03 9.99968501e-01 -9.01199882e-07 3.15533928e-01] [-7.73085535e-04 7.03747169e-06 9.99999701e-01 -2.42197499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.57, Y:0.31, Z:-0.24 [[ 9.99974613e-01 -7.08349544e-03 7.73117029e-04 5.35671317e+01] [ 7.08349826e-03 9.99974912e-01 -9.10536435e-07 3.13974891e-01] [-7.73091183e-04 6.38688645e-06 9.99999701e-01 -2.42626124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.60, Y:0.31, Z:-0.24 [[ 9.99982513e-01 -5.86307492e-03 7.73117006e-04 5.35985363e+01] [ 5.86307739e-03 9.99982812e-01 -9.29315451e-07 3.12126526e-01] [-7.73098269e-04 5.46214404e-06 9.99999701e-01 -2.42616886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.63, Y:0.31, Z:-0.24 [[ 9.99997500e-01 -2.09827376e-03 7.73116983e-04 5.36289174e+01] [ 2.09827512e-03 9.99997799e-01 -9.48240368e-07 3.08912140e-01] [-7.73113292e-04 2.57045013e-06 9.99999701e-01 -2.43963733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.914203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.66, Y:0.31, Z:-0.24 [[ 9.99999687e-01 -1.70308401e-04 7.73116972e-04 5.36604794e+01] [ 1.70309192e-04 9.99999985e-01 -9.57622877e-07 3.06724381e-01] [-7.73116797e-04 1.08929150e-06 9.99999701e-01 -2.42135690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.944203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.69, Y:0.30, Z:-0.25 [[ 9.99998050e-01 1.81713071e-03 7.73116948e-04 5.36909982e+01] [-1.81713050e-03 9.99998349e-01 -9.76241079e-07 3.03936715e-01] [-7.73117446e-04 -4.28615207e-07 9.99999701e-01 -2.47102015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.97420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.72, Y:0.30, Z:-0.24 [[ 9.99981387e-01 6.05214258e-03 7.73116936e-04 5.37216868e+01] [-6.05214363e-03 9.99981686e-01 -9.85503358e-07 2.99740705e-01] [-7.73108742e-04 -3.69352973e-06 9.99999701e-01 -2.43778156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.75, Y:0.30, Z:-0.24 [[ 9.99967324e-01 8.04699648e-03 7.73116936e-04 5.37525355e+01] [-8.04699813e-03 9.99967622e-01 -9.85503358e-07 2.98727130e-01] [-7.73099835e-04 -5.23579938e-06 9.99999701e-01 -2.42352201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.78, Y:0.30, Z:-0.24 [[ 9.99921997e-01 1.24660807e-02 7.73116925e-04 5.37834436e+01] [-1.24660837e-02 9.99922295e-01 -9.94504538e-07 2.96789257e-01] [-7.73069248e-04 -8.64331331e-06 9.99999701e-01 -2.39238519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.81, Y:0.30, Z:-0.24 [[ 9.99890416e-01 1.47837311e-02 7.73116925e-04 5.38135721e+01] [-1.47837348e-02 9.99890715e-01 -9.94504538e-07 2.96483316e-01] [-7.73047137e-04 -1.04351600e-05 9.99999701e-01 -2.42101140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.84, Y:0.30, Z:-0.24 [[ 9.99856576e-01 1.69183103e-02 7.73116864e-04 5.38445808e+01] [-1.69183145e-02 9.99856875e-01 -1.03995862e-06 2.95638995e-01] [-7.73023806e-04 -1.20400248e-05 9.99999701e-01 -2.41841995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.124203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.87, Y:0.29, Z:-0.24 [[ 9.99794838e-01 2.02406694e-02 7.73116851e-04 5.38749055e+01] [-2.02406747e-02 9.99795137e-01 -1.04893927e-06 2.91049924e-01] [-7.72979699e-04 -1.45996826e-05 9.99999701e-01 -2.41528259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.15420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.91, Y:0.29, Z:-0.24 [[ 9.99768620e-01 2.14967211e-02 7.73116851e-04 5.39055906e+01] [-2.14967268e-02 9.99768919e-01 -1.04893927e-06 2.89281489e-01] [-7.72960747e-04 -1.55707851e-05 9.99999701e-01 -2.41676462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.94, Y:0.29, Z:-0.24 [[ 9.99740227e-01 2.27789363e-02 7.73116851e-04 5.39361431e+01] [-2.27789423e-02 9.99740526e-01 -1.04893927e-06 2.89201455e-01] [-7.72940142e-04 -1.65621174e-05 9.99999701e-01 -2.41079694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.21420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.97, Y:0.29, Z:-0.24 [[ 9.99719473e-01 2.36723005e-02 7.73116851e-04 5.39671054e+01] [-2.36723068e-02 9.99719772e-01 -1.04893927e-06 2.89868329e-01] [-7.72925033e-04 -1.72528143e-05 9.99999701e-01 -2.40143378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.00, Y:0.29, Z:-0.24 [[ 9.99723878e-01 2.34855102e-02 7.73116851e-04 5.39974860e+01] [-2.34855164e-02 9.99724177e-01 -1.04893927e-06 2.89042603e-01] [-7.72928243e-04 -1.71083989e-05 9.99999701e-01 -2.43464482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.03, Y:0.29, Z:-0.24 [[ 9.99740350e-01 2.27735541e-02 7.73116839e-04 5.40284537e+01] [-2.27735600e-02 9.99740649e-01 -1.05807355e-06 2.88171828e-01] [-7.72940426e-04 -1.65488239e-05 9.99999701e-01 -2.42755157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.304203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.06, Y:0.29, Z:-0.24 [[ 9.99763231e-01 2.17459074e-02 7.73116839e-04 5.40586047e+01] [-2.17459131e-02 9.99763530e-01 -1.05807355e-06 2.87003184e-01] [-7.72957028e-04 -1.57543086e-05 9.99999701e-01 -2.44098569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.334203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.09, Y:0.28, Z:-0.24 [[ 9.99805416e-01 1.97112115e-02 7.73116827e-04 5.40894990e+01] [-1.97112166e-02 9.99805715e-01 -1.06695920e-06 2.83725556e-01] [-7.72987653e-04 -1.41723216e-05 9.99999701e-01 -2.41652256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.12, Y:0.28, Z:-0.24 [[ 9.99814176e-01 1.92617538e-02 7.73116827e-04 5.41200137e+01] [-1.92617587e-02 9.99814475e-01 -1.06695920e-06 2.82139427e-01] [-7.72993946e-04 -1.38248289e-05 9.99999701e-01 -2.37606484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.15, Y:0.28, Z:-0.24 [[ 9.99821185e-01 1.88944351e-02 7.73116827e-04 5.41499476e+01] [-1.88944399e-02 9.99821484e-01 -1.06695920e-06 2.81353503e-01] [-7.72998973e-04 -1.35408410e-05 9.99999701e-01 -2.35909791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.18, Y:0.28, Z:-0.24 [[ 9.99831590e-01 1.83356137e-02 7.73116814e-04 5.41805601e+01] [-1.83356183e-02 9.99831888e-01 -1.07624698e-06 2.80679514e-01] [-7.73006577e-04 -1.30995091e-05 9.99999701e-01 -2.37138082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.21, Y:0.28, Z:-0.24 [[ 9.99835031e-01 1.81469968e-02 7.73116801e-04 5.42117712e+01] [-1.81470014e-02 9.99835330e-01 -1.08534527e-06 2.80310106e-01] [-7.73009187e-04 -1.29445854e-05 9.99999701e-01 -2.38952353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.484203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.24, Y:0.28, Z:-0.24 [[ 9.99833458e-01 1.82334536e-02 7.73116775e-04 5.42421218e+01] [-1.82334582e-02 9.99833757e-01 -1.10353361e-06 2.78577983e-01] [-7.73008371e-04 -1.29932426e-05 9.99999701e-01 -2.40639447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.514203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.27, Y:0.27, Z:-0.24 [[ 9.99808449e-01 1.95568012e-02 7.73116762e-04 5.42731335e+01] [-1.95568062e-02 9.99808747e-01 -1.11259118e-06 2.72672275e-01] [-7.72990660e-04 -1.40073166e-05 9.99999701e-01 -2.38690325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.30, Y:0.27, Z:-0.24 [[ 9.99785140e-01 2.07141591e-02 7.73116736e-04 5.43043837e+01] [-2.07141644e-02 9.99785439e-01 -1.13056947e-06 2.70437825e-01] [-7.72974273e-04 -1.48841406e-05 9.99999701e-01 -2.39396160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.33, Y:0.27, Z:-0.24 [[ 9.99701083e-01 2.44365901e-02 7.73116709e-04 5.43346942e+01] [-2.44365965e-02 9.99701382e-01 -1.14877537e-06 2.68377277e-01] [-7.72913914e-04 -1.77439091e-05 9.99999701e-01 -2.44586405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.37, Y:0.27, Z:-0.24 [[ 9.99638224e-01 2.68853591e-02 7.73116695e-04 5.43662859e+01] [-2.68853663e-02 9.99638523e-01 -1.15783604e-06 2.67452897e-01] [-7.72868360e-04 -1.96281084e-05 9.99999701e-01 -2.43456703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.40, Y:0.27, Z:-0.25 [[ 9.99565653e-01 2.94602824e-02 7.73116667e-04 5.43964881e+01] [-2.94602903e-02 9.99565951e-01 -1.17633512e-06 2.67055160e-01] [-7.72815752e-04 -2.16004172e-05 9.99999701e-01 -2.45339119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.664203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.43, Y:0.27, Z:-0.24 [[ 9.99489386e-01 3.19432198e-02 7.73116602e-04 5.44273244e+01] [-3.19432284e-02 9.99489685e-01 -1.21775063e-06 2.68064903e-01] [-7.72760967e-04 -2.34787114e-05 9.99999701e-01 -2.43714189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.694203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.46, Y:0.27, Z:-0.24 [[ 9.99364947e-01 3.56245020e-02 7.73116602e-04 5.44583084e+01] [-3.56245117e-02 9.99365246e-01 -1.21775063e-06 2.69119601e-01] [-7.72669244e-04 -2.63249241e-05 9.99999701e-01 -2.42950364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.49, Y:0.27, Z:-0.24 [[ 9.99323573e-01 3.67668047e-02 7.73116602e-04 5.44887020e+01] [-3.67668147e-02 9.99323872e-01 -1.21775063e-06 2.67510037e-01] [-7.72638649e-04 -2.72081079e-05 9.99999701e-01 -2.42561220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.52, Y:0.27, Z:-0.24 [[ 9.99293064e-01 3.75868883e-02 7.73116587e-04 5.45204758e+01] [-3.75868986e-02 9.99293363e-01 -1.22683007e-06 2.66243449e-01] [-7.72616387e-04 -2.78330920e-05 9.99999701e-01 -2.42395561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.55, Y:0.27, Z:-0.24 [[ 9.99265241e-01 3.83194514e-02 7.73116558e-04 5.45509636e+01] [-3.83194619e-02 9.99265540e-01 -1.24484035e-06 2.68927041e-01] [-7.72596436e-04 -2.83814848e-05 9.99999701e-01 -2.43418491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.58, Y:0.27, Z:-0.24 [[ 9.99253413e-01 3.86266503e-02 7.73116544e-04 5.45816526e+01] [-3.86266608e-02 9.99253712e-01 -1.25381757e-06 2.71388284e-01] [-7.72588007e-04 -2.86100290e-05 9.99999701e-01 -2.44726702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.61, Y:0.27, Z:-0.25 [[ 9.99248056e-01 3.87649880e-02 7.73116529e-04 5.46119645e+01] [-3.87649986e-02 9.99248355e-01 -1.26262587e-06 2.72897938e-01] [-7.72584366e-04 -2.87081847e-05 9.99999701e-01 -2.47583759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.874203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.64, Y:0.27, Z:-0.24 [[ 9.99255232e-01 3.85795701e-02 7.73116455e-04 5.46429428e+01] [-3.85795806e-02 9.99255531e-01 -1.30635178e-06 2.73778289e-01] [-7.72591293e-04 -2.85211298e-05 9.99999701e-01 -2.44722589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.67, Y:0.27, Z:-0.24 [[ 9.99254299e-01 3.86037230e-02 7.73116423e-04 5.46747700e+01] [-3.86037335e-02 9.99254598e-01 -1.32499241e-06 2.73680322e-01] [-7.72591291e-04 -2.85211760e-05 9.99999701e-01 -2.44747196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.93420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.71, Y:0.28, Z:-0.25 [[ 9.99279258e-01 3.79521663e-02 7.73116391e-04 5.47051459e+01] [-3.79521766e-02 9.99279557e-01 -1.34367936e-06 2.75991209e-01] [-7.72610400e-04 -2.79987389e-05 9.99999701e-01 -2.49953718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.74, Y:0.28, Z:-0.25 [[ 9.99306428e-01 3.72299105e-02 7.73116375e-04 5.47352323e+01] [-3.72299206e-02 9.99306726e-01 -1.35297303e-06 2.75821633e-01] [-7.72630764e-04 -2.74310266e-05 9.99999701e-01 -2.50405301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.77, Y:0.27, Z:-0.25 [[ 9.99412602e-01 3.42615521e-02 7.73116359e-04 5.47667985e+01] [-3.42615613e-02 9.99412900e-01 -1.36206063e-06 2.74752775e-01] [-7.72709129e-04 -2.51269130e-05 9.99999701e-01 -2.47513921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.80, Y:0.28, Z:-0.25 [[ 9.99474231e-01 3.24139398e-02 7.73116327e-04 5.47976474e+01] [-3.24139485e-02 9.99474530e-01 -1.38007585e-06 2.77182667e-01] [-7.72754811e-04 -2.36804025e-05 9.99999701e-01 -2.47164464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.054203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.83, Y:0.28, Z:-0.25 [[ 9.99543589e-01 3.01996133e-02 7.73116310e-04 5.48275059e+01] [-3.01996212e-02 9.99543887e-01 -1.38904266e-06 2.81329371e-01] [-7.72805631e-04 -2.19594111e-05 9.99999701e-01 -2.48599858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.084203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.86, Y:0.28, Z:-0.25 [[ 9.99611738e-01 2.78527610e-02 7.73116310e-04 5.48591666e+01] [-2.78527683e-02 9.99612036e-01 -1.38904266e-06 2.84006141e-01] [-7.72855058e-04 -2.01449261e-05 9.99999701e-01 -2.47239578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.89, Y:0.28, Z:-0.25 [[ 9.99732101e-01 2.31328605e-02 7.73116278e-04 5.48910347e+01] [-2.31328663e-02 9.99732399e-01 -1.40696218e-06 2.82885192e-01] [-7.72941939e-04 -1.64778103e-05 9.99999701e-01 -2.47516212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.92, Y:0.28, Z:-0.25 [[ 9.99776138e-01 2.11441608e-02 7.73116227e-04 5.49217068e+01] [-2.11441660e-02 9.99776437e-01 -1.43461253e-06 2.81768077e-01] [-7.72973720e-04 -1.49126065e-05 9.99999701e-01 -2.48437071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.174203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:54.95, Y:0.28, Z:-0.25 [[ 9.99844072e-01 1.76418316e-02 7.73116209e-04 5.49519739e+01] [-1.76418357e-02 9.99844371e-01 -1.44379336e-06 2.81206377e-01] [-7.73021361e-04 -1.21956209e-05 9.99999701e-01 -2.47226408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.98, Y:0.28, Z:-0.25 [[ 9.99870840e-01 1.60532377e-02 7.73116209e-04 5.49827434e+01] [-1.60532414e-02 9.99871138e-01 -1.44379336e-06 2.81284962e-01] [-7.73039762e-04 -1.09674143e-05 9.99999701e-01 -2.46529513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.234203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.01, Y:0.28, Z:-0.24 [[ 9.99891327e-01 1.47219634e-02 7.73116209e-04 5.50135146e+01] [-1.47219667e-02 9.99891626e-01 -1.44379336e-06 2.82659860e-01] [-7.73053679e-04 -9.93815462e-06 9.99999701e-01 -2.42762915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.264203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.04, Y:0.29, Z:-0.24 [[ 9.99907024e-01 1.36141807e-02 7.73116209e-04 5.50435922e+01] [-1.36141836e-02 9.99907323e-01 -1.44379336e-06 2.86677491e-01] [-7.73064215e-04 -9.08168694e-06 9.99999701e-01 -2.43851943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.07, Y:0.29, Z:-0.24 [[ 9.99908563e-01 1.35006874e-02 7.73116192e-04 5.50734362e+01] [-1.35006903e-02 9.99908862e-01 -1.45323987e-06 2.86016029e-01] [-7.73065351e-04 -8.98449531e-06 9.99999701e-01 -2.44210227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.10, Y:0.28, Z:-0.24 [[ 9.99907610e-01 1.35710917e-02 7.73116192e-04 5.51036300e+01] [-1.35710946e-02 9.99907908e-01 -1.45323987e-06 2.83818914e-01] [-7.73064716e-04 -9.03892740e-06 9.99999701e-01 -2.43972539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.13, Y:0.28, Z:-0.24 [[ 9.99898037e-01 1.42589284e-02 7.73116192e-04 5.51338774e+01] [-1.42589316e-02 9.99898336e-01 -1.45323987e-06 2.80114982e-01] [-7.73058315e-04 -9.57071917e-06 9.99999701e-01 -2.40896667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.16, Y:0.28, Z:-0.24 [[ 9.99886388e-01 1.50537097e-02 7.73116175e-04 5.51643963e+01] [-1.50537131e-02 9.99886686e-01 -1.46223304e-06 2.79695013e-01] [-7.73050582e-04 -1.01762022e-05 9.99999701e-01 -2.37150374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.19, Y:0.28, Z:-0.23 [[ 9.99878228e-01 1.55862326e-02 7.73116175e-04 5.51948530e+01] [-1.55862361e-02 9.99878527e-01 -1.46223304e-06 2.79925120e-01] [-7.73045053e-04 -1.05879163e-05 9.99999701e-01 -2.34707267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.444203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.23, Y:0.28, Z:-0.24 [[ 9.99866691e-01 1.63095648e-02 7.73116175e-04 5.52252035e+01] [-1.63095686e-02 9.99866990e-01 -1.46223304e-06 2.79872501e-01] [-7.73037191e-04 -1.11471531e-05 9.99999701e-01 -2.39741059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.47420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.26, Y:0.28, Z:-0.24 [[ 9.99862272e-01 1.65782565e-02 7.73116073e-04 5.52552737e+01] [-1.65782603e-02 9.99862571e-01 -1.51387517e-06 2.78159470e-01] [-7.73034922e-04 -1.13032528e-05 9.99999701e-01 -2.41931710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.29, Y:0.28, Z:-0.24 [[ 9.99858489e-01 1.68048882e-02 7.73116056e-04 5.52866387e+01] [-1.68048921e-02 9.99858788e-01 -1.52288990e-06 2.75792792e-01] [-7.73032474e-04 -1.14694575e-05 9.99999701e-01 -2.43025290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.32, Y:0.27, Z:-0.24 [[ 9.99849588e-01 1.73263915e-02 7.73116020e-04 5.53180829e+01] [-1.73263955e-02 9.99849887e-01 -1.54093725e-06 2.72976415e-01] [-7.73026664e-04 -1.18546085e-05 9.99999701e-01 -2.41285303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.35, Y:0.27, Z:-0.24 [[ 9.99823436e-01 1.87749610e-02 7.73115982e-04 5.53479756e+01] [-1.87749654e-02 9.99823735e-01 -1.55971624e-06 2.68893600e-01] [-7.73008992e-04 -1.29557849e-05 9.99999701e-01 -2.41715778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.594203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.38, Y:0.27, Z:-0.24 [[ 9.99802340e-01 1.98666542e-02 7.73115892e-04 5.53779702e+01] [-1.98666589e-02 9.99802638e-01 -1.60305886e-06 2.68597637e-01] [-7.72995156e-04 -1.37564877e-05 9.99999701e-01 -2.41982494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.624203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.41, Y:0.27, Z:-0.24 [[ 9.99782116e-01 2.08596209e-02 7.73115873e-04 5.54088388e+01] [-2.08596259e-02 9.99782414e-01 -1.61207111e-06 2.68688446e-01] [-7.72981281e-04 -1.45151880e-05 9.99999701e-01 -2.42413261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.65420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.44, Y:0.27, Z:-0.24 [[ 9.99733829e-01 2.30580640e-02 7.73115836e-04 5.54397998e+01] [-2.30580696e-02 9.99734127e-01 -1.62991766e-06 2.65709040e-01] [-7.72947868e-04 -1.61970749e-05 9.99999701e-01 -2.39672359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.47, Y:0.26, Z:-0.24 [[ 9.99703845e-01 2.43233492e-02 7.73115796e-04 5.54705305e+01] [-2.43233552e-02 9.99704143e-01 -1.64856484e-06 2.62679358e-01] [-7.72927163e-04 -1.71566935e-05 9.99999701e-01 -2.40051681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.50, Y:0.26, Z:-0.24 [[ 9.99645036e-01 2.66309023e-02 7.73115776e-04 5.55007171e+01] [-2.66309090e-02 9.99645334e-01 -1.65786705e-06 2.58161481e-01] [-7.72885729e-04 -1.89314973e-05 9.99999701e-01 -2.39391849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.744203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:55.53, Y:0.26, Z:-0.24 [[ 9.99618602e-01 2.76053060e-02 7.73115682e-04 5.55319396e+01] [-2.76053130e-02 9.99618901e-01 -1.70067165e-06 2.56835639e-01] [-7.72867995e-04 -1.96420773e-05 9.99999701e-01 -2.39251593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.774203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.56, Y:0.26, Z:-0.24 [[ 9.99597904e-01 2.83448911e-02 7.73115642e-04 5.55620668e+01] [-2.83448983e-02 9.99598203e-01 -1.71865109e-06 2.55417181e-01] [-7.72853721e-04 -2.01959242e-05 9.99999701e-01 -2.39441436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.804203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.59, Y:0.25, Z:-0.24 [[ 9.99596653e-01 2.83889794e-02 7.73115548e-04 5.55937558e+01] [-2.83889866e-02 9.99596951e-01 -1.75969454e-06 2.51361421e-01] [-7.72853901e-04 -2.01889821e-05 9.99999701e-01 -2.40208448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.834203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.63, Y:0.25, Z:-0.24 [[ 9.99609837e-01 2.79208956e-02 7.73115507e-04 5.56254965e+01] [-2.79209026e-02 9.99610136e-01 -1.77753021e-06 2.48818838e-01] [-7.72863727e-04 -1.98092461e-05 9.99999701e-01 -2.39544981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.66, Y:0.25, Z:-0.24 [[ 9.99633327e-01 2.70668522e-02 7.73115465e-04 5.56562011e+01] [-2.70668589e-02 9.99633625e-01 -1.79559983e-06 2.46278133e-01] [-7.72880817e-04 -1.91308658e-05 9.99999701e-01 -2.39588629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.69, Y:0.24, Z:-0.24 [[ 9.99707267e-01 2.41822662e-02 7.73115176e-04 5.56876615e+01] [-2.41822719e-02 9.99707566e-01 -1.91256512e-06 2.40582667e-01] [-7.72935341e-04 -1.67836762e-05 9.99999701e-01 -2.39993160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.72, Y:0.24, Z:-0.24 [[ 9.99734538e-01 2.30272691e-02 7.73115131e-04 5.57190139e+01] [-2.30272745e-02 9.99734837e-01 -1.93043343e-06 2.37408964e-01] [-7.72954583e-04 -1.58728134e-05 9.99999701e-01 -2.38506457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.954203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.75, Y:0.23, Z:-0.24 [[ 9.99750177e-01 2.23379704e-02 7.73115084e-04 5.57498974e+01] [-2.23379756e-02 9.99750476e-01 -1.94933517e-06 2.34715810e-01] [-7.72965717e-04 -1.53209777e-05 9.99999701e-01 -2.42766714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.984203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.78, Y:0.23, Z:-0.24 [[ 9.99759705e-01 2.19074109e-02 7.73114757e-04 5.57808677e+01] [-2.19074159e-02 9.99760004e-01 -2.07122775e-06 2.32547217e-01] [-7.72974588e-04 -1.48662165e-05 9.99999701e-01 -2.39673401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.014203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.81, Y:0.23, Z:-0.24 [[ 9.99748813e-01 2.23989705e-02 7.73114708e-04 5.58117406e+01] [-2.23989756e-02 9.99749111e-01 -2.08924412e-06 2.27622035e-01] [-7.72967540e-04 -1.52282582e-05 9.99999701e-01 -2.41184416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.84, Y:0.23, Z:-0.24 [[ 9.99720740e-01 2.36187185e-02 7.73114659e-04 5.58429890e+01] [-2.36187239e-02 9.99721039e-01 -2.10726050e-06 2.25219558e-01] [-7.72948761e-04 -1.61533097e-05 9.99999701e-01 -2.43780390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.88, Y:0.22, Z:-0.24 [[ 9.99686839e-01 2.50125085e-02 7.73114456e-04 5.58755980e+01] [-2.50125143e-02 9.99687138e-01 -2.17925850e-06 2.24432357e-01] [-7.72927087e-04 -1.71589603e-05 9.99999701e-01 -2.41997620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.91, Y:0.23, Z:-0.24 [[ 9.99607151e-01 2.80169004e-02 7.73114075e-04 5.59068197e+01] [-2.80169070e-02 9.99607449e-01 -2.30699252e-06 2.26228646e-01] [-7.72875224e-04 -1.93541789e-05 9.99999701e-01 -2.43383752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.94, Y:0.23, Z:-0.24 [[ 9.99556078e-01 2.97833881e-02 7.73113705e-04 5.59393791e+01] [-2.97833952e-02 9.99556376e-01 -2.42491748e-06 2.26415112e-01] [-7.72842956e-04 -2.06021100e-05 9.99999701e-01 -2.43792613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.164203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.97, Y:0.22, Z:-0.24 [[ 9.99464446e-01 3.27142636e-02 7.73113290e-04 5.59719368e+01] [-3.27142714e-02 9.99464745e-01 -2.55072307e-06 2.23804447e-01] [-7.72782923e-04 -2.27424810e-05 9.99999701e-01 -2.42399340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.194203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.00, Y:0.22, Z:-0.24 [[ 9.99420901e-01 3.40185971e-02 7.73112852e-04 5.60034254e+01] [-3.40186052e-02 9.99421200e-01 -2.67725869e-06 2.21957652e-01] [-7.72756451e-04 -2.36245126e-05 9.99999701e-01 -2.41986432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.03, Y:0.22, Z:-0.24 [[ 9.99382778e-01 3.51207224e-02 7.73112430e-04 5.60342575e+01] [-3.51207308e-02 9.99383077e-01 -2.79394447e-06 2.20966206e-01] [-7.72733605e-04 -2.43600535e-05 9.99999701e-01 -2.41691372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.07, Y:0.22, Z:-0.24 [[ 9.99349746e-01 3.60484138e-02 7.73111994e-04 5.60664529e+01] [-3.60484224e-02 9.99350044e-01 -2.90979220e-06 2.20431510e-01] [-7.72714399e-04 -2.49615676e-05 9.99999701e-01 -2.40717755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.10, Y:0.22, Z:-0.24 [[ 9.99351708e-01 3.59939583e-02 7.73111503e-04 5.60977409e+01] [-3.59939667e-02 9.99352007e-01 -3.03487524e-06 2.20055561e-01] [-7.72719770e-04 -2.47944420e-05 9.99999701e-01 -2.40197725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.13, Y:0.22, Z:-0.24 [[ 9.99380704e-01 3.51797063e-02 7.73111033e-04 5.61284573e+01] [-3.51797144e-02 9.99381002e-01 -3.15021497e-06 2.19485434e-01] [-7.72743303e-04 -2.40495613e-05 9.99999701e-01 -2.39318315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.344203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.16, Y:0.22, Z:-0.24 [[ 9.99461045e-01 3.28180057e-02 7.73110564e-04 5.61606607e+01] [-3.28180130e-02 9.99461344e-01 -3.26156691e-06 2.18011051e-01] [-7.72801161e-04 -2.21121434e-05 9.99999701e-01 -2.35367158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.374203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.19, Y:0.22, Z:-0.23 [[ 9.99505639e-01 3.14305418e-02 7.73110019e-04 5.61927140e+01] [-3.14305486e-02 9.99505938e-01 -3.38589949e-06 2.16669581e-01] [-7.72834476e-04 -2.09150464e-05 9.99999701e-01 -2.33784090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.22, Y:0.22, Z:-0.24 [[ 9.99553064e-01 2.98843662e-02 7.73109431e-04 5.62238348e+01] [-2.98843724e-02 9.99553362e-01 -3.51520639e-06 2.15644491e-01] [-7.72869181e-04 -1.95902548e-05 9.99999701e-01 -2.35146434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.43420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.26, Y:0.22, Z:-0.23 [[ 9.99594751e-01 2.84558653e-02 7.73109094e-04 5.62564476e+01] [-2.84558710e-02 9.99595050e-01 -3.58786719e-06 2.15584369e-01] [-7.72898119e-04 -1.84130794e-05 9.99999701e-01 -2.34787018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.29, Y:0.22, Z:-0.24 [[ 9.99669374e-01 2.57010851e-02 7.73108485e-04 5.62871637e+01] [-2.57010899e-02 9.99669672e-01 -3.71470438e-06 2.15599309e-01] [-7.72948577e-04 -1.61562545e-05 9.99999701e-01 -2.37222837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.32, Y:0.21, Z:-0.24 [[ 9.99699664e-01 2.44945881e-02 7.73108129e-04 5.63197774e+01] [-2.44945925e-02 9.99699962e-01 -3.78719079e-06 2.13139532e-01] [-7.72968934e-04 -1.51509152e-05 9.99999701e-01 -2.36629671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.35, Y:0.21, Z:-0.24 [[ 9.99738778e-01 2.28424478e-02 7.73107484e-04 5.63514719e+01] [-2.28424516e-02 9.99739077e-01 -3.91473188e-06 2.07015663e-01] [-7.72995184e-04 -1.37459610e-05 9.99999701e-01 -2.38706615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.554203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.38, Y:0.20, Z:-0.24 [[ 9.99748278e-01 2.24228373e-02 7.73106817e-04 5.63822576e+01] [-2.24228409e-02 9.99748576e-01 -4.04213914e-06 2.04033827e-01] [-7.73003076e-04 -1.32941295e-05 9.99999701e-01 -2.41576179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.584203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.41, Y:0.20, Z:-0.24 [[ 9.99755601e-01 2.20938875e-02 7.73106182e-04 5.64134284e+01] [-2.20938909e-02 9.99755900e-01 -4.16015236e-06 2.01205896e-01] [-7.73009381e-04 -1.29217880e-05 9.99999701e-01 -2.43294284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.45, Y:0.20, Z:-0.24 [[ 9.99762877e-01 2.17621756e-02 7.73105543e-04 5.64458887e+01] [-2.17621788e-02 9.99763176e-01 -4.27572532e-06 1.99130464e-01] [-7.73015502e-04 -1.25497496e-05 9.99999701e-01 -2.43490087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.48, Y:0.20, Z:-0.24 [[ 9.99774813e-01 2.12067148e-02 7.73104855e-04 5.64778505e+01] [-2.12067177e-02 9.99775112e-01 -4.39681602e-06 1.97330958e-01] [-7.73024235e-04 -1.19991905e-05 9.99999701e-01 -2.41719986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.51, Y:0.19, Z:-0.24 [[ 9.99784669e-01 2.07368747e-02 7.73104126e-04 5.65100413e+01] [-2.07368774e-02 9.99784968e-01 -4.52143948e-06 1.94376200e-01] [-7.73031644e-04 -1.15112996e-05 9.99999701e-01 -2.39527123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.54, Y:0.19, Z:-0.24 [[ 9.99795758e-01 2.01951469e-02 7.73103338e-04 5.65420885e+01] [-2.01951493e-02 9.99796057e-01 -4.65237890e-06 1.89619780e-01] [-7.73039624e-04 -1.09615086e-05 9.99999701e-01 -2.40560150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.734203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.57, Y:0.18, Z:-0.24 [[ 9.99830935e-01 1.83712652e-02 7.73102475e-04 5.65741405e+01] [-1.83712670e-02 9.99831234e-01 -4.79159193e-06 1.80323352e-01] [-7.73060029e-04 -9.41209011e-06 9.99999701e-01 -2.36750235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.764203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.61, Y:0.18, Z:-0.24 [[ 9.99840655e-01 1.78344297e-02 7.73101648e-04 5.66063062e+01] [-1.78344312e-02 9.99840954e-01 -4.92151010e-06 1.76739151e-01] [-7.73066461e-04 -8.86710228e-06 9.99999701e-01 -2.37671461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.64, Y:0.17, Z:-0.24 [[ 9.99842621e-01 1.77238498e-02 7.73100738e-04 5.66384451e+01] [-1.77238512e-02 9.99842920e-01 -5.06044565e-06 1.73301625e-01] [-7.73068991e-04 -8.64267317e-06 9.99999701e-01 -2.38629438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.67, Y:0.17, Z:-0.24 [[ 9.99839682e-01 1.78888949e-02 7.73099883e-04 5.66711030e+01] [-1.78888963e-02 9.99839981e-01 -5.18796645e-06 1.72933490e-01] [-7.73068979e-04 -8.64276887e-06 9.99999701e-01 -2.38654702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.70, Y:0.16, Z:-0.24 [[ 9.99823264e-01 1.87841258e-02 7.73099005e-04 5.67025224e+01] [-1.87841273e-02 9.99823563e-01 -5.31558293e-06 1.64927532e-01] [-7.73062450e-04 -9.20734663e-06 9.99999701e-01 -2.42075593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.73, Y:0.16, Z:-0.24 [[ 9.99804662e-01 1.97494415e-02 7.73098498e-04 5.67335489e+01] [-1.97494433e-02 9.99804961e-01 -5.38832898e-06 1.61446010e-01] [-7.73054130e-04 -9.88098849e-06 9.99999701e-01 -2.43315591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.914203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.77, Y:0.16, Z:-0.24 [[ 9.99749968e-01 2.23473333e-02 7.73097673e-04 5.67667306e+01] [-2.23473357e-02 9.99750267e-01 -5.50426084e-06 1.56336676e-01] [-7.73027610e-04 -1.17737886e-05 9.99999701e-01 -2.41780859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.944203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.80, Y:0.15, Z:-0.24 [[ 9.99715474e-01 2.38405914e-02 7.73096638e-04 5.67993542e+01] [-2.38405941e-02 9.99715773e-01 -5.64595626e-06 1.53881110e-01] [-7.73011506e-04 -1.27867333e-05 9.99999701e-01 -2.40509891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.97420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.83, Y:0.15, Z:-0.24 [[ 9.99675931e-01 2.54447606e-02 7.73095572e-04 5.68321875e+01] [-2.54447638e-02 9.99676230e-01 -5.78839945e-06 1.50776345e-01] [-7.72992550e-04 -1.38847106e-05 9.99999701e-01 -2.37491072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.86, Y:0.14, Z:-0.24 [[ 9.99573436e-01 2.91950215e-02 7.73094419e-04 5.68636060e+01] [-2.91950257e-02 9.99573734e-01 -5.93845082e-06 1.44564352e-01] [-7.72938249e-04 -1.66345937e-05 9.99999701e-01 -2.38245446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.03420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.90, Y:0.14, Z:-0.24 [[ 9.99494248e-01 3.17907208e-02 7.73093470e-04 5.68951917e+01] [-3.17907257e-02 9.99494547e-01 -6.05953729e-06 1.42585806e-01] [-7.72895345e-04 -1.85207297e-05 9.99999701e-01 -2.39616854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.93, Y:0.14, Z:-0.24 [[ 9.99403668e-01 3.45211740e-02 7.73092356e-04 5.69277931e+01] [-3.45211796e-02 9.99403966e-01 -6.19847133e-06 1.42063514e-01] [-7.72845545e-04 -2.04932851e-05 9.99999701e-01 -2.39396535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.96, Y:0.14, Z:-0.24 [[ 9.99306219e-01 3.72355047e-02 7.73091172e-04 5.69598082e+01] [-3.72355109e-02 9.99306518e-01 -6.34281865e-06 1.41568160e-01] [-7.72791225e-04 -2.24480266e-05 9.99999701e-01 -2.38232623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.124203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.99, Y:0.14, Z:-0.24 [[ 9.99168051e-01 4.07750888e-02 7.73090109e-04 5.69914247e+01] [-4.07750960e-02 9.99168350e-01 -6.46974761e-06 1.38277835e-01] [-7.72710973e-04 -2.50584583e-05 9.99999701e-01 -2.41332790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.15420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.02, Y:0.14, Z:-0.24 [[ 9.99137007e-01 4.15288264e-02 7.73088952e-04 5.70236470e+01] [-4.15288337e-02 9.99137306e-01 -6.60515191e-06 1.37494202e-01] [-7.72696317e-04 -2.55060309e-05 9.99999701e-01 -2.39013373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.06, Y:0.14, Z:-0.24 [[ 9.99132603e-01 4.16346457e-02 7.73087826e-04 5.70553487e+01] [-4.16346529e-02 9.99132902e-01 -6.73443563e-06 1.36487360e-01] [-7.72697869e-04 -2.54586491e-05 9.99999701e-01 -2.42016036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.21420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.09, Y:0.13, Z:-0.24 [[ 9.99166497e-01 4.08131510e-02 7.73086600e-04 5.70876519e+01] [-4.08131579e-02 9.99166796e-01 -6.87235868e-06 1.34173558e-01] [-7.72722944e-04 -2.46854750e-05 9.99999701e-01 -2.43156196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.12, Y:0.13, Z:-0.24 [[ 9.99213493e-01 3.96459077e-02 7.73085471e-04 5.71194312e+01] [-3.96459142e-02 9.99213792e-01 -6.99708886e-06 1.31756015e-01] [-7.72755071e-04 -2.36580947e-05 9.99999701e-01 -2.43599302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.15, Y:0.13, Z:-0.24 [[ 9.99295352e-01 3.75260079e-02 7.73084318e-04 5.71519091e+01] [-3.75260136e-02 9.99295651e-01 -7.12227803e-06 1.31126632e-01] [-7.72807068e-04 -2.18935133e-05 9.99999701e-01 -2.38986481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.304203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.18, Y:0.13, Z:-0.24 [[ 9.99330348e-01 3.65822172e-02 7.73083111e-04 5.71828979e+01] [-3.65822225e-02 9.99330646e-01 -7.25101252e-06 1.31489071e-01] [-7.72830903e-04 -2.10349415e-05 9.99999701e-01 -2.40759126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.334203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.22, Y:0.13, Z:-0.24 [[ 9.99354698e-01 3.59108604e-02 7.73082451e-04 5.72156978e+01] [-3.59108654e-02 9.99354997e-01 -7.32061899e-06 1.31144343e-01] [-7.72846700e-04 -2.04461649e-05 9.99999701e-01 -2.37376949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.25, Y:0.13, Z:-0.23 [[ 9.99401856e-01 3.45735863e-02 7.73081046e-04 5.72472538e+01] [-3.45735909e-02 9.99402155e-01 -7.46618001e-06 1.30485041e-01] [-7.72876995e-04 -1.92664736e-05 9.99999701e-01 -2.34051222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.28, Y:0.13, Z:-0.23 [[ 9.99414088e-01 3.42181572e-02 7.73079893e-04 5.72794034e+01] [-3.42181615e-02 9.99414387e-01 -7.58367850e-06 1.28350124e-01] [-7.72886667e-04 -1.88741375e-05 9.99999701e-01 -2.32430725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.31, Y:0.13, Z:-0.23 [[ 9.99431169e-01 3.37155891e-02 7.73078638e-04 5.73117778e+01] [-3.37155932e-02 9.99431468e-01 -7.70951552e-06 1.25168171e-01] [-7.72899049e-04 -1.83596747e-05 9.99999701e-01 -2.32291755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.34, Y:0.12, Z:-0.23 [[ 9.99497045e-01 3.17026850e-02 7.73077275e-04 5.73435129e+01] [-3.17026884e-02 9.99497343e-01 -7.84389578e-06 1.21806974e-01] [-7.72937355e-04 -1.66686773e-05 9.99999701e-01 -2.33130966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.484203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.37, Y:0.12, Z:-0.23 [[ 9.99539896e-01 3.03215886e-02 7.73075981e-04 5.73749953e+01] [-3.03215915e-02 9.99540195e-01 -7.96936104e-06 1.20271710e-01] [-7.72962161e-04 -1.54751998e-05 9.99999701e-01 -2.34874258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.514203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.41, Y:0.12, Z:-0.24 [[ 9.99631086e-01 2.71494825e-02 7.73075248e-04 5.74067175e+01] [-2.71494844e-02 9.99631385e-01 -8.03990231e-06 1.16764504e-01] [-7.73008559e-04 -1.29516581e-05 9.99999701e-01 -2.37527005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.44, Y:0.11, Z:-0.24 [[ 9.99663214e-01 2.59395530e-02 7.73073909e-04 5.74384041e+01] [-2.59395544e-02 9.99663513e-01 -8.16660158e-06 1.14356515e-01] [-7.73025618e-04 -1.18893415e-05 9.99999701e-01 -2.38594638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.47, Y:0.11, Z:-0.24 [[ 9.99676495e-01 2.54225803e-02 7.73072542e-04 5.74698655e+01] [-2.54225815e-02 9.99676794e-01 -8.29404121e-06 1.11230293e-01] [-7.73033536e-04 -1.13621416e-05 9.99999701e-01 -2.40423600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.50, Y:0.10, Z:-0.24 [[ 9.99648750e-01 2.64911106e-02 7.73071260e-04 5.75015490e+01] [-2.64911120e-02 9.99649049e-01 -8.41187043e-06 1.02631814e-01] [-7.73022789e-04 -1.20706016e-05 9.99999701e-01 -2.42916539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.53, Y:0.10, Z:-0.25 [[ 9.99598535e-01 2.83226185e-02 7.73069831e-04 5.75329348e+01] [-2.83226204e-02 9.99598834e-01 -8.54123003e-06 9.85118843e-02] [-7.73001611e-04 -1.33575623e-05 9.99999701e-01 -2.45153369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.664203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.56, Y:0.10, Z:-0.25 [[ 9.99521843e-01 3.09109668e-02 7.73068489e-04 5.75643451e+01] [-3.09109694e-02 9.99522142e-01 -8.66098975e-06 9.56689653e-02] [-7.72966791e-04 -1.52394479e-05 9.99999701e-01 -2.45912641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.694203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.60, Y:0.10, Z:-0.25 [[ 9.99423890e-01 3.39306643e-02 7.73067150e-04 5.75952624e+01] [-3.39306676e-02 9.99424189e-01 -8.77892398e-06 9.50177218e-02] [-7.72919884e-04 -1.74568181e-05 9.99999701e-01 -2.46760688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.63, Y:0.10, Z:-0.24 [[ 9.99197049e-01 4.00582124e-02 7.73065809e-04 5.76276344e+01] [-4.00582175e-02 9.99197347e-01 -8.89546732e-06 9.52924355e-02] [-7.72801642e-04 -2.20793136e-05 9.99999701e-01 -2.42533656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.66, Y:0.09, Z:-0.25 [[ 9.99076777e-01 4.29534248e-02 7.73064331e-04 5.76594639e+01] [-4.29534306e-02 9.99077075e-01 -9.02208934e-06 9.41378577e-02] [-7.72738380e-04 -2.41920052e-05 9.99999701e-01 -2.45433256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.69, Y:0.09, Z:-0.24 [[ 9.98933827e-01 4.61585586e-02 7.73062727e-04 5.76914584e+01] [-4.61585653e-02 9.98934125e-01 -9.15746790e-06 9.23930879e-02] [-7.72661435e-04 -2.65357620e-05 9.99999701e-01 -2.40512830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.72, Y:0.09, Z:-0.24 [[ 9.98895162e-01 4.69878393e-02 7.73061227e-04 5.77235609e+01] [-4.69878461e-02 9.98895461e-01 -9.28237764e-06 9.21674978e-02] [-7.72643510e-04 -2.70523599e-05 9.99999701e-01 -2.41190902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.76, Y:0.09, Z:-0.24 [[ 9.98872886e-01 4.74590396e-02 7.73059607e-04 5.77554516e+01] [-4.74590466e-02 9.98873185e-01 -9.41540341e-06 9.15887081e-02] [-7.72635358e-04 -2.72838807e-05 9.99999701e-01 -2.41878998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.874203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.79, Y:0.09, Z:-0.24 [[ 9.98854386e-01 4.78468078e-02 7.73057975e-04 5.77875254e+01] [-4.78468147e-02 9.98854685e-01 -9.54755729e-06 9.18374919e-02] [-7.72629400e-04 -2.74517422e-05 9.99999701e-01 -2.40503762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.82, Y:0.09, Z:-0.24 [[ 9.98829687e-01 4.83596844e-02 7.73056375e-04 5.78194250e+01] [-4.83596913e-02 9.98829986e-01 -9.67543533e-06 9.21073301e-02] [-7.72619788e-04 -2.77206556e-05 9.99999701e-01 -2.43586791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.93420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.85, Y:0.09, Z:-0.24 [[ 9.98831993e-01 4.83120375e-02 7.73054641e-04 5.78518466e+01] [-4.83120443e-02 9.98832291e-01 -9.81198778e-06 9.23482637e-02] [-7.72625976e-04 -2.75473228e-05 9.99999701e-01 -2.44285158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.88, Y:0.09, Z:-0.25 [[ 9.98850971e-01 4.79180524e-02 7.73053080e-04 5.78830354e+01] [-4.79180590e-02 9.98851270e-01 -9.93348577e-06 9.19568617e-02] [-7.72641044e-04 -2.71211312e-05 9.99999701e-01 -2.46440149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.91, Y:0.09, Z:-0.25 [[ 9.98893350e-01 4.70263470e-02 7.73051621e-04 5.79145830e+01] [-4.70263533e-02 9.98893649e-01 -1.00457649e-05 9.33037991e-02] [-7.72668770e-04 -2.63191509e-05 9.99999701e-01 -2.49550133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.95, Y:0.09, Z:-0.25 [[ 9.98902636e-01 4.68286946e-02 7.73050723e-04 5.79470497e+01] [-4.68287008e-02 9.98902935e-01 -1.01144338e-05 9.35980243e-02] [-7.72676281e-04 -2.60976264e-05 9.99999701e-01 -2.45862881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.054203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.98, Y:0.09, Z:-0.25 [[ 9.98896490e-01 4.69596023e-02 7.73049031e-04 5.79800145e+01] [-4.69596084e-02 9.98896789e-01 -1.02420802e-05 9.40019210e-02] [-7.72677159e-04 -2.60713018e-05 9.99999701e-01 -2.45069643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.084203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.01, Y:0.09, Z:-0.25 [[ 9.98889602e-01 4.71058873e-02 7.73047037e-04 5.80123429e+01] [-4.71058933e-02 9.98889901e-01 -1.03904970e-05 9.39673685e-02] [-7.72678332e-04 -2.60361118e-05 9.99999701e-01 -2.49683010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.04, Y:0.09, Z:-0.25 [[ 9.98899190e-01 4.69021360e-02 7.73045151e-04 5.80441303e+01] [-4.69021419e-02 9.98899489e-01 -1.05289378e-05 9.36296462e-02] [-7.72688236e-04 -2.57401258e-05 9.99999701e-01 -2.46707557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.08, Y:0.09, Z:-0.24 [[ 9.98980154e-01 4.51448067e-02 7.73043425e-04 5.80763188e+01] [-4.51448120e-02 9.98980453e-01 -1.06541760e-05 9.32952031e-02] [-7.72736252e-04 -2.42555897e-05 9.99999701e-01 -2.42728768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.11, Y:0.10, Z:-0.24 [[ 9.99043225e-01 4.37268486e-02 7.73041686e-04 5.81075693e+01] [-4.37268534e-02 9.99043524e-01 -1.07788627e-05 9.53679383e-02] [-7.72773616e-04 -2.30341307e-05 9.99999701e-01 -2.44208006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.14, Y:0.10, Z:-0.24 [[ 9.99116536e-01 4.20184447e-02 7.73040061e-04 5.81407623e+01] [-4.20184488e-02 9.99116835e-01 -1.08941762e-05 9.81262575e-02] [-7.72815096e-04 -2.15973927e-05 9.99999701e-01 -2.40872188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.234203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.17, Y:0.10, Z:-0.24 [[ 9.99333095e-01 3.65070791e-02 7.73037993e-04 5.81727559e+01] [-3.65070814e-02 9.99333394e-01 -1.10390064e-05 1.00325177e-01] [-7.72925683e-04 -1.71897166e-05 9.99999701e-01 -2.39007629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.264203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.20, Y:0.10, Z:-0.24 [[ 9.99447602e-01 3.32248813e-02 7.73036147e-04 5.82038833e+01] [-3.32248826e-02 9.99447901e-01 -1.11667848e-05 9.88269011e-02] [-7.72980370e-04 -1.45234189e-05 9.99999701e-01 -2.38961575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.24, Y:0.10, Z:-0.24 [[ 9.99550642e-01 2.99652522e-02 7.73034423e-04 5.82362635e+01] [-2.99652525e-02 9.99550941e-01 -1.12848931e-05 9.74480920e-02] [-7.73025440e-04 -1.18843495e-05 9.99999701e-01 -2.38486360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.27, Y:0.10, Z:-0.24 [[ 9.99717290e-01 2.37643046e-02 7.73032528e-04 5.82672615e+01] [-2.37643029e-02 9.99717589e-01 -1.14132499e-05 9.55317167e-02] [-7.73085443e-04 -6.96055592e-06 9.99999701e-01 -2.42503644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.30, Y:0.09, Z:-0.24 [[ 9.99769084e-01 2.14751234e-02 7.73031438e-04 5.82993647e+01] [-2.14751209e-02 9.99769383e-01 -1.14865827e-05 9.40089386e-02] [-7.73099840e-04 -5.11701337e-06 9.99999701e-01 -2.38721448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.33, Y:0.09, Z:-0.24 [[ 9.99821919e-01 1.88555789e-02 7.73029457e-04 5.83308129e+01] [-1.88555756e-02 9.99822218e-01 -1.16184029e-05 9.38581775e-02] [-7.73111098e-04 -2.95958151e-06 9.99999701e-01 -2.37499232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.36, Y:0.09, Z:-0.24 [[ 9.99818843e-01 1.90179864e-02 7.73027610e-04 5.83639781e+01] [-1.90179830e-02 9.99819142e-01 -1.17400214e-05 9.43831517e-02] [-7.73111073e-04 -2.96353132e-06 9.99999701e-01 -2.35903570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.444203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.39, Y:0.09, Z:-0.24 [[ 9.99805028e-01 1.97309176e-02 7.73025296e-04 5.83947165e+01] [-1.97309143e-02 9.99805326e-01 -1.18904404e-05 9.38705377e-02] [-7.73109418e-04 -3.36437371e-06 9.99999701e-01 -2.35644734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.47420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.43, Y:0.09, Z:-0.24 [[ 9.99744273e-01 2.26006717e-02 7.73023412e-04 5.84264873e+01] [-2.26006691e-02 9.99744572e-01 -1.20117046e-05 9.19528219e-02] [-7.73097433e-04 -5.46221347e-06 9.99999701e-01 -2.36938264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.46, Y:0.09, Z:-0.24 [[ 9.99701151e-01 2.44338229e-02 7.73021244e-04 5.84589337e+01] [-2.44338208e-02 9.99701450e-01 -1.21496819e-05 9.27881009e-02] [-7.73087321e-04 -6.74181162e-06 9.99999701e-01 -2.36854552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.53420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.49, Y:0.09, Z:-0.24 [[ 9.99641318e-01 2.67700933e-02 7.73019251e-04 5.84918941e+01] [-2.67700918e-02 9.99641617e-01 -1.22751379e-05 9.44518789e-02] [-7.73070821e-04 -8.42306128e-06 9.99999701e-01 -2.36109885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.52, Y:0.10, Z:-0.23 [[ 9.99503701e-01 3.14921167e-02 7.73016944e-04 5.85241733e+01] [-3.14921165e-02 9.99504000e-01 -1.24187840e-05 9.80570737e-02] [-7.73024621e-04 -1.19313191e-05 9.99999701e-01 -2.31488731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.594203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.56, Y:0.10, Z:-0.24 [[ 9.99418274e-01 3.40956897e-02 7.73014774e-04 5.85556585e+01] [-3.40956902e-02 9.99418573e-01 -1.25524050e-05 9.97692805e-02] [-7.72993305e-04 -1.38113693e-05 9.99999701e-01 -2.36994677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.624203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.59, Y:0.10, Z:-0.24 [[ 9.99230417e-01 3.92170386e-02 7.73012749e-04 5.85879340e+01] [-3.92170405e-02 9.99230716e-01 -1.26758653e-05 1.03017333e-01] [-7.72915193e-04 -1.76491621e-05 9.99999701e-01 -2.36306445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.65420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.62, Y:0.10, Z:-0.23 [[ 9.99137072e-01 4.15272739e-02 7.73010656e-04 5.86196884e+01] [-4.15272764e-02 9.99137371e-01 -1.28022713e-05 1.03400693e-01] [-7.72875478e-04 -1.93098033e-05 9.99999701e-01 -2.33925351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.65, Y:0.10, Z:-0.23 [[ 9.99056992e-01 4.34111676e-02 7.73008492e-04 5.86508944e+01] [-4.34111706e-02 9.99057291e-01 -1.29316403e-05 1.03241032e-01] [-7.72841147e-04 -2.06377579e-05 9.99999701e-01 -2.33387062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.71420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.68, Y:0.10, Z:-0.23 [[ 9.99048741e-01 4.36006390e-02 7.73006472e-04 5.86843713e+01] [-4.36006419e-02 9.99049040e-01 -1.30512815e-05 1.02495544e-01] [-7.72840418e-04 -2.06647121e-05 9.99999701e-01 -2.33412967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.72, Y:0.11, Z:-0.23 [[ 9.98990014e-01 4.49260961e-02 7.73003969e-04 5.87159878e+01] [-4.49260993e-02 9.98990313e-01 -1.31978824e-05 1.05847738e-01] [-7.72816406e-04 -2.15435003e-05 9.99999701e-01 -2.33542119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.774203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.75, Y:0.11, Z:-0.24 [[ 9.98994995e-01 4.48151939e-02 7.73001610e-04 5.87483137e+01] [-4.48151970e-02 9.98995294e-01 -1.33346131e-05 1.08419638e-01] [-7.72822564e-04 -2.13210077e-05 9.99999701e-01 -2.35531476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.804203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.78, Y:0.11, Z:-0.24 [[ 9.99031587e-01 4.39919388e-02 7.72999409e-04 5.87800005e+01] [-4.39919415e-02 9.99031886e-01 -1.34610173e-05 1.10317640e-01] [-7.72843233e-04 -2.05577633e-05 9.99999701e-01 -2.38116384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.834203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.81, Y:0.11, Z:-0.24 [[ 9.99127458e-01 4.17579469e-02 7.72997194e-04 5.88122835e+01] [-4.17579488e-02 9.99127756e-01 -1.35870464e-05 1.13735627e-01] [-7.72890319e-04 -1.87035862e-05 9.99999701e-01 -2.37571712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.84, Y:0.11, Z:-0.24 [[ 9.99164164e-01 4.08702391e-02 7.72996385e-04 5.88433686e+01] [-4.08702407e-02 9.99164463e-01 -1.36328991e-05 1.13952607e-01] [-7.72907697e-04 -1.79710442e-05 9.99999701e-01 -2.38550046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89420382200001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:58.88, Y:0.11, Z:-0.23 [[ 9.99275492e-01 3.80512054e-02 7.72994266e-04 5.88755149e+01] [-3.80512061e-02 9.99275791e-01 -1.37519967e-05 1.13785325e-01] [-7.72957736e-04 -1.56713309e-05 9.99999701e-01 -2.32050049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.91, Y:0.11, Z:-0.23 [[ 9.99345873e-01 3.61556273e-02 7.72991939e-04 5.89065888e+01] [-3.61556273e-02 9.99346171e-01 -1.38815996e-05 1.13028794e-01] [-7.72988432e-04 -1.40754892e-05 9.99999701e-01 -2.32645930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.954203822000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.94, Y:0.11, Z:-0.23 [[ 9.99415762e-01 3.41692335e-02 7.72989771e-04 5.89391982e+01] [-3.41692328e-02 9.99416061e-01 -1.40012551e-05 1.13795390e-01] [-7.73016805e-04 -1.24193925e-05 9.99999701e-01 -2.28220424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.984203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.97, Y:0.11, Z:-0.23 [[ 9.99482077e-01 3.21711212e-02 7.72987335e-04 5.89716763e+01] [-3.21711199e-02 9.99482375e-01 -1.41344943e-05 1.13833310e-01] [-7.73041940e-04 -1.07406946e-05 9.99999701e-01 -2.32671921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.014203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.00, Y:0.11, Z:-0.23 [[ 9.99647349e-01 2.65439219e-02 7.72984709e-04 5.90038448e+01] [-2.65439188e-02 9.99647648e-01 -1.42766855e-05 1.10807648e-01] [-7.73091305e-04 -6.24639252e-06 9.99999701e-01 -2.33951965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04420382200001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:59.03, Y:0.11, Z:-0.23 [[ 9.99728165e-01 2.33023325e-02 7.72982309e-04 5.90347263e+01] [-2.33023283e-02 9.99728464e-01 -1.44054620e-05 1.08608721e-01] [-7.73108097e-04 -3.61074146e-06 9.99999701e-01 -2.33662126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.07, Y:0.11, Z:-0.23 [[ 9.99789601e-01 2.04976949e-02 7.72980073e-04 5.90665339e+01] [-2.04976898e-02 9.99789900e-01 -1.45244497e-05 1.06435609e-01] [-7.73115388e-04 -1.32291192e-06 9.99999701e-01 -2.31217091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.10, Y:0.10, Z:-0.23 [[ 9.99859622e-01 1.67373445e-02 7.72977669e-04 5.90993138e+01] [-1.67373382e-02 9.99859921e-01 -1.46513031e-05 1.03843484e-01] [-7.73114615e-04 1.71165776e-06 9.99999701e-01 -2.30931129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.13, Y:0.10, Z:-0.23 [[ 9.99874680e-01 1.58122410e-02 7.72976458e-04 5.91309313e+01] [-1.58122344e-02 9.99874979e-01 -1.47148922e-05 1.01762472e-01] [-7.73112495e-04 2.49056323e-06 9.99999701e-01 -2.32531586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.164203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.16, Y:0.10, Z:-0.23 [[ 9.99875331e-01 1.57710355e-02 7.72974025e-04 5.91624284e+01] [-1.57710287e-02 9.99875629e-01 -1.48416315e-05 1.00007958e-01] [-7.73111957e-04 2.64918568e-06 9.99999701e-01 -2.32393669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.194203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.19, Y:0.10, Z:-0.23 [[ 9.99817397e-01 1.90938479e-02 7.72971421e-04 5.91945301e+01] [-1.90938420e-02 9.99817696e-01 -1.49760351e-05 9.85484870e-02] [-7.73116455e-04 2.14306220e-07 9.99999701e-01 -2.28261747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.23, Y:0.10, Z:-0.23 [[ 9.99753852e-01 2.21729283e-02 7.72968870e-04 5.92254448e+01] [-2.21729232e-02 9.99754150e-01 -1.51065698e-05 9.68620903e-02] [-7.73113792e-04 -2.03612809e-06 9.99999701e-01 -2.29681924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.26, Y:0.09, Z:-0.23 [[ 9.99553918e-01 2.98557688e-02 7.72966505e-04 5.92579078e+01] [-2.98557660e-02 9.99554217e-01 -1.52266077e-05 9.37047007e-02] [-7.73076532e-04 -7.85769170e-06 9.99999701e-01 -2.33129692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.29, Y:0.09, Z:-0.23 [[ 9.99415245e-01 3.41843517e-02 7.72963953e-04 5.92900216e+01] [-3.41843501e-02 9.99415544e-01 -1.53550695e-05 9.36411285e-02] [-7.73037093e-04 -1.10771798e-05 9.99999701e-01 -2.34226754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.32, Y:0.10, Z:-0.24 [[ 9.99254349e-01 3.86024502e-02 7.72961392e-04 5.93208016e+01] [-3.86024497e-02 9.99254648e-01 -1.54829127e-05 9.52252928e-02] [-7.72982942e-04 -1.43668355e-05 9.99999701e-01 -2.37356116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.344203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.35, Y:0.10, Z:-0.24 [[ 9.99089538e-01 4.26555732e-02 7.72959016e-04 5.93528739e+01] [-4.26555739e-02 9.99089837e-01 -1.56006357e-05 9.79213597e-02] [-7.72920951e-04 -1.73845786e-05 9.99999701e-01 -2.37743598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.374203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.38, Y:0.10, Z:-0.24 [[ 9.98792180e-01 4.91282357e-02 7.72956378e-04 5.93849369e+01] [-4.91282382e-02 9.98792479e-01 -1.57302719e-05 1.04720720e-01] [-7.72795817e-04 -2.22627125e-05 9.99999701e-01 -2.40076569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.42, Y:0.11, Z:-0.24 [[ 9.98664354e-01 5.16614937e-02 7.72954491e-04 5.94167937e+01] [-5.16614969e-02 9.98664653e-01 -1.58224398e-05 1.05721268e-01] [-7.72739740e-04 -2.41306794e-05 9.99999701e-01 -2.39411456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.43420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.45, Y:0.11, Z:-0.24 [[ 9.98561679e-01 5.36094706e-02 7.72951898e-04 5.94483881e+01] [-5.36094743e-02 9.98561978e-01 -1.59481445e-05 1.05895096e-01] [-7.72695347e-04 -2.55123389e-05 9.99999701e-01 -2.42636568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.48, Y:0.11, Z:-0.24 [[ 9.98520168e-01 5.43771691e-02 7.72950048e-04 5.94810806e+01] [-5.43771730e-02 9.98520467e-01 -1.60372848e-05 1.09146113e-01] [-7.72678505e-04 -2.60172862e-05 9.99999701e-01 -2.39424749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.51, Y:0.11, Z:-0.24 [[ 9.98594977e-01 5.29856050e-02 7.72947447e-04 5.95141616e+01] [-5.29856084e-02 9.98595276e-01 -1.61616823e-05 1.12534721e-01] [-7.72718006e-04 -2.48161160e-05 9.99999701e-01 -2.38600737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.55, Y:0.12, Z:-0.24 [[ 9.98711372e-01 5.07444292e-02 7.72944388e-04 5.95477075e+01] [-5.07444317e-02 9.98711671e-01 -1.63066722e-05 1.16202367e-01] [-7.72776055e-04 -2.29369648e-05 9.99999701e-01 -2.36632185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.554203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.58, Y:0.12, Z:-0.24 [[ 9.99066792e-01 4.31850457e-02 7.72941182e-04 5.95790331e+01] [-4.31850459e-02 9.99067091e-01 -1.64572452e-05 1.21343419e-01] [-7.72930805e-04 -1.69376132e-05 9.99999701e-01 -2.37365123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.584203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.61, Y:0.12, Z:-0.24 [[ 9.99245292e-01 3.88361687e-02 7.72938571e-04 5.96101618e+01] [-3.88361675e-02 9.99245591e-01 -1.65789798e-05 1.20838298e-01] [-7.72999324e-04 -1.34515043e-05 9.99999701e-01 -2.42446519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.64, Y:0.12, Z:-0.24 [[ 9.99575885e-01 2.91110420e-02 7.72935991e-04 5.96435565e+01] [-2.91110378e-02 9.99576184e-01 -1.66983928e-05 1.17186800e-01] [-7.73094516e-04 -5.80965806e-06 9.99999701e-01 -2.38129540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.68, Y:0.12, Z:-0.24 [[ 9.99698683e-01 2.45345802e-02 7.72932781e-04 5.96752238e+01] [-2.45345745e-02 9.99698982e-01 -1.68456827e-05 1.16055899e-01] [-7.73113416e-04 -2.12297012e-06 9.99999701e-01 -2.35742754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.71, Y:0.12, Z:-0.23 [[ 9.99791949e-01 2.03828555e-02 7.72930127e-04 5.97074988e+01] [-2.03828485e-02 9.99792248e-01 -1.69666150e-05 1.17277062e-01] [-7.73115377e-04 1.20856742e-06 9.99999701e-01 -2.33465875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.74, Y:0.12, Z:-0.23 [[ 9.99899269e-01 1.41723052e-02 7.72927211e-04 5.97393303e+01] [-1.41722962e-02 9.99899568e-01 -1.70984178e-05 1.22693025e-01] [-7.73091908e-04 6.14254207e-06 9.99999701e-01 -2.32377663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.734203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.77, Y:0.12, Z:-0.23 [[ 9.99917485e-01 1.28228683e-02 7.72925534e-04 5.97708297e+01] [-1.28228588e-02 9.99917784e-01 -1.71738885e-05 1.22745632e-01] [-7.73082206e-04 7.26135636e-06 9.99999701e-01 -2.34535840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.764203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.80, Y:0.12, Z:-0.23 [[ 9.99923109e-01 1.23765171e-02 7.72922576e-04 5.98026193e+01] [-1.23765075e-02 9.99923408e-01 -1.73060104e-05 1.20792491e-01] [-7.73077564e-04 7.73859769e-06 9.99999701e-01 -2.31836516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.83, Y:0.12, Z:-0.23 [[ 9.99907790e-01 1.35578093e-02 7.72919623e-04 5.98343865e+01] [-1.35577999e-02 9.99908089e-01 -1.74369187e-05 1.17685885e-01] [-7.73084989e-04 6.95622127e-06 9.99999701e-01 -2.32262141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.87, Y:0.12, Z:-0.23 [[ 9.99881718e-01 1.53607366e-02 7.72918986e-04 5.98661335e+01] [-1.53607277e-02 9.99882017e-01 -1.74650849e-05 1.17918616e-01] [-7.73096071e-04 5.59042098e-06 9.99999701e-01 -2.33557039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.90, Y:0.12, Z:-0.24 [[ 9.99787341e-01 2.06076547e-02 7.72915995e-04 5.98985350e+01] [-2.06076472e-02 9.99787640e-01 -1.75964581e-05 1.22417087e-01] [-7.73114480e-04 1.66473590e-06 9.99999701e-01 -2.36512275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.93, Y:0.12, Z:-0.24 [[ 9.99710514e-01 2.40476727e-02 7.72912970e-04 5.99301804e+01] [-2.40476661e-02 9.99710813e-01 -1.77283608e-05 1.24800238e-01] [-7.73115779e-04 -8.63524344e-07 9.99999701e-01 -2.38752576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.914203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.96, Y:0.13, Z:-0.24 [[ 9.99623176e-01 2.74391642e-02 7.72910169e-04 5.99612269e+01] [-2.74391586e-02 9.99623475e-01 -1.78496592e-05 1.27427074e-01] [-7.73108928e-04 -3.36507170e-06 9.99999701e-01 -2.38336246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.944203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.99, Y:0.13, Z:-0.24 [[ 9.99529706e-01 3.06556659e-02 7.72907400e-04 5.99928403e+01] [-3.06556611e-02 9.99530005e-01 -1.79687602e-05 1.29235091e-01] [-7.73094981e-04 -5.73367777e-06 9.99999701e-01 -2.40451832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.97420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.03, Y:0.13, Z:-0.24 [[ 9.99361733e-01 3.57145420e-02 7.72904656e-04 6.00250828e+01] [-3.57145387e-02 9.99362032e-01 -1.80860225e-05 1.28273988e-01] [-7.73057501e-04 -9.52945442e-06 9.99999701e-01 -2.37244258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.06, Y:0.13, Z:-0.24 [[ 9.99287174e-01 3.77431526e-02 7.72901617e-04 6.00577476e+01] [-3.77431498e-02 9.99287473e-01 -1.82149611e-05 1.26965713e-01] [-7.73038394e-04 -1.09697645e-05 9.99999701e-01 -2.36613792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.09, Y:0.13, Z:-0.24 [[ 9.99235690e-01 3.90824669e-02 7.72898071e-04 6.00887858e+01] [-3.90824644e-02 9.99235988e-01 -1.83642205e-05 1.27787027e-01] [-7.73025287e-04 -1.18565768e-05 9.99999701e-01 -2.35303165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.12, Y:0.13, Z:-0.23 [[ 9.99162554e-01 4.09095867e-02 7.72896382e-04 6.01205322e+01] [-4.09095847e-02 9.99162852e-01 -1.84350018e-05 1.33320126e-01] [-7.73003522e-04 -1.31993065e-05 9.99999701e-01 -2.34908009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.15, Y:0.13, Z:-0.24 [[ 9.99159777e-01 4.09773425e-02 7.72893094e-04 6.01515290e+01] [-4.09773404e-02 9.99160076e-01 -1.85718375e-05 1.34464830e-01] [-7.73004947e-04 -1.31148704e-05 9.99999701e-01 -2.37182886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.124203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.18, Y:0.13, Z:-0.24 [[ 9.99184126e-01 4.03792710e-02 7.72890243e-04 6.01824813e+01] [-4.03792686e-02 9.99184425e-01 -1.86897611e-05 1.34748109e-01] [-7.73014571e-04 -1.25342302e-05 9.99999701e-01 -2.41351049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.15420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.21, Y:0.13, Z:-0.24 [[ 9.99205200e-01 3.98543595e-02 7.72887401e-04 6.02146790e+01] [-3.98543569e-02 9.99205499e-01 -1.88065325e-05 1.34749716e-01] [-7.73022864e-04 -1.20113453e-05 9.99999701e-01 -2.40168136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.25, Y:0.14, Z:-0.24 [[ 9.99223049e-01 3.94043267e-02 7.72884219e-04 6.02467253e+01] [-3.94043239e-02 9.99223348e-01 -1.89364141e-05 1.35336526e-01] [-7.73030134e-04 -1.15332786e-05 9.99999701e-01 -2.41280149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.21420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.28, Y:0.14, Z:-0.24 [[ 9.99248525e-01 3.87529132e-02 7.72881008e-04 6.02789867e+01] [-3.87529100e-02 9.99248824e-01 -1.90665940e-05 1.36159608e-01] [-7.73039324e-04 -1.08991222e-05 9.99999701e-01 -2.40213847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.31, Y:0.14, Z:-0.24 [[ 9.99338067e-01 3.63707336e-02 7.72877789e-04 6.03096918e+01] [-3.63707297e-02 9.99338366e-01 -1.91961974e-05 1.36578111e-01] [-7.73064606e-04 -8.92663830e-06 9.99999701e-01 -2.37554181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.34, Y:0.14, Z:-0.24 [[ 9.99377265e-01 3.52772518e-02 7.72877328e-04 6.03404140e+01] [-3.52772475e-02 9.99377564e-01 -1.92147201e-05 1.35895923e-01] [-7.73074104e-04 -8.06223031e-06 9.99999701e-01 -2.38739284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.304203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.37, Y:0.14, Z:-0.24 [[ 9.99469511e-01 3.25591726e-02 7.72874451e-04 6.03729766e+01] [-3.25591673e-02 9.99469810e-01 -1.93297532e-05 1.35508129e-01] [-7.73094041e-04 -5.84464958e-06 9.99999701e-01 -2.37000742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.334203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.41, Y:0.14, Z:-0.24 [[ 9.99502873e-01 3.15183855e-02 7.72871140e-04 6.04054641e+01] [-3.15183799e-02 9.99503172e-01 -1.94612611e-05 1.35095091e-01] [-7.73100543e-04 -4.90805984e-06 9.99999701e-01 -2.38769584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36420382200001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:60.44, Y:0.14, Z:-0.24 [[ 9.99520676e-01 3.09486980e-02 7.72867576e-04 6.04364313e+01] [-3.09486921e-02 9.99520974e-01 -1.96017656e-05 1.35105517e-01] [-7.73104002e-04 -4.32687071e-06 9.99999701e-01 -2.37497805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.47, Y:0.14, Z:-0.23 [[ 9.99528531e-01 3.06939310e-02 7.72865775e-04 6.04682668e+01] [-3.06939250e-02 9.99528830e-01 -1.96725405e-05 1.35816499e-01] [-7.73105451e-04 -4.05901857e-06 9.99999701e-01 -2.32959947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.50, Y:0.13, Z:-0.23 [[ 9.99534478e-01 3.04996689e-02 7.72862523e-04 6.05000317e+01] [-3.04996627e-02 9.99534777e-01 -1.97994698e-05 1.34584533e-01] [-7.73106847e-04 -3.78179352e-06 9.99999701e-01 -2.32787970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.53, Y:0.13, Z:-0.23 [[ 9.99551600e-01 2.99332953e-02 7.72859218e-04 6.05323207e+01] [-2.99332888e-02 9.99551899e-01 -1.99276624e-05 1.31203983e-01] [-7.73109399e-04 -3.21549133e-06 9.99999701e-01 -2.34801281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.484203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.56, Y:0.13, Z:-0.23 [[ 9.99543442e-01 3.02044579e-02 7.72855900e-04 6.05639430e+01] [-3.02044515e-02 9.99543741e-01 -2.00555264e-05 1.29423100e-01] [-7.73109044e-04 -3.29731856e-06 9.99999701e-01 -2.33045543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.514203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.60, Y:0.13, Z:-0.24 [[ 9.99524595e-01 3.08218454e-02 7.72854008e-04 6.05954811e+01] [-3.08218391e-02 9.99524894e-01 -2.01281626e-05 1.28062550e-01] [-7.73107207e-04 -3.70218825e-06 9.99999701e-01 -2.36102751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.63, Y:0.13, Z:-0.23 [[ 9.99493651e-01 3.18095050e-02 7.72852079e-04 6.06275480e+01] [-3.18094989e-02 9.99493950e-01 -2.02019438e-05 1.27449309e-01] [-7.73103591e-04 -4.39232284e-06 9.99999701e-01 -2.34291856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.66, Y:0.13, Z:-0.24 [[ 9.99372222e-01 3.54198271e-02 7.72848556e-04 6.06585406e+01] [-3.54198220e-02 9.99372521e-01 -2.03358305e-05 1.29103413e-01] [-7.73083902e-04 -7.05109415e-06 9.99999701e-01 -2.36507630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.69, Y:0.13, Z:-0.23 [[ 9.99299975e-01 3.74027051e-02 7.72846548e-04 6.06909701e+01] [-3.74027005e-02 9.99300274e-01 -2.04118600e-05 1.29372732e-01] [-7.73069226e-04 -8.50897684e-06 9.99999701e-01 -2.33977117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.72, Y:0.13, Z:-0.23 [[ 9.99293299e-01 3.75806439e-02 7.72842902e-04 6.07236210e+01] [-3.75806393e-02 9.99293598e-01 -2.05490087e-05 1.28369750e-01] [-7.73069209e-04 -8.50944361e-06 9.99999701e-01 -2.34002381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.664203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.75, Y:0.13, Z:-0.24 [[ 9.99154028e-01 4.11172785e-02 7.72839218e-04 6.07548864e+01] [-4.11172748e-02 9.99154327e-01 -2.06866235e-05 1.27013118e-01] [-7.73036227e-04 -1.11079193e-05 9.99999701e-01 -2.37241160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.694203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.79, Y:0.12, Z:-0.24 [[ 9.99095511e-01 4.25154370e-02 7.72837180e-04 6.07873131e+01] [-4.25154336e-02 9.99095810e-01 -2.07625009e-05 1.24966145e-01] [-7.73021115e-04 -1.21137864e-05 9.99999701e-01 -2.37524005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.82, Y:0.12, Z:-0.24 [[ 9.99054927e-01 4.34586618e-02 7.72833752e-04 6.08197015e+01] [-4.34586586e-02 9.99055226e-01 -2.08892930e-05 1.23433533e-01] [-7.73011420e-04 -1.27167671e-05 9.99999701e-01 -2.36416102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.85, Y:0.12, Z:-0.24 [[ 9.99032129e-01 4.39796385e-02 7.72830155e-04 6.08511863e+01] [-4.39796354e-02 9.99032428e-01 -2.10215511e-05 1.22092365e-01] [-7.73006906e-04 -1.29875835e-05 9.99999701e-01 -2.36896019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.88, Y:0.12, Z:-0.23 [[ 9.99069109e-01 4.31314106e-02 7.72827578e-04 6.08818119e+01] [-4.31314072e-02 9.99069408e-01 -2.11158515e-05 1.20579144e-01] [-7.73019147e-04 -1.22369460e-05 9.99999701e-01 -2.34865302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.91, Y:0.12, Z:-0.23 [[ 9.99120779e-01 4.19174475e-02 7.72827069e-04 6.09138882e+01] [-4.19174437e-02 9.99121077e-01 -2.11344634e-05 1.18491351e-01] [-7.73033717e-04 -1.12790536e-05 9.99999701e-01 -2.32942831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.95, Y:0.12, Z:-0.23 [[ 9.99237198e-01 3.90438754e-02 7.72823612e-04 6.09450964e+01] [-3.90438707e-02 9.99237497e-01 -2.12601473e-05 1.15981376e-01] [-7.73064410e-04 -8.93009510e-06 9.99999701e-01 -2.31099209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.874203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.98, Y:0.11, Z:-0.23 [[ 9.99275268e-01 3.80570861e-02 7.72821734e-04 6.09771130e+01] [-3.80570810e-02 9.99275567e-01 -2.13282047e-05 1.13748187e-01] [-7.73073565e-04 -8.09859181e-06 9.99999701e-01 -2.29088379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.01, Y:0.11, Z:-0.23 [[ 9.99309227e-01 3.71547039e-02 7.72818133e-04 6.10090660e+01] [-3.71546984e-02 9.99309526e-01 -2.14578971e-05 1.10187533e-01] [-7.73081783e-04 -7.27075002e-06 9.99999701e-01 -2.29829331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.04, Y:0.10, Z:-0.24 [[ 9.99347112e-01 3.61213696e-02 7.72814451e-04 6.10403703e+01] [-3.61213637e-02 9.99347410e-01 -2.15896807e-05 1.02695437e-01] [-7.73089969e-04 -6.33952685e-06 9.99999701e-01 -2.36303003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.07, Y:0.10, Z:-0.23 [[ 9.99315306e-01 3.69908378e-02 7.72812347e-04 6.10722914e+01] [-3.69908321e-02 9.99315605e-01 -2.16647205e-05 1.00536423e-01] [-7.73084835e-04 -6.93708501e-06 9.99999701e-01 -2.34476382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.10, Y:0.10, Z:-0.23 [[ 9.99256065e-01 3.85579940e-02 7.72808825e-04 6.11049413e+01] [-3.85579887e-02 9.99256364e-01 -2.17896625e-05 9.94979628e-02] [-7.73074302e-04 -8.02450148e-06 9.99999701e-01 -2.34640044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.14, Y:0.10, Z:-0.24 [[ 9.99036528e-01 4.38795850e-02 7.72807544e-04 6.11373489e+01] [-4.38795813e-02 9.99036827e-01 -2.18349983e-05 9.83820761e-02] [-7.73021307e-04 -1.20965106e-05 9.99999701e-01 -2.37642054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.17, Y:0.10, Z:-0.24 [[ 9.98874609e-01 4.74227634e-02 7.72803889e-04 6.11685196e+01] [-4.74227606e-02 9.98874908e-01 -2.19636087e-05 9.65310139e-02] [-7.72975988e-04 -1.47096027e-05 9.99999701e-01 -2.39763835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.20, Y:0.09, Z:-0.24 [[ 9.98694121e-01 5.10828229e-02 7.72800499e-04 6.12002692e+01] [-5.10828211e-02 9.98694420e-01 -2.20822303e-05 9.36873140e-02] [-7.72919569e-04 -1.74234361e-05 9.99999701e-01 -2.39184842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.23, Y:0.09, Z:-0.24 [[ 9.98275670e-01 5.86948800e-02 7.72796723e-04 6.12317945e+01] [-5.86948804e-02 9.98275969e-01 -2.22136034e-05 9.11269622e-02] [-7.72768222e-04 -2.31839113e-05 9.99999701e-01 -2.40019075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.26, Y:0.09, Z:-0.24 [[ 9.98050079e-01 6.24134792e-02 7.72794026e-04 6.12633659e+01] [-6.24134806e-02 9.98050378e-01 -2.23070288e-05 9.13711108e-02] [-7.72679629e-04 -2.59692330e-05 9.99999701e-01 -2.39796253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.30, Y:0.09, Z:-0.24 [[ 9.97847278e-01 6.55760010e-02 7.72790636e-04 6.12959983e+01] [-6.55760033e-02 9.97847577e-01 -2.24238412e-05 9.22271826e-02] [-7.72597730e-04 -2.83009525e-05 9.99999701e-01 -2.39198869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.33, Y:0.09, Z:-0.24 [[ 9.97670197e-01 6.82171656e-02 7.72786998e-04 6.13283905e+01] [-6.82171686e-02 9.97670495e-01 -2.25485232e-05 9.26941018e-02] [-7.72524984e-04 -3.02213514e-05 9.99999701e-01 -2.37770029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.36, Y:0.09, Z:-0.24 [[ 9.97365186e-01 7.25402479e-02 7.72783312e-04 6.13594438e+01] [-7.25402521e-02 9.97365485e-01 -2.26741635e-05 9.27070688e-02] [-7.72392193e-04 -3.34434750e-05 9.99999701e-01 -2.36828807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.39, Y:0.09, Z:-0.24 [[ 9.97268246e-01 7.38610110e-02 7.72781284e-04 6.13922913e+01] [-7.38610155e-02 9.97268545e-01 -2.27430854e-05 9.16911567e-02] [-7.72350293e-04 -3.43974535e-05 9.99999701e-01 -2.36366444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.42, Y:0.09, Z:-0.24 [[ 9.97233047e-01 7.43347299e-02 7.72777110e-04 6.14248582e+01] [-7.43347345e-02 9.97233346e-01 -2.28840274e-05 9.17640282e-02] [-7.72340181e-04 -3.46234729e-05 9.99999701e-01 -2.37587420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.46, Y:0.09, Z:-0.24 [[ 9.97286685e-01 7.36116172e-02 7.72772937e-04 6.14573879e+01] [-7.36116214e-02 9.97286984e-01 -2.30240924e-05 9.23447789e-02] [-7.72371232e-04 -3.39234480e-05 9.99999701e-01 -2.36348032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.49, Y:0.09, Z:-0.24 [[ 9.97375994e-01 7.23915032e-02 7.72769103e-04 6.14898555e+01] [-7.23915069e-02 9.97376293e-01 -2.31520768e-05 9.28267849e-02] [-7.72417596e-04 -3.28505942e-05 9.99999701e-01 -2.37560987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.52, Y:0.09, Z:-0.24 [[ 9.97646911e-01 6.85568705e-02 7.72766358e-04 6.15210872e+01] [-6.85568730e-02 9.97647210e-01 -2.32433080e-05 9.47032118e-02] [-7.72541690e-04 -2.97898306e-05 9.99999701e-01 -2.35443627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.55, Y:0.09, Z:-0.24 [[ 9.97790009e-01 6.64417076e-02 7.72762860e-04 6.15536588e+01] [-6.64417094e-02 9.97790308e-01 -2.33590331e-05 9.46388115e-02] [-7.72607306e-04 -2.80362755e-05 9.99999701e-01 -2.35367045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.59, Y:0.09, Z:-0.24 [[ 9.97925659e-01 6.43722175e-02 7.72758508e-04 6.15856173e+01] [-6.43722186e-02 9.97925958e-01 -2.35021234e-05 9.43446084e-02] [-7.72668658e-04 -2.62908077e-05 9.99999701e-01 -2.36750795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.62, Y:0.09, Z:-0.24 [[ 9.98159888e-01 6.06320051e-02 7.72754677e-04 6.16176294e+01] [-6.06320050e-02 9.98160187e-01 -2.36274255e-05 9.45483041e-02] [-7.72765532e-04 -2.32697171e-05 9.99999701e-01 -2.36078529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.65, Y:0.09, Z:-0.24 [[ 9.98213279e-01 5.97465606e-02 7.72750644e-04 6.16495492e+01] [-5.97465601e-02 9.98213578e-01 -2.37586080e-05 9.46126796e-02] [-7.72789681e-04 -2.24530348e-05 9.99999701e-01 -2.38724079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.68, Y:0.10, Z:-0.24 [[ 9.98280318e-01 5.86157784e-02 7.72746317e-04 6.16829128e+01] [-5.86157774e-02 9.98280617e-01 -2.38985269e-05 9.52198348e-02] [-7.72818501e-04 -2.14376971e-05 9.99999701e-01 -2.37112779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.71, Y:0.10, Z:-0.24 [[ 9.98360373e-01 5.72360694e-02 7.72741669e-04 6.17147177e+01] [-5.72360679e-02 9.98360672e-01 -2.40478685e-05 9.88055393e-02] [-7.72851298e-04 -2.02202557e-05 9.99999701e-01 -2.39190290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.75, Y:0.10, Z:-0.24 [[ 9.98390207e-01 5.67132832e-02 7.72737591e-04 6.17472646e+01] [-5.67132815e-02 9.98390506e-01 -2.41782036e-05 1.01152888e-01] [-7.72865100e-04 -1.96852028e-05 9.99999701e-01 -2.40219222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.78, Y:0.11, Z:-0.24 [[ 9.98440741e-01 5.58165713e-02 7.72733566e-04 6.17784001e+01] [-5.58165692e-02 9.98441040e-01 -2.43061629e-05 1.06747047e-01] [-7.72885592e-04 -1.88630733e-05 9.99999701e-01 -2.44913123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.81, Y:0.11, Z:-0.25 [[ 9.98461007e-01 5.54528592e-02 7.72731262e-04 6.18110466e+01] [-5.54528570e-02 9.98461306e-01 -2.43792026e-05 1.08296446e-01] [-7.72894162e-04 -1.85084730e-05 9.99999701e-01 -2.45208610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.84, Y:0.11, Z:-0.25 [[ 9.98495470e-01 5.48288113e-02 7.72727234e-04 6.18419145e+01] [-5.48288088e-02 9.98495769e-01 -2.45062046e-05 1.10027180e-01] [-7.72908520e-04 -1.78983794e-05 9.99999701e-01 -2.45298670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.714203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:61.87, Y:0.12, Z:-0.24 [[ 9.98576683e-01 5.33292682e-02 7.72723501e-04 6.18744510e+01] [-5.33292652e-02 9.98576982e-01 -2.46233513e-05 1.16398506e-01] [-7.72937047e-04 -1.66204721e-05 9.99999701e-01 -2.41819345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.91, Y:0.12, Z:-0.24 [[ 9.98631638e-01 5.22901016e-02 7.72719388e-04 6.19054615e+01] [-5.22900981e-02 9.98631937e-01 -2.47517531e-05 1.19550419e-01] [-7.72956531e-04 -1.56876888e-05 9.99999701e-01 -2.43081707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.94, Y:0.12, Z:-0.25 [[ 9.98697659e-01 5.10136062e-02 7.72717102e-04 6.19369084e+01] [-5.10136023e-02 9.98697958e-01 -2.48229269e-05 1.23075087e-01] [-7.72977299e-04 -1.46284840e-05 9.99999701e-01 -2.45339515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.97, Y:0.13, Z:-0.24 [[ 9.98772492e-01 4.95268758e-02 7.72714838e-04 6.19680650e+01] [-4.95268713e-02 9.98772791e-01 -2.48932065e-05 1.26844998e-01] [-7.72999438e-04 -1.34074984e-05 9.99999701e-01 -2.43191223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83420382199999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:62.00, Y:0.14, Z:-0.24 [[ 9.98897252e-01 4.69433979e-02 7.72714256e-04 6.20000467e+01] [-4.69433926e-02 9.98897551e-01 -2.49112395e-05 1.36311124e-01] [-7.73031797e-04 -1.13900601e-05 9.99999701e-01 -2.41736876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.03, Y:0.14, Z:-0.24 [[ 9.98943519e-01 4.59483230e-02 7.72713651e-04 6.20303945e+01] [-4.59483174e-02 9.98943818e-01 -2.49299926e-05 1.40833192e-01] [-7.73043016e-04 -1.06012376e-05 9.99999701e-01 -2.40347797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.06, Y:0.15, Z:-0.24 [[ 9.99038097e-01 4.38438549e-02 7.72713651e-04 6.20608544e+01] [-4.38438487e-02 9.99038396e-01 -2.49299926e-05 1.47705912e-01] [-7.73063634e-04 -8.97272808e-06 9.99999701e-01 -2.42082039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.09, Y:0.15, Z:-0.24 [[ 9.99100977e-01 4.23868062e-02 7.72713341e-04 6.20914131e+01] [-4.23867996e-02 9.99101275e-01 -2.49396019e-05 1.50436995e-01] [-7.73075995e-04 -7.83566497e-06 9.99999701e-01 -2.41516150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.12, Y:0.15, Z:-0.24 [[ 9.99165313e-01 4.08421460e-02 7.72713341e-04 6.21208251e+01] [-4.08421389e-02 9.99165611e-01 -2.49396019e-05 1.54550701e-01] [-7.73087185e-04 -6.64048051e-06 9.99999701e-01 -2.41098000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.15, Y:0.17, Z:-0.23 [[ 9.99294378e-01 3.75519464e-02 7.72713630e-04 6.21514436e+01] [-3.75519383e-02 9.99294677e-01 -2.49306545e-05 1.65836454e-01] [-7.73104812e-04 -4.10383164e-06 9.99999701e-01 -2.31575008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.18, Y:0.17, Z:-0.23 [[ 9.99360716e-01 3.57430109e-02 7.72713630e-04 6.21819626e+01] [-3.57430024e-02 9.99361014e-01 -2.49306545e-05 1.69539758e-01] [-7.73110974e-04 -2.70438833e-06 9.99999701e-01 -2.29563998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.21, Y:0.17, Z:-0.23 [[ 9.99439267e-01 3.34746718e-02 7.72713630e-04 6.22119324e+01] [-3.34746625e-02 9.99439566e-01 -2.49306545e-05 1.72551439e-01] [-7.73115121e-04 -9.49652893e-07 9.99999701e-01 -2.30533998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.24, Y:0.18, Z:-0.23 [[ 9.99627546e-01 2.72795213e-02 7.72713930e-04 6.22427541e+01] [-2.72795101e-02 9.99627845e-01 -2.49213508e-05 1.78188261e-01] [-7.73106203e-04 3.83281122e-06 9.99999701e-01 -2.31794915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.27, Y:0.18, Z:-0.23 [[ 9.99724018e-01 2.34795685e-02 7.72713930e-04 6.22733960e+01] [-2.34795563e-02 9.99724317e-01 -2.49213508e-05 1.78520137e-01] [-7.73086048e-04 6.77149271e-06 9.99999701e-01 -2.30682182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.30, Y:0.18, Z:-0.23 [[ 9.99804384e-01 1.97635217e-02 7.72713930e-04 6.23038436e+01] [-1.97635083e-02 9.99804682e-01 -2.49213508e-05 1.77318322e-01] [-7.73055539e-04 9.64493757e-06 9.99999701e-01 -2.32098339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.33, Y:0.18, Z:-0.24 [[ 9.99914388e-01 1.30621482e-02 7.72713930e-04 6.23342638e+01] [-1.30621329e-02 9.99914686e-01 -2.49213508e-05 1.76270419e-01] [-7.72973533e-04 1.48259252e-05 9.99999701e-01 -2.36206209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.36, Y:0.18, Z:-0.24 [[ 9.99941993e-01 1.07430852e-02 7.72713930e-04 6.23635526e+01] [-1.07430692e-02 9.99942291e-01 -2.49213508e-05 1.76884184e-01] [-7.72937070e-04 1.66185860e-05 9.99999701e-01 -2.38739891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.39, Y:0.18, Z:-0.24 [[ 9.99961568e-01 8.73301924e-03 7.72714231e-04 6.23937990e+01] [-8.73300259e-03 9.99961866e-01 -2.49120266e-05 1.75934663e-01] [-7.72902321e-04 1.81629538e-05 9.99999701e-01 -2.40960536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.42, Y:0.17, Z:-0.24 [[ 9.99957771e-01 9.15742593e-03 7.72712661e-04 6.24237379e+01] [-9.15740937e-03 9.99958070e-01 -2.49606040e-05 1.74865795e-01] [-7.72908836e-04 1.78835037e-05 9.99999701e-01 -2.41831824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.45, Y:0.17, Z:-0.24 [[ 9.99946234e-01 1.03407979e-02 7.72712369e-04 6.24540473e+01] [-1.03407817e-02 9.99946532e-01 -2.49696568e-05 1.74651131e-01] [-7.72929260e-04 1.69778644e-05 9.99999701e-01 -2.42279582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.314203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.48, Y:0.17, Z:-0.24 [[ 9.99922000e-01 1.24657864e-02 7.72712369e-04 6.24849558e+01] [-1.24657708e-02 9.99922299e-01 -2.49696568e-05 1.74916976e-01] [-7.72963595e-04 1.53352539e-05 9.99999701e-01 -2.40426173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.51, Y:0.17, Z:-0.24 [[ 9.99823925e-01 1.87489295e-02 7.72712369e-04 6.25145439e+01] [-1.87489158e-02 9.99824223e-01 -2.49696568e-05 1.73472267e-01] [-7.73044698e-04 1.04777412e-05 9.99999701e-01 -2.39395669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.54, Y:0.17, Z:-0.24 [[ 9.99754211e-01 2.21567035e-02 7.72712667e-04 6.25437713e+01] [-2.21566909e-02 9.99754510e-01 -2.49604372e-05 1.71813124e-01] [-7.73076015e-04 7.83354655e-06 9.99999701e-01 -2.37639416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.57, Y:0.17, Z:-0.24 [[ 9.99675921e-01 2.54451472e-02 7.72712954e-04 6.25730944e+01] [-2.54451355e-02 9.99676220e-01 -2.49515498e-05 1.71359824e-01] [-7.73097660e-04 5.28167772e-06 9.99999701e-01 -2.36084032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.60, Y:0.17, Z:-0.23 [[ 9.99496596e-01 3.17168430e-02 7.72713530e-04 6.26031045e+01] [-3.17168332e-02 9.99496894e-01 -2.49336818e-05 1.72984385e-01] [-7.73115591e-04 4.13103913e-07 9.99999701e-01 -2.33259052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.63, Y:0.17, Z:-0.23 [[ 9.99413163e-01 3.42451841e-02 7.72714131e-04 6.26330197e+01] [-3.42451751e-02 9.99413462e-01 -2.49150345e-05 1.72594272e-01] [-7.73114125e-04 -1.56131732e-06 9.99999701e-01 -2.33828522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.66, Y:0.17, Z:-0.23 [[ 9.99413989e-01 3.42210576e-02 7.72714732e-04 6.26631658e+01] [-3.42210485e-02 9.99414288e-01 -2.48964043e-05 1.71667268e-01] [-7.73114125e-04 -1.56129356e-06 9.99999701e-01 -2.33851840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.69, Y:0.17, Z:-0.23 [[ 9.99275124e-01 3.80608590e-02 7.72715332e-04 6.26923539e+01] [-3.80608511e-02 9.99275423e-01 -2.48777504e-05 1.69271548e-01] [-7.73102309e-04 -4.55048606e-06 9.99999701e-01 -2.34281007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.72, Y:0.17, Z:-0.23 [[ 9.99242998e-01 3.88951539e-02 7.72715099e-04 6.27216026e+01] [-3.88951463e-02 9.99243297e-01 -2.48850085e-05 1.67434219e-01] [-7.73098289e-04 -5.18869629e-06 9.99999701e-01 -2.32843095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.75, Y:0.16, Z:-0.23 [[ 9.99227572e-01 3.92894730e-02 7.72715688e-04 6.27498189e+01] [-3.92894655e-02 9.99227871e-01 -2.48666873e-05 1.64975644e-01] [-7.73096051e-04 -5.51210683e-06 9.99999701e-01 -2.33155841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.78, Y:0.16, Z:-0.23 [[ 9.99250905e-01 3.86915050e-02 7.72716568e-04 6.27798142e+01] [-3.86914974e-02 9.99251203e-01 -2.48393296e-05 1.60035676e-01] [-7.73099031e-04 -5.07683847e-06 9.99999701e-01 -2.32750688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.644203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:62.81, Y:0.16, Z:-0.23 [[ 9.99263544e-01 3.83636845e-02 7.72717153e-04 6.28097096e+01] [-3.83636768e-02 9.99263843e-01 -2.48210960e-05 1.57994868e-01] [-7.73100541e-04 -4.84145474e-06 9.99999701e-01 -2.32692994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.84, Y:0.16, Z:-0.23 [[ 9.99294392e-01 3.75515788e-02 7.72717748e-04 6.28395191e+01] [-3.75515709e-02 9.99294691e-01 -2.48025617e-05 1.55522331e-01] [-7.73104119e-04 -4.23170448e-06 9.99999701e-01 -2.33369233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.87, Y:0.15, Z:-0.23 [[ 9.99345810e-01 3.61573539e-02 7.72718347e-04 6.28700969e+01] [-3.61573456e-02 9.99346109e-01 -2.47838918e-05 1.50578135e-01] [-7.73109193e-04 -3.17176589e-06 9.99999701e-01 -2.33737044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.90, Y:0.15, Z:-0.23 [[ 9.99395057e-01 3.47695793e-02 7.72718347e-04 6.28990590e+01] [-3.47695706e-02 9.99395355e-01 -2.47838918e-05 1.46633058e-01] [-7.73112853e-04 -2.09818615e-06 9.99999701e-01 -2.34607841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.93, Y:0.14, Z:-0.23 [[ 9.99448622e-01 3.31942143e-02 7.72718646e-04 6.29290749e+01] [-3.31942051e-02 9.99448920e-01 -2.47745702e-05 1.42285760e-01] [-7.73115189e-04 -8.88871173e-07 9.99999701e-01 -2.34924808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.96, Y:0.13, Z:-0.23 [[ 9.99537741e-01 3.03925521e-02 7.72718646e-04 6.29596266e+01] [-3.03925420e-02 9.99538040e-01 -2.47745702e-05 1.33439761e-01] [-7.73114643e-04 1.27823399e-06 9.99999701e-01 -2.34575051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.99, Y:0.13, Z:-0.24 [[ 9.99556839e-01 2.97578418e-02 7.72718646e-04 6.29886855e+01] [-2.97578316e-02 9.99557137e-01 -2.47745702e-05 1.28681868e-01] [-7.73113675e-04 1.76915974e-06 9.99999701e-01 -2.35968372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.02, Y:0.12, Z:-0.24 [[ 9.99513215e-01 3.11887242e-02 7.72718944e-04 6.30193289e+01] [-3.11887144e-02 9.99513513e-01 -2.47652578e-05 1.21221320e-01] [-7.73115424e-04 6.53091980e-07 9.99999701e-01 -2.39519515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.05, Y:0.12, Z:-0.24 [[ 9.99454530e-01 3.30158240e-02 7.72718944e-04 6.30490206e+01] [-3.30158147e-02 9.99454829e-01 -2.47652578e-05 1.18231409e-01] [-7.73115326e-04 -7.60196425e-07 9.99999701e-01 -2.42319088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.08, Y:0.12, Z:-0.24 [[ 9.99376994e-01 3.52849489e-02 7.72719241e-04 6.30797210e+01] [-3.52849403e-02 9.99377292e-01 -2.47559992e-05 1.15710662e-01] [-7.73111577e-04 -2.52477625e-06 9.99999701e-01 -2.39550553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.11, Y:0.11, Z:-0.24 [[ 9.99273335e-01 3.81077935e-02 7.72719241e-04 6.31088029e+01] [-3.81077857e-02 9.99273634e-01 -2.47559992e-05 1.13641283e-01] [-7.73101361e-04 -4.70860943e-06 9.99999701e-01 -2.40138149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.14, Y:0.11, Z:-0.24 [[ 9.98992660e-01 4.48672192e-02 7.72719539e-04 6.31393087e+01] [-4.48672134e-02 9.98992959e-01 -2.47466980e-05 1.10284701e-01] [-7.73051694e-04 -9.94800285e-06 9.99999701e-01 -2.38223592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.17, Y:0.11, Z:-0.24 [[ 9.98839632e-01 4.81538385e-02 7.72719539e-04 6.31694519e+01] [-4.81538338e-02 9.98839931e-01 -2.47466980e-05 1.07665879e-01] [-7.73014779e-04 -1.24914255e-05 9.99999701e-01 -2.36425768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.20, Y:0.11, Z:-0.24 [[ 9.98706588e-01 5.08385086e-02 7.72719539e-04 6.31993722e+01] [-5.08385047e-02 9.98706887e-01 -2.47466980e-05 1.05045720e-01] [-7.72978410e-04 -1.45692156e-05 9.99999701e-01 -2.35190056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.23, Y:0.10, Z:-0.23 [[ 9.98491357e-01 5.49036652e-02 7.72719830e-04 6.32290831e+01] [-5.49036625e-02 9.98491656e-01 -2.47376165e-05 1.01268737e-01] [-7.72912488e-04 -1.77248525e-05 9.99999701e-01 -2.34846153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.26, Y:0.10, Z:-0.23 [[ 9.98426686e-01 5.60674283e-02 7.72719830e-04 6.32598140e+01] [-5.60674260e-02 9.98426984e-01 -2.47376165e-05 9.89059728e-02] [-7.72891304e-04 -1.86257154e-05 9.99999701e-01 -2.34382388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.29, Y:0.10, Z:-0.24 [[ 9.98400343e-01 5.65345654e-02 7.72719830e-04 6.32892510e+01] [-5.65345632e-02 9.98400642e-01 -2.47376165e-05 9.65671381e-02] [-7.72882505e-04 -1.89873333e-05 9.99999701e-01 -2.36564831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.32, Y:0.09, Z:-0.24 [[ 9.98445479e-01 5.57317518e-02 7.72720119e-04 6.33195504e+01] [-5.57317494e-02 9.98445778e-01 -2.47285731e-05 9.38119590e-02] [-7.72897307e-04 -1.83749120e-05 9.99999701e-01 -2.36663361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.35, Y:0.09, Z:-0.24 [[ 9.98498451e-01 5.47745053e-02 7.72720119e-04 6.33498253e+01] [-5.47745026e-02 9.98498750e-01 -2.47285731e-05 9.11541013e-02] [-7.72914568e-04 -1.76339183e-05 9.99999701e-01 -2.38567892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.38, Y:0.09, Z:-0.24 [[ 9.98590901e-01 5.30623773e-02 7.72719831e-04 6.33803605e+01] [-5.30623741e-02 9.98591200e-01 -2.47375832e-05 8.76822927e-02] [-7.72943857e-04 -1.62996232e-05 9.99999701e-01 -2.40810101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.41, Y:0.08, Z:-0.24 [[ 9.98805726e-01 4.88520780e-02 7.72719831e-04 6.34108760e+01] [-4.88520735e-02 9.98806024e-01 -2.47375832e-05 8.06095794e-02] [-7.73005704e-04 -1.30409262e-05 9.99999701e-01 -2.42246956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.44, Y:0.08, Z:-0.24 [[ 9.98919154e-01 4.64750036e-02 7.72717554e-04 6.34416551e+01] [-4.64749983e-02 9.98919453e-01 -2.48085032e-05 7.80324584e-02] [-7.73035571e-04 -1.11303579e-05 9.99999701e-01 -2.40831363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.47, Y:0.08, Z:-0.24 [[ 9.99030639e-01 4.40134686e-02 7.72716953e-04 6.34727731e+01] [-4.40134626e-02 9.99030938e-01 -2.48271924e-05 7.57184854e-02] [-7.73060873e-04 -9.20682275e-06 9.99999701e-01 -2.41398252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.50, Y:0.07, Z:-0.24 [[ 9.99221693e-01 3.94386988e-02 7.72713061e-04 6.35038756e+01] [-3.94386913e-02 9.99221992e-01 -2.49477411e-05 7.16679073e-02] [-7.73095790e-04 -5.54646778e-06 9.99999701e-01 -2.42661076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.53, Y:0.07, Z:-0.24 [[ 9.99286579e-01 3.77589198e-02 7.72709207e-04 6.35345771e+01] [-3.77589117e-02 9.99286878e-01 -2.50665630e-05 6.84911494e-02] [-7.73104657e-04 -4.12797870e-06 9.99999701e-01 -2.44504308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.57, Y:0.06, Z:-0.24 [[ 9.99339498e-01 3.63313958e-02 7.72705371e-04 6.35653377e+01] [-3.63313872e-02 9.99339797e-01 -2.51842474e-05 6.49172402e-02] [-7.73110207e-04 -2.90584488e-06 9.99999701e-01 -2.44764205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.60, Y:0.06, Z:-0.25 [[ 9.99369119e-01 3.55072788e-02 7.72704779e-04 6.35953051e+01] [-3.55072699e-02 9.99369418e-01 -2.52023884e-05 6.08815982e-02] [-7.73112394e-04 -2.25014848e-06 9.99999701e-01 -2.45044658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.63, Y:0.06, Z:-0.24 [[ 9.99336644e-01 3.64098108e-02 7.72704485e-04 6.36270201e+01] [-3.64098022e-02 9.99336943e-01 -2.52114063e-05 6.00468477e-02] [-7.73110080e-04 -2.93933525e-06 9.99999701e-01 -2.41428511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.484203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.66, Y:0.06, Z:-0.24 [[ 9.99282195e-01 3.78747556e-02 7.72703873e-04 6.36577448e+01] [-3.78747474e-02 9.99282494e-01 -2.52301405e-05 5.94627707e-02] [-7.73105039e-04 -4.05393376e-06 9.99999701e-01 -2.41921342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.69, Y:0.06, Z:-0.24 [[ 9.99221883e-01 3.94338988e-02 7.72703569e-04 6.36881850e+01] [-3.94338911e-02 9.99222181e-01 -2.52394490e-05 5.82088496e-02] [-7.73097836e-04 -5.25089864e-06 9.99999701e-01 -2.43715894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.72, Y:0.06, Z:-0.24 [[ 9.99145617e-01 4.13211656e-02 7.72703267e-04 6.37196626e+01] [-4.13211584e-02 9.99145916e-01 -2.52486952e-05 5.72172470e-02] [-7.73086619e-04 -6.70187093e-06 9.99999701e-01 -2.43924673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.75, Y:0.06, Z:-0.24 [[ 9.99149636e-01 4.12238788e-02 7.72702669e-04 6.37510530e+01] [-4.12238716e-02 9.99149935e-01 -2.52669775e-05 5.63312733e-02] [-7.73087424e-04 -6.60830428e-06 9.99999701e-01 -2.44323664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.78, Y:0.06, Z:-0.25 [[ 9.99175724e-01 4.05866399e-02 7.72702070e-04 6.37821989e+01] [-4.05866325e-02 9.99176023e-01 -2.52853043e-05 5.51550474e-02] [-7.73091626e-04 -6.09691270e-06 9.99999701e-01 -2.45167271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.81, Y:0.05, Z:-0.25 [[ 9.99218534e-01 3.95186460e-02 7.72698170e-04 6.38139900e+01] [-3.95186381e-02 9.99218833e-01 -2.54039101e-05 5.35484288e-02] [-7.73098492e-04 -5.15192155e-06 9.99999701e-01 -2.46110680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.85, Y:0.05, Z:-0.25 [[ 9.99353645e-01 3.59401558e-02 7.72697022e-04 6.38461094e+01] [-3.59401468e-02 9.99353944e-01 -2.54387768e-05 4.90623441e-02] [-7.73112090e-04 -2.34851014e-06 9.99999701e-01 -2.48172903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.88, Y:0.05, Z:-0.25 [[ 9.99432273e-01 3.36828580e-02 7.72692680e-04 6.38771342e+01] [-3.36828482e-02 9.99432572e-01 -2.55700105e-05 4.64122222e-02] [-7.73115503e-04 -4.70996521e-07 9.99999701e-01 -2.49289447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.91, Y:0.04, Z:-0.25 [[ 9.99576569e-01 2.90875680e-02 7.72688634e-04 6.39077660e+01] [-2.90875569e-02 9.99576867e-01 -2.56916708e-05 4.08131123e-02] [-7.73108993e-04 3.20516757e-06 9.99999701e-01 -2.46117012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.94, Y:0.04, Z:-0.25 [[ 9.99633781e-01 2.70500806e-02 7.72684726e-04 6.39387159e+01] [-2.70500687e-02 9.99634080e-01 -2.58086911e-05 3.75432107e-02] [-7.73100112e-04 4.89806458e-06 9.99999701e-01 -2.45925257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.97, Y:0.03, Z:-0.24 [[ 9.99677341e-01 2.53893143e-02 7.72680837e-04 6.39702176e+01] [-2.53893018e-02 9.99677639e-01 -2.59246080e-05 3.46692526e-02] [-7.73089963e-04 6.29841621e-06 9.99999701e-01 -2.43466624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.00, Y:0.03, Z:-0.25 [[ 9.99702050e-01 2.43969949e-02 7.72680205e-04 6.40014095e+01] [-2.43969822e-02 9.99702349e-01 -2.59434234e-05 3.05723140e-02] [-7.73083157e-04 7.08462835e-06 9.99999701e-01 -2.45435299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.03, Y:0.03, Z:-0.25 [[ 9.99692122e-01 2.48004804e-02 7.72676108e-04 6.40329191e+01] [-2.48004677e-02 9.99692421e-01 -2.60648743e-05 2.71198364e-02] [-7.73084870e-04 6.89412067e-06 9.99999701e-01 -2.46446820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.06, Y:0.02, Z:-0.24 [[ 9.99667067e-01 2.57906483e-02 7.72673685e-04 6.40637757e+01] [-2.57906358e-02 9.99667366e-01 -2.61364997e-05 2.34914601e-02] [-7.73090745e-04 6.20005234e-06 9.99999701e-01 -2.42595392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.09, Y:0.02, Z:-0.24 [[ 9.99613627e-01 2.77848989e-02 7.72673027e-04 6.40949262e+01] [-2.77848869e-02 9.99613925e-01 -2.61559481e-05 1.97739967e-02] [-7.73101457e-04 4.67720940e-06 9.99999701e-01 -2.44590736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.13, Y:0.02, Z:-0.25 [[ 9.99435545e-01 3.35856203e-02 7.72668753e-04 6.41258576e+01] [-3.35856100e-02 9.99435844e-01 -2.62815942e-05 1.51197733e-02] [-7.73115531e-04 3.16208032e-07 9.99999701e-01 -2.45139530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.16, Y:0.01, Z:-0.25 [[ 9.99290139e-01 3.76645875e-02 7.72668133e-04 6.41572800e+01] [-3.76645784e-02 9.99290438e-01 -2.62998059e-05 1.35158248e-02] [-7.73110448e-04 -2.82108282e-06 9.99999701e-01 -2.46085266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.19, Y:0.01, Z:-0.25 [[ 9.99123634e-01 4.18493350e-02 7.72664100e-04 6.41893165e+01] [-4.18493271e-02 9.99123933e-01 -2.64177680e-05 1.22116445e-02] [-7.73092760e-04 -5.94085629e-06 9.99999701e-01 -2.46753254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.22, Y:0.01, Z:-0.25 [[ 9.98935706e-01 4.61178703e-02 7.72659783e-04 6.42213635e+01] [-4.61178636e-02 9.98936005e-01 -2.65434252e-05 9.91096176e-03] [-7.73061803e-04 -9.11824324e-06 9.99999701e-01 -2.46616432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.25, Y:0.01, Z:-0.25 [[ 9.98600630e-01 5.28789656e-02 7.72655447e-04 6.42529356e+01] [-5.28789608e-02 9.98600929e-01 -2.66690448e-05 8.11651282e-03] [-7.72984679e-04 -1.42254922e-05 9.99999701e-01 -2.46218407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.29, Y:0.01, Z:-0.25 [[ 9.98443290e-01 5.57709578e-02 7.72651416e-04 6.42851181e+01] [-5.57709538e-02 9.98443589e-01 -2.67853355e-05 8.37599729e-03] [-7.72942696e-04 -1.63478679e-05 9.99999701e-01 -2.45055252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.32, Y:0.01, Z:-0.24 [[ 9.98323716e-01 5.78719338e-02 7.72647124e-04 6.43174343e+01] [-5.78719303e-02 9.98324015e-01 -2.69085665e-05 8.56902336e-03] [-7.72909430e-04 -1.78511204e-05 9.99999701e-01 -2.43702245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.35, Y:0.01, Z:-0.24 [[ 9.98261017e-01 5.89435669e-02 7.72642677e-04 6.43508620e+01] [-5.89435636e-02 9.98261316e-01 -2.70356497e-05 7.05151226e-03] [-7.72892874e-04 -1.85536776e-05 9.99999701e-01 -2.44056065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.38, Y:0.01, Z:-0.24 [[ 9.98291504e-01 5.84249691e-02 7.72637561e-04 6.43838631e+01] [-5.84249655e-02 9.98291802e-01 -2.71810793e-05 5.07391926e-03] [-7.72905797e-04 -1.80066824e-05 9.99999701e-01 -2.44346386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.42, Y:0.00, Z:-0.24 [[ 9.98360268e-01 5.72379079e-02 7.72632415e-04 6.44158801e+01] [-5.72379039e-02 9.98360567e-01 -2.73265907e-05 3.53169310e-03] [-7.72929852e-04 -1.69420775e-05 9.99999701e-01 -2.44734924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.45, Y:0.00, Z:-0.24 [[ 9.98433806e-01 5.59404913e-02 7.72629207e-04 6.44488164e+01] [-5.59404868e-02 9.98434105e-01 -2.74169903e-05 1.51574549e-03] [-7.72953070e-04 -1.58472040e-05 9.99999701e-01 -2.43915978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.48, Y:-0.00, Z:-0.24 [[ 9.98598061e-01 5.29274493e-02 7.72624017e-04 6.44812623e+01] [-5.29274439e-02 9.98598360e-01 -2.75624653e-05 -1.86931545e-04] [-7.72999888e-04 -1.33691899e-05 9.99999701e-01 -2.42491723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.51, Y:-0.00, Z:-0.24 [[ 9.98673071e-01 5.14927217e-02 7.72619144e-04 6.45138493e+01] [-5.14927157e-02 9.98673370e-01 -2.76983936e-05 -1.09927984e-03] [-7.73020430e-04 -1.21226182e-05 9.99999701e-01 -2.41165103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.54, Y:-0.00, Z:-0.24 [[ 9.98750504e-01 4.99683244e-02 7.72614577e-04 6.45449627e+01] [-4.99683178e-02 9.98750803e-01 -2.78252063e-05 -1.51769577e-03] [-7.73039808e-04 -1.08158120e-05 9.99999701e-01 -2.40368272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.58, Y:0.00, Z:-0.24 [[ 9.98958844e-01 4.56139431e-02 7.72610341e-04 6.45757571e+01] [-4.56139351e-02 9.98959142e-01 -2.79423357e-05 2.89605684e-05] [-7.73080724e-04 -7.32855459e-06 9.99999701e-01 -2.40782691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.61, Y:-0.00, Z:-0.24 [[ 9.99092623e-01 4.25832488e-02 7.72606756e-04 6.46080282e+01] [-4.25832399e-02 9.99092922e-01 -2.80411074e-05 -8.39277460e-04] [-7.73100023e-04 -4.88443526e-06 9.99999701e-01 -2.38315486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.64, Y:-0.00, Z:-0.24 [[ 9.99234074e-01 3.91237608e-02 7.72602164e-04 6.46406270e+01] [-3.91237507e-02 9.99234373e-01 -2.81670535e-05 -2.88455998e-03] [-7.73112640e-04 -2.08161488e-06 9.99999701e-01 -2.36853214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.67, Y:-0.00, Z:-0.24 [[ 9.99227436e-01 3.92929206e-02 7.72597379e-04 6.46732691e+01] [-3.92929105e-02 9.99227735e-01 -2.82977058e-05 -4.22685743e-03] [-7.73112629e-04 -2.08175567e-06 9.99999701e-01 -2.36878480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.71, Y:-0.01, Z:-0.24 [[ 9.99468662e-01 3.25852084e-02 7.72592566e-04 6.47050434e+01] [-3.25851961e-02 9.99468961e-01 -2.84284979e-05 -7.45120709e-03] [-7.73108638e-04 3.23831251e-06 9.99999701e-01 -2.39197610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.74, Y:-0.01, Z:-0.24 [[ 9.99528611e-01 3.06913525e-02 7.72587406e-04 6.47372881e+01] [-3.06913396e-02 9.99528909e-01 -2.85680470e-05 -9.33132216e-03] [-7.73100240e-04 4.84283790e-06 9.99999701e-01 -2.37583922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.77, Y:-0.01, Z:-0.24 [[ 9.99549121e-01 3.00159751e-02 7.72582480e-04 6.47687970e+01] [-3.00159618e-02 9.99549419e-01 -2.87006548e-05 -1.10363020e-02] [-7.73095847e-04 5.49790800e-06 9.99999701e-01 -2.40319560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.80, Y:-0.01, Z:-0.24 [[ 9.99497025e-01 3.17033206e-02 7.72577915e-04 6.48005585e+01] [-3.17033078e-02 9.99497323e-01 -2.88230297e-05 -1.15238239e-02] [-7.73103343e-04 4.31525698e-06 9.99999701e-01 -2.40992922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.83, Y:-0.01, Z:-0.24 [[ 9.99445296e-01 3.32941980e-02 7.72573091e-04 6.48320200e+01] [-3.32941856e-02 9.99445595e-01 -2.89517574e-05 -1.22880354e-02] [-7.73108697e-04 3.21350587e-06 9.99999701e-01 -2.41538801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.86, Y:-0.01, Z:-0.24 [[ 9.99390105e-01 3.49116223e-02 7.72568612e-04 6.48643926e+01] [-3.49116102e-02 9.99390404e-01 -2.90707895e-05 -1.29983055e-02] [-7.73112565e-04 2.08144510e-06 9.99999701e-01 -2.42320594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.90, Y:-0.01, Z:-0.24 [[ 9.99271455e-01 3.81570731e-02 7.72563795e-04 6.48962312e+01] [-3.81570619e-02 9.99271754e-01 -2.91982218e-05 -1.05813763e-02] [-7.73115297e-04 -3.01814965e-07 9.99999701e-01 -2.42822053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.93, Y:-0.01, Z:-0.24 [[ 9.99188369e-01 4.02741484e-02 7.72558876e-04 6.49270670e+01] [-4.02741378e-02 9.99188667e-01 -2.93278111e-05 -9.70673171e-03] [-7.73113226e-04 -1.81013487e-06 9.99999701e-01 -2.42487441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.96, Y:-0.01, Z:-0.24 [[ 9.99086773e-01 4.27202786e-02 7.72554305e-04 6.49584210e+01] [-4.27202686e-02 9.99087072e-01 -2.94477264e-05 -9.57995573e-03] [-7.73107034e-04 -3.58289342e-06 9.99999701e-01 -2.43378404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.99, Y:-0.01, Z:-0.24 [[ 9.98974151e-01 4.52774714e-02 7.72549782e-04 6.49900792e+01] [-4.52774621e-02 9.98974449e-01 -2.95659161e-05 -9.74771043e-03] [-7.73096163e-04 -5.44350758e-06 9.99999701e-01 -2.41585325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.02, Y:-0.01, Z:-0.24 [[ 9.98857645e-01 4.77787319e-02 7.72549097e-04 6.50213771e+01] [-4.77787233e-02 9.98857944e-01 -2.95837908e-05 -9.05950151e-03] [-7.73080279e-04 -7.36141393e-06 9.99999701e-01 -2.39666108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.05, Y:-0.01, Z:-0.23 [[ 9.98660253e-01 5.17407152e-02 7.72548401e-04 6.50531423e+01] [-5.17407078e-02 9.98660552e-01 -2.96019720e-05 -5.17762509e-03] [-7.73045240e-04 -1.04098882e-05 9.99999701e-01 -2.33202894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.08, Y:-0.00, Z:-0.23 [[ 9.98599306e-01 5.29039670e-02 7.72547678e-04 6.50844021e+01] [-5.29039599e-02 9.98599605e-01 -2.96208125e-05 -3.39073705e-03] [-7.73032865e-04 -1.12915086e-05 9.99999701e-01 -2.32634599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.12, Y:0.00, Z:-0.23 [[ 9.98614653e-01 5.26134707e-02 7.72542998e-04 6.51164436e+01] [-5.26134634e-02 9.98614952e-01 -2.97423722e-05 1.38695477e-03] [-7.73037839e-04 -1.09449941e-05 9.99999701e-01 -2.34459049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.15, Y:0.00, Z:-0.24 [[ 9.98703413e-01 5.09008429e-02 7.72541952e-04 6.51475244e+01] [-5.09008351e-02 9.98703712e-01 -2.97695245e-05 2.16522364e-03] [-7.73055809e-04 -9.59210481e-06 9.99999701e-01 -2.35407874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.18, Y:0.00, Z:-0.24 [[ 9.98828838e-01 4.83772225e-02 7.72541246e-04 6.51788038e+01] [-4.83772140e-02 9.98829137e-01 -2.97878424e-05 1.98922123e-03] [-7.73077759e-04 -7.62043715e-06 9.99999701e-01 -2.36190497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.954203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:65.21, Y:0.00, Z:-0.23 [[ 9.98970675e-01 4.53540938e-02 7.72536656e-04 6.52106592e+01] [-4.53540842e-02 9.98970974e-01 -2.99064068e-05 2.28297129e-03] [-7.73098073e-04 -5.16206913e-06 9.99999701e-01 -2.34634187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.24, Y:0.00, Z:-0.23 [[ 9.99263268e-01 3.83708850e-02 7.72531568e-04 6.52417791e+01] [-3.83708732e-02 9.99263566e-01 -3.00372695e-05 4.54388086e-03] [-7.73115206e-04 3.72429214e-07 9.99999701e-01 -2.34937898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.27, Y:0.01, Z:-0.24 [[ 9.99391078e-01 3.48837654e-02 7.72526836e-04 6.52741300e+01] [-3.48837525e-02 9.99391376e-01 -3.01584730e-05 5.10618224e-03] [-7.73108699e-04 3.19147394e-06 9.99999701e-01 -2.35106555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.30, Y:0.00, Z:-0.24 [[ 9.99509148e-01 3.13187953e-02 7.72521725e-04 6.53048895e+01] [-3.13187812e-02 9.99509446e-01 -3.02888320e-05 4.16588612e-03] [-7.73091371e-04 6.07952576e-06 9.99999701e-01 -2.35868807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.34, Y:0.00, Z:-0.24 [[ 9.99612285e-01 2.78331375e-02 7.72521363e-04 6.53352329e+01] [-2.78331224e-02 9.99612583e-01 -3.02980618e-05 1.55131423e-03] [-7.73065365e-04 8.78463310e-06 9.99999701e-01 -2.35329140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.37, Y:-0.00, Z:-0.23 [[ 9.99753564e-01 2.21858847e-02 7.72521008e-04 6.53661783e+01] [-2.21858679e-02 9.99753863e-01 -3.03071205e-05 -3.59881775e-03] [-7.73003252e-04 1.31606027e-05 9.99999701e-01 -2.34751581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.40, Y:-0.01, Z:-0.24 [[ 9.99799997e-01 1.99842359e-02 7.72520269e-04 6.53966170e+01] [-1.99842184e-02 9.99800295e-01 -3.03259428e-05 -5.78342653e-03] [-7.72972034e-04 1.48816638e-05 9.99999701e-01 -2.37095032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.43, Y:-0.01, Z:-0.24 [[ 9.99826314e-01 1.86210715e-02 7.72519902e-04 6.54280920e+01] [-1.86210536e-02 9.99826613e-01 -3.03352921e-05 -7.68128972e-03] [-7.72950832e-04 1.59448887e-05 9.99999701e-01 -2.38873614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.46, Y:-0.01, Z:-0.24 [[ 9.99816048e-01 1.91643883e-02 7.72519198e-04 6.54590657e+01] [-1.91643706e-02 9.99816346e-01 -3.03531940e-05 -8.68267548e-03] [-7.72959023e-04 1.55427663e-05 9.99999701e-01 -2.40897588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22420382199999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:65.49, Y:-0.01, Z:-0.24 [[ 9.99769283e-01 2.14658703e-02 7.72518496e-04 6.54908321e+01] [-2.14658532e-02 9.99769582e-01 -3.03710523e-05 -7.44301750e-03] [-7.72992435e-04 1.37812765e-05 9.99999701e-01 -2.40285072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.52, Y:-0.01, Z:-0.24 [[ 9.99699731e-01 2.44918705e-02 7.72517764e-04 6.55209672e+01] [-2.44918544e-02 9.99700029e-01 -3.03896732e-05 -6.62275548e-03] [-7.73030331e-04 1.14601555e-05 9.99999701e-01 -2.42768082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.55, Y:-0.01, Z:-0.24 [[ 9.99601261e-01 2.82262700e-02 7.72517399e-04 6.55522361e+01] [-2.82262550e-02 9.99601559e-01 -3.03989426e-05 -6.38012664e-03] [-7.73067645e-04 8.58154830e-06 9.99999701e-01 -2.43688010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.58, Y:-0.01, Z:-0.24 [[ 9.99328049e-01 3.66449797e-02 7.72516677e-04 6.55821693e+01] [-3.66449672e-02 9.99328347e-01 -3.04172880e-05 -7.23736576e-03] [-7.73112454e-04 2.08800081e-06 9.99999701e-01 -2.41510585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.61, Y:-0.01, Z:-0.24 [[ 9.99172592e-01 4.06636682e-02 7.72516315e-04 6.56127772e+01] [-4.06636568e-02 9.99172891e-01 -3.04264617e-05 -8.13853498e-03] [-7.73114612e-04 -1.01205173e-06 9.99999701e-01 -2.39447721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.374203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.64, Y:-0.01, Z:-0.24 [[ 9.99026181e-01 4.41145508e-02 7.72515952e-04 6.56430648e+01] [-4.41145404e-02 9.99026479e-01 -3.04356756e-05 -7.72189308e-03] [-7.73106548e-04 -3.67314942e-06 9.99999701e-01 -2.39707407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.67, Y:-0.00, Z:-0.24 [[ 9.98854670e-01 4.78408949e-02 7.72515589e-04 6.56740779e+01] [-4.78408856e-02 9.98854969e-01 -3.04448944e-05 -4.11246013e-03] [-7.73087546e-04 -6.54780501e-06 9.99999701e-01 -2.36781971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.70, Y:-0.00, Z:-0.24 [[ 9.98837260e-01 4.82030119e-02 7.72513932e-04 6.57048024e+01] [-4.82030028e-02 9.98837559e-01 -3.04868708e-05 -2.76932303e-03] [-7.73085490e-04 -6.78606866e-06 9.99999701e-01 -2.36511472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.74, Y:-0.00, Z:-0.24 [[ 9.98881450e-01 4.72784559e-02 7.72513564e-04 6.57354534e+01] [-4.72784464e-02 9.98881749e-01 -3.04961942e-05 -2.61490313e-03] [-7.73091513e-04 -6.06115852e-06 9.99999701e-01 -2.35904562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.77, Y:-0.00, Z:-0.23 [[ 9.98969277e-01 4.53848695e-02 7.72513207e-04 6.57671010e+01] [-4.53848595e-02 9.98969576e-01 -3.05052534e-05 -3.75787570e-03] [-7.73101667e-04 -4.58659244e-06 9.99999701e-01 -2.34130106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.80, Y:-0.01, Z:-0.23 [[ 9.99210836e-01 3.97128208e-02 7.72512478e-04 6.57985439e+01] [-3.97128091e-02 9.99211135e-01 -3.05236810e-05 -7.60363646e-03] [-7.73115252e-04 -1.79047733e-07 9.99999701e-01 -2.33953606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.83, Y:-0.01, Z:-0.24 [[ 9.99332374e-01 3.65268375e-02 7.72511733e-04 6.58292812e+01] [-3.65268248e-02 9.99332672e-01 -3.05425341e-05 -1.02459443e-02] [-7.73111837e-04 2.30474237e-06 9.99999701e-01 -2.38004675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.86, Y:-0.01, Z:-0.24 [[ 9.99434355e-01 3.36210299e-02 7.72510994e-04 6.58603676e+01] [-3.36210163e-02 9.99434653e-01 -3.05612183e-05 -1.23276315e-02] [-7.73101757e-04 4.57132681e-06 9.99999701e-01 -2.37888253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.89, Y:-0.02, Z:-0.24 [[ 9.99567615e-01 2.93936369e-02 7.72510282e-04 6.58919271e+01] [-2.93936220e-02 9.99567914e-01 -3.05792145e-05 -1.51243646e-02] [-7.73075325e-04 7.85911728e-06 9.99999701e-01 -2.39515763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.92, Y:-0.02, Z:-0.24 [[ 9.99604956e-01 2.80951187e-02 7.72509566e-04 6.59231725e+01] [-2.80951034e-02 9.99605254e-01 -3.05972861e-05 -1.69239432e-02] [-7.73064255e-04 8.88146264e-06 9.99999701e-01 -2.41530662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.674203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:65.95, Y:-0.02, Z:-0.24 [[ 9.99622777e-01 2.74537062e-02 7.72508854e-04 6.59546242e+01] [-2.74536907e-02 9.99623076e-01 -3.06152404e-05 -1.83262758e-02] [-7.73058179e-04 9.39547245e-06 9.99999701e-01 -2.41484360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.99, Y:-0.02, Z:-0.24 [[ 9.99618381e-01 2.76133279e-02 7.72508103e-04 6.59852989e+01] [-2.76133125e-02 9.99618679e-01 -3.06341926e-05 -2.31181433e-02] [-7.73059441e-04 9.29099439e-06 9.99999701e-01 -2.44848581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.02, Y:-0.03, Z:-0.24 [[ 9.99587377e-01 2.87137388e-02 7.72507354e-04 6.60162785e+01] [-2.87137237e-02 9.99587676e-01 -3.06530619e-05 -2.66728026e-02] [-7.73068994e-04 8.45885098e-06 9.99999701e-01 -2.43465408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.05, Y:-0.03, Z:-0.24 [[ 9.99551461e-01 2.99379308e-02 7.72506635e-04 6.60470843e+01] [-2.99379160e-02 9.99551760e-01 -3.06711770e-05 -2.81995736e-02] [-7.73078598e-04 7.53018099e-06 9.99999701e-01 -2.42057916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.08, Y:-0.03, Z:-0.25 [[ 9.99448656e-01 3.31931799e-02 7.72506274e-04 6.60770850e+01] [-3.31931661e-02 9.99448955e-01 -3.06802492e-05 -2.77668598e-02] [-7.73098963e-04 5.02140476e-06 9.99999701e-01 -2.46356056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.11, Y:-0.03, Z:-0.24 [[ 9.99366441e-01 3.55825849e-02 7.72447359e-04 6.61080232e+01] [-3.55825707e-02 9.99366739e-01 -3.21646098e-05 -2.89679836e-02] [-7.73102698e-04 4.65856889e-06 9.99999701e-01 -2.44643654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.854203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.14, Y:-0.03, Z:-0.25 [[ 9.99301116e-01 3.73722328e-02 7.72505093e-04 6.61386795e+01] [-3.73722202e-02 9.99301414e-01 -3.07124220e-05 -2.95342896e-02] [-7.73113224e-04 1.82072709e-06 9.99999701e-01 -2.46102068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.17, Y:-0.03, Z:-0.24 [[ 9.99180354e-01 4.04725113e-02 7.72505093e-04 6.61693610e+01] [-4.04724997e-02 9.99180652e-01 -3.07124220e-05 -3.14015333e-02] [-7.73115152e-04 -5.77963465e-07 9.99999701e-01 -2.44842661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.20, Y:-0.03, Z:-0.25 [[ 9.99126953e-01 4.17700265e-02 7.72505093e-04 6.61994516e+01] [-4.17700152e-02 9.99127252e-01 -3.07124220e-05 -3.38558392e-02] [-7.73113749e-04 -1.58194088e-06 9.99999701e-01 -2.49978493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.23, Y:-0.04, Z:-0.25 [[ 9.99074831e-01 4.29986679e-02 7.72504719e-04 6.62308126e+01] [-4.29986570e-02 9.99075130e-01 -3.07218434e-05 -3.62923308e-02] [-7.73111250e-04 -2.52324484e-06 9.99999701e-01 -2.48204376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.26, Y:-0.04, Z:-0.25 [[ 9.99017464e-01 4.43115020e-02 7.72503994e-04 6.62623364e+01] [-4.43114915e-02 9.99017763e-01 -3.07400450e-05 -3.82843638e-02] [-7.73107350e-04 -3.52096234e-06 9.99999701e-01 -2.47849838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.29, Y:-0.04, Z:-0.24 [[ 9.98923566e-01 4.63800775e-02 7.72503269e-04 6.62933400e+01] [-4.63800676e-02 9.98923865e-01 -3.07582630e-05 -3.67020440e-02] [-7.73098522e-04 -5.10360006e-06 9.99999701e-01 -2.43212491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.32, Y:-0.04, Z:-0.24 [[ 9.98886100e-01 4.71801009e-02 7.72502895e-04 6.63241288e+01] [-4.71800912e-02 9.98886399e-01 -3.07676501e-05 -3.59308459e-02] [-7.73094256e-04 -5.71337902e-06 9.99999701e-01 -2.42759327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.36, Y:-0.03, Z:-0.24 [[ 9.98818631e-01 4.85875114e-02 7.72500030e-04 6.63554630e+01] [-4.85875020e-02 9.98818929e-01 -3.08394146e-05 -3.40785584e-02] [-7.73086063e-04 -6.73086489e-06 9.99999701e-01 -2.39249254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.39, Y:-0.04, Z:-0.24 [[ 9.98798259e-01 4.90045021e-02 7.72499275e-04 6.63852921e+01] [-4.90044929e-02 9.98798558e-01 -3.08583081e-05 -3.53599822e-02] [-7.73083358e-04 -7.03471085e-06 9.99999701e-01 -2.40093997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.42, Y:-0.04, Z:-0.24 [[ 9.98794750e-01 4.90759578e-02 7.72498901e-04 6.64168524e+01] [-4.90759486e-02 9.98795049e-01 -3.08676744e-05 -3.82612852e-02] [-7.73082939e-04 -7.08064520e-06 9.99999701e-01 -2.40284156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.45, Y:-0.04, Z:-0.24 [[ 9.98796635e-01 4.90375808e-02 7.72498163e-04 6.64477804e+01] [-4.90375716e-02 9.98796934e-01 -3.08861249e-05 -4.21064405e-02] [-7.73083378e-04 -7.03247632e-06 9.99999701e-01 -2.43780713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.48, Y:-0.05, Z:-0.24 [[ 9.98813268e-01 4.86976300e-02 7.72493374e-04 6.64786481e+01] [-4.86976206e-02 9.98813567e-01 -3.10054528e-05 -4.55613068e-02] [-7.73086754e-04 -6.64993160e-06 9.99999701e-01 -2.42933732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.51, Y:-0.05, Z:-0.24 [[ 9.98849624e-01 4.79461437e-02 7.72492636e-04 6.65101390e+01] [-4.79461340e-02 9.98849922e-01 -3.10238258e-05 -4.82424766e-02] [-7.73091682e-04 -6.04989872e-06 9.99999701e-01 -2.43231558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.54, Y:-0.05, Z:-0.25 [[ 9.98851687e-01 4.79031306e-02 7.72491880e-04 6.65413782e+01] [-4.79031209e-02 9.98851986e-01 -3.10426366e-05 -4.91940633e-02] [-7.73092088e-04 -5.99778196e-06 9.99999701e-01 -2.46547054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.57, Y:-0.05, Z:-0.25 [[ 9.98852157e-01 4.78933414e-02 7.72486969e-04 6.65727765e+01] [-4.78933316e-02 9.98852455e-01 -3.11643778e-05 -5.02123859e-02] [-7.73093072e-04 -5.86836858e-06 9.99999701e-01 -2.48907327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.60, Y:-0.06, Z:-0.25 [[ 9.98878324e-01 4.73444452e-02 7.72486235e-04 6.66036881e+01] [-4.73444352e-02 9.98878623e-01 -3.11825513e-05 -5.50885127e-02] [-7.73096307e-04 -5.42534991e-06 9.99999701e-01 -2.49987053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.64, Y:-0.06, Z:-0.25 [[ 9.98877207e-01 4.73680099e-02 7.72485499e-04 6.66354902e+01] [-4.73679999e-02 9.98877506e-01 -3.12007751e-05 -5.64185154e-02] [-7.73096307e-04 -5.42534991e-06 9.99999701e-01 -2.50011662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.67, Y:-0.06, Z:-0.25 [[ 9.98888549e-01 4.71282193e-02 7.72484763e-04 6.66676232e+01] [-4.71282092e-02 9.98888848e-01 -3.12189989e-05 -6.21749035e-02] [-7.73097711e-04 -5.22152295e-06 9.99999701e-01 -2.50971824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.70, Y:-0.07, Z:-0.25 [[ 9.98895426e-01 4.69822347e-02 7.72479608e-04 6.66985594e+01] [-4.69822245e-02 9.98895725e-01 -3.13460170e-05 -6.79359710e-02] [-7.73099284e-04 -4.98141741e-06 9.99999701e-01 -2.52817505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.73, Y:-0.07, Z:-0.25 [[ 9.98875903e-01 4.73955085e-02 7.72474834e-04 6.67293165e+01] [-4.73954984e-02 9.98876201e-01 -3.14632465e-05 -7.35232299e-02] [-7.73097944e-04 -5.18395096e-06 9.99999701e-01 -2.54789805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.76, Y:-0.08, Z:-0.25 [[ 9.98839872e-01 4.81488608e-02 7.72470067e-04 6.67611684e+01] [-4.81488508e-02 9.98840171e-01 -3.15798353e-05 -7.61391374e-02] [-7.73094667e-04 -5.65034729e-06 9.99999701e-01 -2.52659382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.79, Y:-0.08, Z:-0.25 [[ 9.98796908e-01 4.90320232e-02 7.72464844e-04 6.67919374e+01] [-4.90320134e-02 9.98797207e-01 -3.17070793e-05 -7.93141195e-02] [-7.73090391e-04 -6.20657378e-06 9.99999701e-01 -2.51240497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.82, Y:-0.08, Z:-0.25 [[ 9.98744015e-01 5.00978663e-02 7.72460007e-04 6.68225372e+01] [-5.00978567e-02 9.98744313e-01 -3.18244998e-05 -8.35001394e-02] [-7.73084379e-04 -6.91406197e-06 9.99999701e-01 -2.50309417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.85, Y:-0.09, Z:-0.24 [[ 9.98663964e-01 5.16690464e-02 7.72455228e-04 6.68547580e+01] [-5.16690371e-02 9.98664263e-01 -3.19400771e-05 -9.00673912e-02] [-7.73073744e-04 -8.01461379e-06 9.99999701e-01 -2.44597297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.89, Y:-0.09, Z:-0.24 [[ 9.98630774e-01 5.23065968e-02 7.72449933e-04 6.68864235e+01] [-5.23065876e-02 9.98631073e-01 -3.20676246e-05 -9.37907889e-02] [-7.73069853e-04 -8.38050334e-06 9.99999701e-01 -2.42941443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.92, Y:-0.10, Z:-0.24 [[ 9.98571443e-01 5.34272954e-02 7.72444645e-04 6.69178494e+01] [-5.34272865e-02 9.98571742e-01 -3.21944853e-05 -1.00583964e-01] [-7.73061459e-04 -9.12112775e-06 9.99999701e-01 -2.41390441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.95, Y:-0.10, Z:-0.24 [[ 9.98504318e-01 5.46674569e-02 7.72439589e-04 6.69499401e+01] [-5.46674482e-02 9.98504616e-01 -3.23153581e-05 -1.04093468e-01] [-7.73051094e-04 -9.96027665e-06 9.99999701e-01 -2.40654408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.98, Y:-0.11, Z:-0.24 [[ 9.98426031e-01 5.60790791e-02 7.72434119e-04 6.69823999e+01] [-5.60790708e-02 9.98426330e-01 -3.24455625e-05 -1.06301222e-01] [-7.73038080e-04 -1.09228935e-05 9.99999701e-01 -2.40087517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.01, Y:-0.11, Z:-0.24 [[ 9.98338709e-01 5.76127187e-02 7.72428656e-04 6.70133623e+01] [-5.76127108e-02 9.98339008e-01 -3.25751102e-05 -1.08361352e-01] [-7.73022399e-04 -1.19807153e-05 9.99999701e-01 -2.41624615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.05, Y:-0.11, Z:-0.24 [[ 9.98149667e-01 6.08000400e-02 7.72423602e-04 6.70454842e+01] [-6.08000329e-02 9.98149966e-01 -3.26945190e-05 -1.13797722e-01] [-7.72982420e-04 -1.43293572e-05 9.99999701e-01 -2.41447419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.08, Y:-0.12, Z:-0.24 [[ 9.98066555e-01 6.21494592e-02 7.72418203e-04 6.70774430e+01] [-6.21494524e-02 9.98066854e-01 -3.28215842e-05 -1.17408425e-01] [-7.72964849e-04 -1.52472428e-05 9.99999701e-01 -2.42598649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.11, Y:-0.12, Z:-0.24 [[ 9.97983189e-01 6.34740798e-02 7.72412433e-04 6.71099245e+01] [-6.34740733e-02 9.97983487e-01 -3.29568066e-05 -1.20467565e-01] [-7.72946757e-04 -1.61378244e-05 9.99999701e-01 -2.41670192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.14, Y:-0.12, Z:-0.25 [[ 9.97982836e-01 6.34796295e-02 7.72406767e-04 6.71406854e+01] [-6.34796229e-02 9.97983134e-01 -3.30890748e-05 -1.22551220e-01] [-7.72949408e-04 -1.60097616e-05 9.99999701e-01 -2.46413525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.17, Y:-0.12, Z:-0.25 [[ 9.98018373e-01 6.29184430e-02 7.72401526e-04 6.71725844e+01] [-6.29184362e-02 9.98018672e-01 -3.32109679e-05 -1.24891736e-01] [-7.72960727e-04 -1.54531400e-05 9.99999701e-01 -2.48717367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.21, Y:-0.13, Z:-0.25 [[ 9.98024148e-01 6.28267787e-02 7.72396106e-04 6.72054512e+01] [-6.28267717e-02 9.98024446e-01 -3.33365452e-05 -1.26360701e-01] [-7.72964624e-04 -1.52564766e-05 9.99999701e-01 -2.49318343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.24, Y:-0.13, Z:-0.24 [[ 9.98020945e-01 6.28776399e-02 7.72389880e-04 6.72370408e+01] [-6.28776328e-02 9.98021243e-01 -3.34801684e-05 -1.29150097e-01] [-7.72966663e-04 -1.51521380e-05 9.99999701e-01 -2.43269269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.27, Y:-0.13, Z:-0.25 [[ 9.97974224e-01 6.36148686e-02 7.72386818e-04 6.72681748e+01] [-6.36148617e-02 9.97974523e-01 -3.35506638e-05 -1.32912140e-01] [-7.72956687e-04 -1.56525829e-05 9.99999701e-01 -2.45298601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.30, Y:-0.14, Z:-0.24 [[ 9.97924613e-01 6.43884267e-02 7.72408879e-04 6.73011131e+01] [-6.43884204e-02 9.97924912e-01 -3.30438852e-05 -1.36527437e-01] [-7.72933707e-04 -1.67588813e-05 9.99999701e-01 -2.43840224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.33, Y:-0.14, Z:-0.25 [[ 9.97823392e-01 6.59384640e-02 7.72379383e-04 6.73325298e+01] [-6.59384576e-02 9.97823691e-01 -3.37195354e-05 -1.38556563e-01] [-7.72921861e-04 -1.72833640e-05 9.99999701e-01 -2.45711503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.36, Y:-0.14, Z:-0.25 [[ 9.97581482e-01 6.95024446e-02 7.72376194e-04 6.73632533e+01] [-6.95024393e-02 9.97581781e-01 -3.37924099e-05 -1.39273121e-01] [-7.72857075e-04 -1.99713472e-05 9.99999701e-01 -2.45235189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.40, Y:-0.14, Z:-0.24 [[ 9.97477980e-01 7.09724034e-02 7.72371854e-04 6.73958056e+01] [-7.09723985e-02 9.97478279e-01 -3.38913114e-05 -1.40021267e-01] [-7.72829496e-04 -2.10112462e-05 9.99999701e-01 -2.44049646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.43, Y:-0.14, Z:-0.24 [[ 9.97404877e-01 7.19924636e-02 7.72366347e-04 6.74288254e+01] [-7.19924589e-02 9.97405176e-01 -3.40163660e-05 -1.40843434e-01] [-7.72811114e-04 -2.16764632e-05 9.99999701e-01 -2.43449596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.46, Y:-0.14, Z:-0.24 [[ 9.97440072e-01 7.15031845e-02 7.72359932e-04 6.74612122e+01] [-7.15031795e-02 9.97440371e-01 -3.41614000e-05 -1.39801973e-01] [-7.72825626e-04 -2.11522416e-05 9.99999701e-01 -2.44740410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.49, Y:-0.14, Z:-0.25 [[ 9.97555800e-01 6.98700902e-02 7.72353932e-04 6.74943835e+01] [-6.98700845e-02 9.97556099e-01 -3.42965128e-05 -1.40151330e-01] [-7.72862676e-04 -1.97517492e-05 9.99999701e-01 -2.45282871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.53, Y:-0.14, Z:-0.24 [[ 9.97716102e-01 6.75424553e-02 7.72347589e-04 6.75275980e+01] [-6.75424488e-02 9.97716401e-01 -3.44387723e-05 -1.41349438e-01] [-7.72909936e-04 -1.78061299e-05 9.99999701e-01 -2.44809505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.56, Y:-0.14, Z:-0.24 [[ 9.98049490e-01 6.24229098e-02 7.72340943e-04 6.75603273e+01] [-6.24229017e-02 9.98049788e-01 -3.45871896e-05 -1.44067842e-01] [-7.72993747e-04 -1.36920358e-05 9.99999701e-01 -2.44565144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.59, Y:-0.15, Z:-0.24 [[ 9.98182624e-01 6.02565571e-02 7.72334218e-04 6.75910069e+01] [-6.02565483e-02 9.98182923e-01 -3.47367031e-05 -1.45020344e-01] [-7.73023941e-04 -1.18646206e-05 9.99999701e-01 -2.44714153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.62, Y:-0.15, Z:-0.24 [[ 9.98308245e-01 5.81382166e-02 7.72329581e-04 6.76222179e+01] [-5.81382070e-02 9.98308543e-01 -3.48395049e-05 -1.45206406e-01] [-7.73048725e-04 -1.01212921e-05 9.99999701e-01 -2.42809620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.65, Y:-0.15, Z:-0.24 [[ 9.98400705e-01 5.65281848e-02 7.72326489e-04 6.76542386e+01] [-5.65281747e-02 9.98401004e-01 -3.49078964e-05 -1.45591663e-01] [-7.73064822e-04 -8.80613831e-06 9.99999701e-01 -2.42483136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.69, Y:-0.14, Z:-0.24 [[ 9.98490891e-01 5.49121428e-02 7.72320487e-04 6.76870517e+01] [-5.49121322e-02 9.98491190e-01 -3.50401950e-05 -1.44266471e-01] [-7.73079334e-04 -7.42244915e-06 9.99999701e-01 -2.40555683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.72, Y:-0.14, Z:-0.24 [[ 9.98478507e-01 5.51368695e-02 7.72313842e-04 6.77200809e+01] [-5.51368588e-02 9.98478806e-01 -3.51860398e-05 -1.44233999e-01] [-7.73079051e-04 -7.45045476e-06 9.99999701e-01 -2.40705970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.75, Y:-0.14, Z:-0.24 [[ 9.98455446e-01 5.55529099e-02 7.72307200e-04 6.77521781e+01] [-5.55528992e-02 9.98455745e-01 -3.53312288e-05 -1.44234962e-01] [-7.73077313e-04 -7.62724623e-06 9.99999701e-01 -2.42077713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.78, Y:-0.14, Z:-0.24 [[ 9.98451400e-01 5.56255827e-02 7.72300980e-04 6.77842561e+01] [-5.56255719e-02 9.98451699e-01 -3.54666733e-05 -1.42862126e-01] [-7.73078080e-04 -7.54793410e-06 9.99999701e-01 -2.43500575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.82, Y:-0.14, Z:-0.24 [[ 9.98477121e-01 5.51619654e-02 7.72295102e-04 6.78158816e+01] [-5.51619544e-02 9.98477420e-01 -3.55942142e-05 -1.43274908e-01] [-7.73082668e-04 -7.06129867e-06 9.99999701e-01 -2.43857941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.85, Y:-0.14, Z:-0.24 [[ 9.98595126e-01 5.29828131e-02 7.72288805e-04 6.78485862e+01] [-5.29828013e-02 9.98595424e-01 -3.57303284e-05 -1.40843865e-01] [-7.73097160e-04 -5.23789254e-06 9.99999701e-01 -2.40801629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.88, Y:-0.14, Z:-0.24 [[ 9.98656811e-01 5.18071263e-02 7.72282712e-04 6.78806451e+01] [-5.18071141e-02 9.98657109e-01 -3.58615328e-05 -1.39574956e-01] [-7.73103504e-04 -4.19637459e-06 9.99999701e-01 -2.39159627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.91, Y:-0.14, Z:-0.24 [[ 9.98712969e-01 5.07129996e-02 7.72276587e-04 6.79125712e+01] [-5.07129869e-02 9.98713268e-01 -3.59929597e-05 -1.38808481e-01] [-7.73108185e-04 -3.21781675e-06 9.99999701e-01 -2.38697894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.94, Y:-0.14, Z:-0.24 [[ 9.98742732e-01 5.01234324e-02 7.72270416e-04 6.79436035e+01] [-5.01234195e-02 9.98743031e-01 -3.61248756e-05 -1.38353000e-01] [-7.73110399e-04 -2.62937700e-06 9.99999701e-01 -2.40165868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.98, Y:-0.14, Z:-0.24 [[ 9.98684801e-01 5.12647312e-02 7.72264686e-04 6.79759472e+01] [-5.12647185e-02 9.98685099e-01 -3.62469560e-05 -1.35898748e-01] [-7.73107425e-04 -3.39064768e-06 9.99999701e-01 -2.41122232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.01, Y:-0.14, Z:-0.24 [[ 9.98607592e-01 5.27473267e-02 7.72258520e-04 6.80081079e+01] [-5.27473143e-02 9.98607891e-01 -3.63778533e-05 -1.35943195e-01] [-7.73102286e-04 -4.40736243e-06 9.99999701e-01 -2.41510334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.04, Y:-0.13, Z:-0.24 [[ 9.98429125e-01 5.60239772e-02 7.72252346e-04 6.80389260e+01] [-5.60239657e-02 9.98429424e-01 -3.65084472e-05 -1.34315015e-01] [-7.73084813e-04 -6.81354196e-06 9.99999701e-01 -2.41542162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.07, Y:-0.13, Z:-0.24 [[ 9.98347082e-01 5.74674404e-02 7.72246604e-04 6.80700332e+01] [-5.74674293e-02 9.98347381e-01 -3.66295125e-05 -1.32247652e-01] [-7.73075379e-04 -7.81006020e-06 9.99999701e-01 -2.41426641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.714203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.10, Y:-0.13, Z:-0.24 [[ 9.98318465e-01 5.79624596e-02 7.72241059e-04 6.81016852e+01] [-5.79624486e-02 9.98318763e-01 -3.67460507e-05 -1.29466943e-01] [-7.73072630e-04 -8.07672170e-06 9.99999701e-01 -2.39763193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.13, Y:-0.13, Z:-0.24 [[ 9.98339655e-01 5.75963348e-02 7.72240198e-04 6.81320608e+01] [-5.75963235e-02 9.98339953e-01 -3.67641272e-05 -1.27558311e-01] [-7.73075722e-04 -7.77511028e-06 9.99999701e-01 -2.37830650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.16, Y:-0.13, Z:-0.24 [[ 9.98371132e-01 5.70480998e-02 7.72239771e-04 6.81638249e+01] [-5.70480884e-02 9.98371431e-01 -3.67730997e-05 -1.25935709e-01] [-7.73079960e-04 -7.34160151e-06 9.99999701e-01 -2.36565077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.19, Y:-0.12, Z:-0.24 [[ 9.98476147e-01 5.51795983e-02 7.72238919e-04 6.81948348e+01] [-5.51795863e-02 9.98476445e-01 -3.67909672e-05 -1.20803141e-01] [-7.73092482e-04 -5.87692090e-06 9.99999701e-01 -2.37216780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.23, Y:-0.12, Z:-0.24 [[ 9.98530895e-01 5.41798485e-02 7.72238494e-04 6.82255843e+01] [-5.41798362e-02 9.98531193e-01 -3.67999026e-05 -1.19096404e-01] [-7.73098038e-04 -5.09391549e-06 9.99999701e-01 -2.37306836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.26, Y:-0.12, Z:-0.24 [[ 9.98599881e-01 5.28931184e-02 7.72238494e-04 6.82559063e+01] [-5.28931057e-02 9.98600179e-01 -3.67999026e-05 -1.17199983e-01] [-7.73103960e-04 -4.09771398e-06 9.99999701e-01 -2.36077464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.29, Y:-0.11, Z:-0.24 [[ 9.98760248e-01 4.97731906e-02 7.72238494e-04 6.82863385e+01] [-4.97731770e-02 9.98760547e-01 -3.67999026e-05 -1.12153461e-01] [-7.73112989e-04 -1.68248344e-06 9.99999701e-01 -2.35850493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.32, Y:-0.11, Z:-0.24 [[ 9.98847946e-01 4.79810785e-02 7.72238061e-04 6.83165767e+01] [-4.79810644e-02 9.98848245e-01 -3.68089773e-05 -1.09660363e-01] [-7.73114766e-04 -2.86232731e-07 9.99999701e-01 -2.36039205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.35, Y:-0.11, Z:-0.23 [[ 9.98934937e-01 4.61345330e-02 7.72238061e-04 6.83475461e+01] [-4.61345184e-02 9.98935236e-01 -3.68089773e-05 -1.07069784e-01] [-7.73113974e-04 1.14294243e-06 9.99999701e-01 -2.34211562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.38, Y:-0.11, Z:-0.23 [[ 9.99124273e-01 4.18340950e-02 7.72238061e-04 6.83779711e+01] [-4.18340791e-02 9.99124571e-01 -3.68089773e-05 -1.05129717e-01] [-7.73101892e-04 4.47087458e-06 9.99999701e-01 -2.31907910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.41, Y:-0.11, Z:-0.23 [[ 9.99220251e-01 3.94752294e-02 7.72237615e-04 6.84078950e+01] [-3.94752127e-02 9.99220549e-01 -3.68183345e-05 -1.06311272e-01] [-7.73089106e-04 6.30538129e-06 9.99999701e-01 -2.33697398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.44, Y:-0.10, Z:-0.24 [[ 9.99424800e-01 3.39038872e-02 7.72237175e-04 6.84389581e+01] [-3.39038688e-02 9.99425098e-01 -3.68275693e-05 -1.04234439e-01] [-7.73041812e-04 1.06245582e-05 9.99999701e-01 -2.36850663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.47, Y:-0.10, Z:-0.24 [[ 9.99509034e-01 3.13224171e-02 7.72237175e-04 6.84693936e+01] [-3.13223980e-02 9.99509333e-01 -3.68275693e-05 -1.03975672e-01] [-7.73011791e-04 1.26211681e-05 9.99999701e-01 -2.39438473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.50, Y:-0.10, Z:-0.24 [[ 9.99572767e-01 2.92179144e-02 7.72236732e-04 6.85006200e+01] [-2.92178947e-02 9.99573066e-01 -3.68368577e-05 -1.04459777e-01] [-7.72983333e-04 1.42579883e-05 9.99999701e-01 -2.38716297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.53, Y:-0.11, Z:-0.24 [[ 9.99612581e-01 2.78224902e-02 7.72235879e-04 6.85311909e+01] [-2.78224701e-02 9.99612879e-01 -3.68547252e-05 -1.05469253e-01] [-7.72962321e-04 1.53549373e-05 9.99999701e-01 -2.38316259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.56, Y:-0.11, Z:-0.24 [[ 9.99642390e-01 2.67300632e-02 7.72235879e-04 6.85604735e+01] [-2.67300427e-02 9.99642688e-01 -3.68547252e-05 -1.05105098e-01] [-7.72945079e-04 1.61996475e-05 9.99999701e-01 -2.39778926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.59, Y:-0.11, Z:-0.24 [[ 9.99641341e-01 2.67692476e-02 7.72236321e-04 6.85904625e+01] [-2.67692271e-02 9.99641639e-01 -3.68454606e-05 -1.05647283e-01] [-7.72945907e-04 1.61600762e-05 9.99999701e-01 -2.39879340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.62, Y:-0.11, Z:-0.24 [[ 9.99641341e-01 2.67692476e-02 7.72235909e-04 6.86214255e+01] [-2.67692271e-02 9.99641639e-01 -3.68540938e-05 -1.07124950e-01] [-7.72945726e-04 1.61687174e-05 9.99999701e-01 -2.39903305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.65, Y:-0.11, Z:-0.24 [[ 9.99629529e-01 2.72067632e-02 7.72235909e-04 6.86521901e+01] [-2.72067429e-02 9.99629827e-01 -3.68540938e-05 -1.08065472e-01] [-7.72952729e-04 1.58304167e-05 9.99999701e-01 -2.39366010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.68, Y:-0.11, Z:-0.24 [[ 9.99587674e-01 2.87034201e-02 7.72235909e-04 6.86817978e+01] [-2.87034002e-02 9.99587972e-01 -3.68540938e-05 -1.08808514e-01] [-7.72975564e-04 1.46731015e-05 9.99999701e-01 -2.40113315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.71, Y:-0.11, Z:-0.24 [[ 9.99550581e-01 2.99673108e-02 7.72236339e-04 6.87118612e+01] [-2.99672913e-02 9.99550879e-01 -3.68450778e-05 -1.09974310e-01] [-7.72993659e-04 1.36866876e-05 9.99999701e-01 -2.39264501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.74, Y:-0.11, Z:-0.24 [[ 9.99502173e-01 3.15406027e-02 7.72236339e-04 6.87415069e+01] [-3.15405836e-02 9.99502471e-01 -3.68450778e-05 -1.10805302e-01] [-7.73014245e-04 1.24699505e-05 9.99999701e-01 -2.39342850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.77, Y:-0.11, Z:-0.24 [[ 9.99356984e-01 3.58472100e-02 7.72236766e-04 6.87718451e+01] [-3.58471922e-02 9.99357282e-01 -3.68361336e-05 -1.11470584e-01] [-7.73060908e-04 9.12992756e-06 9.99999701e-01 -2.40175673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.80, Y:-0.11, Z:-0.24 [[ 9.99260026e-01 3.84552200e-02 7.72236676e-04 6.88008720e+01] [-3.84552030e-02 9.99260324e-01 -3.68380150e-05 -1.12690641e-01] [-7.73082085e-04 7.11423764e-06 9.99999701e-01 -2.42995170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.83, Y:-0.11, Z:-0.24 [[ 9.99017050e-01 4.43208451e-02 7.72236183e-04 6.88308973e+01] [-4.43208299e-02 9.99017349e-01 -3.68483388e-05 -1.13739372e-01] [-7.73110494e-04 2.58597025e-06 9.99999701e-01 -2.40995246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.86, Y:-0.11, Z:-0.24 [[ 9.98884830e-01 4.72069855e-02 7.72236183e-04 6.88602207e+01] [-4.72069711e-02 9.98885129e-01 -3.68483388e-05 -1.14453506e-01] [-7.73114738e-04 3.52315459e-07 9.99999701e-01 -2.40325766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.89, Y:-0.11, Z:-0.24 [[ 9.98772173e-01 4.95333275e-02 7.72236632e-04 6.88903202e+01] [-4.95333139e-02 9.98772471e-01 -3.68389309e-05 -1.14618197e-01] [-7.73113444e-04 -1.45774037e-06 9.99999701e-01 -2.38230501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.92, Y:-0.11, Z:-0.24 [[ 9.98664737e-01 5.16540972e-02 7.72237531e-04 6.89194826e+01] [-5.16540841e-02 9.98665036e-01 -3.68200867e-05 -1.14735791e-01] [-7.73108530e-04 -3.11830017e-06 9.99999701e-01 -2.37713310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.95, Y:-0.12, Z:-0.24 [[ 9.98697616e-01 5.10144569e-02 7.72238873e-04 6.89484297e+01] [-5.10144437e-02 9.98697915e-01 -3.67919075e-05 -1.17264148e-01] [-7.73110272e-04 -2.65134621e-06 9.99999701e-01 -2.38094785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.98, Y:-0.12, Z:-0.24 [[ 9.98773569e-01 4.95051617e-02 7.72239304e-04 6.89785598e+01] [-4.95051481e-02 9.98773868e-01 -3.67828616e-05 -1.20122639e-01] [-7.73113378e-04 -1.49207113e-06 9.99999701e-01 -2.38431257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.01, Y:-0.12, Z:-0.24 [[ 9.98858558e-01 4.77596622e-02 7.72239304e-04 6.90089586e+01] [-4.77596480e-02 9.98858856e-01 -3.67828616e-05 -1.23010881e-01] [-7.73114805e-04 -1.41001240e-07 9.99999701e-01 -2.38596987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.04, Y:-0.13, Z:-0.24 [[ 9.98976163e-01 4.52330651e-02 7.72239304e-04 6.90379493e+01] [-4.52330502e-02 9.98976461e-01 -3.67828616e-05 -1.29839954e-01] [-7.73112689e-04 1.81446275e-06 9.99999701e-01 -2.43486397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.674203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:69.07, Y:-0.13, Z:-0.24 [[ 9.99001047e-01 4.46801010e-02 7.72239750e-04 6.90679089e+01] [-4.46800859e-02 9.99001346e-01 -3.67734946e-05 -1.34884139e-01] [-7.73111593e-04 2.23302125e-06 9.99999701e-01 -2.43642819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.10, Y:-0.14, Z:-0.24 [[ 9.98986378e-01 4.50068946e-02 7.72240192e-04 6.90970856e+01] [-4.50068796e-02 9.98986676e-01 -3.67642152e-05 -1.40101421e-01] [-7.73112306e-04 1.97082883e-06 9.99999701e-01 -2.44560340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.13, Y:-0.14, Z:-0.25 [[ 9.98930300e-01 4.62348181e-02 7.72240631e-04 6.91276755e+01] [-4.62348035e-02 9.98930599e-01 -3.67549845e-05 -1.44324835e-01] [-7.73114156e-04 1.01127384e-06 9.99999701e-01 -2.45255168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.16, Y:-0.15, Z:-0.24 [[ 9.98782868e-01 4.93172098e-02 7.72240631e-04 6.91579479e+01] [-4.93171961e-02 9.98783166e-01 -3.67549845e-05 -1.50132060e-01] [-7.73113596e-04 -1.37449388e-06 9.99999701e-01 -2.44458802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.19, Y:-0.15, Z:-0.24 [[ 9.98726941e-01 5.04371075e-02 7.72240631e-04 6.91875128e+01] [-5.04370942e-02 9.98727239e-01 -3.67549845e-05 -1.53836676e-01] [-7.73111569e-04 -2.24138026e-06 9.99999701e-01 -2.44588727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.22, Y:-0.16, Z:-0.25 [[ 9.98699078e-01 5.09858272e-02 7.72241063e-04 6.92173084e+01] [-5.09858140e-02 9.98699377e-01 -3.67459030e-05 -1.57222461e-01] [-7.73110189e-04 -2.67523979e-06 9.99999701e-01 -2.45062468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.25, Y:-0.16, Z:-0.24 [[ 9.98696817e-01 5.10301062e-02 7.72240707e-04 6.92474427e+01] [-5.10300930e-02 9.98697115e-01 -3.67533984e-05 -1.61149018e-01] [-7.73110096e-04 -2.70201309e-06 9.99999701e-01 -2.44374838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.28, Y:-0.17, Z:-0.25 [[ 9.98783297e-01 4.93085135e-02 7.72240707e-04 6.92780428e+01] [-4.93084998e-02 9.98783595e-01 -3.67533984e-05 -1.70580764e-01] [-7.73113605e-04 -1.36935029e-06 9.99999701e-01 -2.45858329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.31, Y:-0.18, Z:-0.25 [[ 9.98825990e-01 4.84359951e-02 7.72239812e-04 6.93079756e+01] [-4.84359811e-02 9.98826288e-01 -3.67721789e-05 -1.76740882e-01] [-7.73114522e-04 -6.75184939e-07 9.99999701e-01 -2.47301649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.34, Y:-0.19, Z:-0.25 [[ 9.98858661e-01 4.77574994e-02 7.72239367e-04 6.93387178e+01] [-4.77574852e-02 9.98858960e-01 -3.67815308e-05 -1.85895732e-01] [-7.73114804e-04 -1.40659560e-07 9.99999701e-01 -2.48977702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.37, Y:-0.19, Z:-0.25 [[ 9.98828438e-01 4.83854832e-02 7.72238501e-04 6.93708045e+01] [-4.83854692e-02 9.98828737e-01 -3.67997047e-05 -1.90726835e-01] [-7.73114578e-04 -6.08530628e-07 9.99999701e-01 -2.48342188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.40, Y:-0.19, Z:-0.25 [[ 9.98762635e-01 4.97252808e-02 7.72232227e-04 6.94020643e+01] [-4.97252671e-02 9.98762933e-01 -3.69309006e-05 -1.94802161e-01] [-7.73113323e-04 -1.51425020e-06 9.99999701e-01 -2.48994936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.43, Y:-0.20, Z:-0.25 [[ 9.98680228e-01 5.13537400e-02 7.72226397e-04 6.94330606e+01] [-5.13537267e-02 9.98680526e-01 -3.70523931e-05 -1.98066491e-01] [-7.73110244e-04 -2.65321101e-06 9.99999701e-01 -2.49874713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.46, Y:-0.20, Z:-0.25 [[ 9.98457572e-01 5.55146823e-02 7.72220634e-04 6.94642142e+01] [-5.55146701e-02 9.98457871e-01 -3.71721136e-05 -2.02889363e-01] [-7.73093368e-04 -5.75479552e-06 9.99999701e-01 -2.49138508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.50, Y:-0.21, Z:-0.25 [[ 9.98318817e-01 5.79563954e-02 7.72219767e-04 6.94953672e+01] [-5.79563840e-02 9.98319115e-01 -3.71901190e-05 -2.06108348e-01] [-7.73077160e-04 -7.62746980e-06 9.99999701e-01 -2.49024723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.53, Y:-0.21, Z:-0.25 [[ 9.98154098e-01 6.07272651e-02 7.72218890e-04 6.95263557e+01] [-6.07272545e-02 9.98154396e-01 -3.72083252e-05 -2.08232964e-01] [-7.73053240e-04 -9.75509079e-06 9.99999701e-01 -2.50056324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.56, Y:-0.21, Z:-0.25 [[ 9.97818991e-01 6.60050420e-02 7.72213207e-04 6.95569260e+01] [-6.60050328e-02 9.97819289e-01 -3.73259020e-05 -2.09270257e-01] [-7.72992931e-04 -1.37254642e-05 9.99999701e-01 -2.53255885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.59, Y:-0.21, Z:-0.25 [[ 9.97654156e-01 6.84513631e-02 7.72212775e-04 6.95881784e+01] [-6.84513547e-02 9.97654455e-01 -3.73348291e-05 -2.10961010e-01] [-7.72957135e-04 -1.56117632e-05 9.99999701e-01 -2.53726683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.62, Y:-0.21, Z:-0.25 [[ 9.97521008e-01 7.03650671e-02 7.72211909e-04 6.96195541e+01] [-7.03650593e-02 9.97521307e-01 -3.73527228e-05 -2.12797439e-01] [-7.72926160e-04 -1.70766111e-05 9.99999701e-01 -2.54604280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.65, Y:-0.21, Z:-0.25 [[ 9.97426399e-01 7.16936648e-02 7.72211042e-04 6.96505435e+01] [-7.16936574e-02 9.97426698e-01 -3.73706481e-05 -2.14634791e-01] [-7.72903149e-04 -1.80881629e-05 9.99999701e-01 -2.53864884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.68, Y:-0.22, Z:-0.25 [[ 9.97474328e-01 7.10237256e-02 7.72210167e-04 6.96816055e+01] [-7.10237179e-02 9.97474626e-01 -3.73887227e-05 -2.15197745e-01] [-7.72915534e-04 -1.75509460e-05 9.99999701e-01 -2.53616595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.71, Y:-0.21, Z:-0.25 [[ 9.97550823e-01 6.99411152e-02 7.72209286e-04 6.97116474e+01] [-6.99411072e-02 9.97551122e-01 -3.74069060e-05 -2.14475467e-01] [-7.72934520e-04 -1.66938826e-05 9.99999701e-01 -2.53515922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.74, Y:-0.21, Z:-0.25 [[ 9.97730040e-01 6.73362503e-02 7.72208847e-04 6.97428971e+01] [-6.73362415e-02 9.97730339e-01 -3.74159698e-05 -2.10599499e-01] [-7.72975646e-04 -1.46666044e-05 9.99999701e-01 -2.53012524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.77, Y:-0.21, Z:-0.25 [[ 9.97795266e-01 6.63627168e-02 7.72207980e-04 6.97742889e+01] [-6.63627077e-02 9.97795565e-01 -3.74338536e-05 -2.10620143e-01] [-7.72989910e-04 -1.38944905e-05 9.99999701e-01 -2.52947971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.81, Y:-0.21, Z:-0.25 [[ 9.97839472e-01 6.56946937e-02 7.72207096e-04 6.98057393e+01] [-6.56946844e-02 9.97839770e-01 -3.74520696e-05 -2.11409621e-01] [-7.72999354e-04 -1.33587481e-05 9.99999701e-01 -2.53848766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.84, Y:-0.21, Z:-0.26 [[ 9.97877385e-01 6.51162725e-02 7.72206214e-04 6.98369645e+01] [-6.51162630e-02 9.97877683e-01 -3.74702642e-05 -2.11985367e-01] [-7.73007271e-04 -1.28924537e-05 9.99999701e-01 -2.56563816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.87, Y:-0.21, Z:-0.26 [[ 9.97880153e-01 6.50738394e-02 7.72205314e-04 6.98681886e+01] [-6.50738299e-02 9.97880451e-01 -3.74887870e-05 -2.12953835e-01] [-7.73008127e-04 -1.28410407e-05 9.99999701e-01 -2.56394823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.90, Y:-0.21, Z:-0.26 [[ 9.97928674e-01 6.43254703e-02 7.72204396e-04 6.98984517e+01] [-6.43254605e-02 9.97928972e-01 -3.75076896e-05 -2.13616139e-01] [-7.73017839e-04 -1.22424044e-05 9.99999701e-01 -2.58928759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.93, Y:-0.21, Z:-0.26 [[ 9.98088248e-01 6.18001124e-02 7.72203940e-04 6.99300211e+01] [-6.18001018e-02 9.98088546e-01 -3.75170758e-05 -2.11453882e-01] [-7.73046467e-04 -1.02769297e-05 9.99999701e-01 -2.55536631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.96, Y:-0.21, Z:-0.26 [[ 9.98187057e-01 6.01830719e-02 7.72203023e-04 6.99599721e+01] [-6.01830608e-02 9.98187356e-01 -3.75359376e-05 -2.10198706e-01] [-7.73062322e-04 -9.00565445e-06 9.99999701e-01 -2.59321119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.99, Y:-0.21, Z:-0.26 [[ 9.98297243e-01 5.83268254e-02 7.72202565e-04 6.99909164e+01] [-5.83268138e-02 9.98297542e-01 -3.75453614e-05 -2.10417705e-01] [-7.73077824e-04 -7.55868448e-06 9.99999701e-01 -2.60949599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.02, Y:-0.21, Z:-0.26 [[ 9.98406238e-01 5.64303840e-02 7.72202565e-04 7.00213265e+01] [-5.64303719e-02 9.98406536e-01 -3.75453614e-05 -2.12140397e-01] [-7.73090788e-04 -6.09015487e-06 9.99999701e-01 -2.61115179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.05, Y:-0.21, Z:-0.26 [[ 9.98590081e-01 5.30778168e-02 7.72202565e-04 7.00516842e+01] [-5.30778037e-02 9.98590379e-01 -3.75453614e-05 -2.14613141e-01] [-7.73106878e-04 -3.49439065e-06 9.99999701e-01 -2.62144459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.08, Y:-0.22, Z:-0.26 [[ 9.98648035e-01 5.19760214e-02 7.72202129e-04 7.00832600e+01] [-5.19760079e-02 9.98648333e-01 -3.75543231e-05 -2.15053055e-01] [-7.73110294e-04 -2.63243298e-06 9.99999701e-01 -2.60574087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.11, Y:-0.22, Z:-0.26 [[ 9.98690970e-01 5.11444110e-02 7.72201243e-04 7.01148253e+01] [-5.11443972e-02 9.98691268e-01 -3.75725390e-05 -2.16008032e-01] [-7.73112264e-04 -1.97041167e-06 9.99999701e-01 -2.61374142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72420382199999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.14, Y:-0.22, Z:-0.27 [[ 9.98718444e-01 5.06050728e-02 7.72200355e-04 7.01449274e+01] [-5.06050588e-02 9.98718742e-01 -3.75907764e-05 -2.18320588e-01] [-7.73113252e-04 -1.53464269e-06 9.99999701e-01 -2.65678980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.18, Y:-0.22, Z:-0.27 [[ 9.98693479e-01 5.10953941e-02 7.72199913e-04 7.01763272e+01] [-5.10953803e-02 9.98693777e-01 -3.75998507e-05 -2.21907731e-01] [-7.73112427e-04 -1.90512253e-06 9.99999701e-01 -2.67915607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.21, Y:-0.22, Z:-0.27 [[ 9.98640083e-01 5.21285728e-02 7.72198986e-04 7.02070110e+01] [-5.21285593e-02 9.98640382e-01 -3.76188945e-05 -2.21870590e-01] [-7.73110109e-04 -2.68588460e-06 9.99999701e-01 -2.69828695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.24, Y:-0.22, Z:-0.27 [[ 9.98498353e-01 5.47763042e-02 7.72198526e-04 7.02377034e+01] [-5.47762914e-02 9.98498651e-01 -3.76283217e-05 -2.23183515e-01] [-7.73100327e-04 -4.72635430e-06 9.99999701e-01 -2.67496983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.27, Y:-0.23, Z:-0.27 [[ 9.98423340e-01 5.61269731e-02 7.72198526e-04 7.02675835e+01] [-5.61269608e-02 9.98423639e-01 -3.76283217e-05 -2.26113742e-01] [-7.73093226e-04 -5.77216179e-06 9.99999701e-01 -2.68448807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.30, Y:-0.23, Z:-0.27 [[ 9.98371275e-01 5.70456059e-02 7.72198085e-04 7.02981238e+01] [-5.70455939e-02 9.98371574e-01 -3.76373772e-05 -2.28118556e-01] [-7.73087664e-04 -6.47442208e-06 9.99999701e-01 -2.68378536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.33, Y:-0.23, Z:-0.26 [[ 9.98360908e-01 5.72267479e-02 7.72198085e-04 7.03294008e+01] [-5.72267359e-02 9.98361207e-01 -3.76373772e-05 -2.29809330e-01] [-7.73086477e-04 -6.61468977e-06 9.99999701e-01 -2.64281853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.36, Y:-0.23, Z:-0.26 [[ 9.98409122e-01 5.63793224e-02 7.72197200e-04 7.03607837e+01] [-5.63793101e-02 9.98409421e-01 -3.76555288e-05 -2.32538628e-01] [-7.73091952e-04 -5.94032193e-06 9.99999701e-01 -2.60741248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.39, Y:-0.24, Z:-0.26 [[ 9.98570772e-01 5.34398542e-02 7.72196319e-04 7.03922399e+01] [-5.34398410e-02 9.98571070e-01 -3.76735720e-05 -2.36628222e-01] [-7.73106175e-04 -3.64632073e-06 9.99999701e-01 -2.58047980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.42, Y:-0.24, Z:-0.26 [[ 9.98695263e-01 5.10605069e-02 7.72195439e-04 7.04232305e+01] [-5.10604930e-02 9.98695562e-01 -3.76916151e-05 -2.39172448e-01] [-7.73112710e-04 -1.78624233e-06 9.99999701e-01 -2.59888383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.45, Y:-0.24, Z:-0.26 [[ 9.98821039e-01 4.85379795e-02 7.72194549e-04 7.04548529e+01] [-4.85379649e-02 9.98821338e-01 -3.77098371e-05 -2.43426262e-01] [-7.73114751e-04 1.84626822e-07 9.99999701e-01 -2.62075643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.49, Y:-0.25, Z:-0.27 [[ 9.98936993e-01 4.60900052e-02 7.72188066e-04 7.04859290e+01] [-4.60899897e-02 9.98937291e-01 -3.78421294e-05 -2.49934808e-01] [-7.73111598e-04 2.21176287e-06 9.99999701e-01 -2.67238166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.52, Y:-0.26, Z:-0.27 [[ 9.99042345e-01 4.37469533e-02 7.72182066e-04 7.05168158e+01] [-4.37469370e-02 9.99042644e-01 -3.79641616e-05 -2.57818582e-01] [-7.73103629e-04 4.14720478e-06 9.99999701e-01 -2.70576850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.55, Y:-0.26, Z:-0.27 [[ 9.99035310e-01 4.39073153e-02 7.72178522e-04 7.05494388e+01] [-4.39072990e-02 9.99035609e-01 -3.80361099e-05 -2.59584396e-01] [-7.73103903e-04 4.09514360e-06 9.99999701e-01 -2.70602111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.58, Y:-0.27, Z:-0.27 [[ 9.99149180e-01 4.12349464e-02 7.72172397e-04 7.05814302e+01] [-4.12349292e-02 9.99149478e-01 -3.81600560e-05 -2.69744815e-01] [-7.73089175e-04 6.28711455e-06 9.99999701e-01 -2.71247341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.61, Y:-0.27, Z:-0.27 [[ 9.99128665e-01 4.17290699e-02 7.72165782e-04 7.06125199e+01] [-4.17290527e-02 9.99128963e-01 -3.82934462e-05 -2.72929448e-01] [-7.73091146e-04 6.03833312e-06 9.99999701e-01 -2.73800307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.64, Y:-0.28, Z:-0.28 [[ 9.99049788e-01 4.35766572e-02 7.72162005e-04 7.06433593e+01] [-4.35766406e-02 9.99050086e-01 -3.83694507e-05 -2.75797655e-01] [-7.73100530e-04 4.68476547e-06 9.99999701e-01 -2.77851797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.67, Y:-0.28, Z:-0.28 [[ 9.98793103e-01 4.91094897e-02 7.72155892e-04 7.06745598e+01] [-4.91094747e-02 9.98793401e-01 -3.84920836e-05 -2.84004888e-01] [-7.73114536e-04 5.25457374e-07 9.99999701e-01 -2.76213316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.71, Y:-0.29, Z:-0.27 [[ 9.98642613e-01 5.20800888e-02 7.72154034e-04 7.07063126e+01] [-5.20800746e-02 9.98642911e-01 -3.85293161e-05 -2.89861028e-01] [-7.73112762e-04 -1.73682273e-06 9.99999701e-01 -2.73021826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.74, Y:-0.29, Z:-0.27 [[ 9.98497213e-01 5.47970833e-02 7.72147260e-04 7.07378393e+01] [-5.47970698e-02 9.98497511e-01 -3.86645949e-05 -2.94932859e-01] [-7.73105824e-04 -3.70491710e-06 9.99999701e-01 -2.74980679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.77, Y:-0.30, Z:-0.28 [[ 9.98259221e-01 5.89739931e-02 7.72142449e-04 7.07686265e+01] [-5.89739807e-02 9.98259519e-01 -3.87604196e-05 -3.00047006e-01] [-7.73084407e-04 -6.84336767e-06 9.99999701e-01 -2.78824273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.80, Y:-0.30, Z:-0.28 [[ 9.98154660e-01 6.07180294e-02 7.72136417e-04 7.08009871e+01] [-6.07180174e-02 9.98154958e-01 -3.88802193e-05 -3.03735513e-01] [-7.73072523e-04 -8.07412039e-06 9.99999701e-01 -2.78543365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.83, Y:-0.31, Z:-0.28 [[ 9.98043648e-01 6.25162464e-02 7.72129871e-04 7.08324246e+01] [-6.25162349e-02 9.98043946e-01 -3.90097962e-05 -3.07689001e-01] [-7.73058289e-04 -9.33717306e-06 9.99999701e-01 -2.80295604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.86, Y:-0.31, Z:-0.28 [[ 9.97910621e-01 6.46049225e-02 7.72126183e-04 7.08640384e+01] [-6.46049116e-02 9.97910920e-01 -3.90826523e-05 -3.11373202e-01] [-7.73038081e-04 -1.08821499e-05 9.99999701e-01 -2.78777040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.90, Y:-0.31, Z:-0.28 [[ 9.97647569e-01 6.85473008e-02 7.72119491e-04 7.08950267e+01] [-6.85472910e-02 9.97647867e-01 -3.92144196e-05 -3.14734636e-01] [-7.72991406e-04 -1.38045290e-05 9.99999701e-01 -2.83560810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.93, Y:-0.32, Z:-0.28 [[ 9.97525336e-01 7.03036801e-02 7.72113291e-04 7.09276745e+01] [-7.03036707e-02 9.97525635e-01 -3.93361019e-05 -3.17030158e-01] [-7.72968274e-04 -1.50436403e-05 9.99999701e-01 -2.77996341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.96, Y:-0.32, Z:-0.28 [[ 9.97369796e-01 7.24768536e-02 7.72105503e-04 7.09592249e+01] [-7.24768448e-02 9.97370095e-01 -3.94883865e-05 -3.18203379e-01] [-7.72936932e-04 -1.65752467e-05 9.99999701e-01 -2.81086799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.99, Y:-0.32, Z:-0.28 [[ 9.97343557e-01 7.28370344e-02 7.72099212e-04 7.09912636e+01] [-7.28370256e-02 9.97343856e-01 -3.96110103e-05 -3.19602370e-01] [-7.72933553e-04 -1.67316241e-05 9.99999701e-01 -2.79974195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.02, Y:-0.32, Z:-0.28 [[ 9.97357298e-01 7.26486283e-02 7.72092460e-04 7.10219252e+01] [-7.26486193e-02 9.97357597e-01 -3.97421825e-05 -3.21865704e-01] [-7.72939496e-04 -1.64542954e-05 9.99999701e-01 -2.84665548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.05, Y:-0.32, Z:-0.28 [[ 9.97400986e-01 7.20463491e-02 7.72086205e-04 7.10538720e+01] [-7.20463399e-02 9.97401285e-01 -3.98633342e-05 -3.23991438e-01] [-7.72951781e-04 -1.58662562e-05 9.99999701e-01 -2.83723219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.09, Y:-0.32, Z:-0.28 [[ 9.97492445e-01 7.07688259e-02 7.72079703e-04 7.10857738e+01] [-7.07688162e-02 9.97492743e-01 -3.99888786e-05 -3.23149228e-01] [-7.72973867e-04 -1.47505622e-05 9.99999701e-01 -2.79226911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.12, Y:-0.32, Z:-0.28 [[ 9.97569150e-01 6.96792257e-02 7.72072985e-04 7.11180580e+01] [-6.96792155e-02 9.97569449e-01 -4.01181497e-05 -3.22072254e-01] [-7.72991824e-04 -1.37768114e-05 9.99999701e-01 -2.80972552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.684203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.15, Y:-0.32, Z:-0.29 [[ 9.97807855e-01 6.61731706e-02 7.72066237e-04 7.11481342e+01] [-6.61731593e-02 9.97808154e-01 -4.02475974e-05 -3.22766906e-01] [-7.73037298e-04 -1.09306932e-05 9.99999701e-01 -2.89391974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.18, Y:-0.33, Z:-0.28 [[ 9.97943803e-01 6.40903254e-02 7.72065275e-04 7.11806863e+01] [-6.40903134e-02 9.97944102e-01 -4.02660573e-05 -3.25384534e-01] [-7.73058652e-04 -9.29864300e-06 9.99999701e-01 -2.84850224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.744203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.21, Y:-0.33, Z:-0.29 [[ 9.98081194e-01 6.19139217e-02 7.72057315e-04 7.12115316e+01] [-6.19139089e-02 9.98081493e-01 -4.04180986e-05 -3.26480140e-01] [-7.73078560e-04 -7.46054220e-06 9.99999701e-01 -2.90174525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.24, Y:-0.33, Z:-0.28 [[ 9.98194625e-01 6.00574342e-02 7.72050882e-04 7.12446166e+01] [-6.00574208e-02 9.98194923e-01 -4.05406004e-05 -3.26761123e-01] [-7.73092036e-04 -5.89997536e-06 9.99999701e-01 -2.84293435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.28, Y:-0.33, Z:-0.29 [[ 9.98409346e-01 5.63753631e-02 7.72042982e-04 7.12759584e+01] [-5.63753485e-02 9.98409645e-01 -4.06904986e-05 -3.28068605e-01] [-7.73109101e-04 -2.89841805e-06 9.99999701e-01 -2.85150566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.834203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.31, Y:-0.33, Z:-0.28 [[ 9.98470693e-01 5.52782021e-02 7.72036579e-04 7.13086702e+01] [-5.52781871e-02 9.98470991e-01 -4.08116253e-05 -3.31132702e-01] [-7.73112122e-04 -1.92757068e-06 9.99999701e-01 -2.84936447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.34, Y:-0.33, Z:-0.29 [[ 9.98516083e-01 5.44521520e-02 7.72028781e-04 7.13407233e+01] [-5.44521366e-02 9.98516381e-01 -4.09586092e-05 -3.33870202e-01] [-7.73113669e-04 -1.14078668e-06 9.99999701e-01 -2.87211421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.37, Y:-0.34, Z:-0.29 [[ 9.98566126e-01 5.35265838e-02 7.72021469e-04 7.13729678e+01] [-5.35265680e-02 9.98566425e-01 -4.10959677e-05 -3.36447894e-01] [-7.73114445e-04 -2.86618377e-07 9.99999701e-01 -2.86930968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.40, Y:-0.34, Z:-0.29 [[ 9.98721533e-01 5.05440754e-02 7.72014621e-04 7.14046906e+01] [-5.05440586e-02 9.98721831e-01 -4.12242139e-05 -3.40953464e-01] [-7.73111496e-04 2.15075782e-06 9.99999701e-01 -2.87994932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.44, Y:-0.34, Z:-0.29 [[ 9.98817782e-01 4.86049709e-02 7.72007531e-04 7.14356966e+01] [-4.86049534e-02 9.98818080e-01 -4.13565579e-05 -3.44133822e-01] [-7.73105215e-04 3.78427532e-06 9.99999701e-01 -2.90154526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.47, Y:-0.35, Z:-0.29 [[ 9.99011096e-01 4.44548589e-02 7.72003692e-04 7.14675218e+01] [-4.44548402e-02 9.99011394e-01 -4.14281075e-05 -3.50466953e-01] [-7.73082165e-04 7.06783832e-06 9.99999701e-01 -2.86172619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.50, Y:-0.36, Z:-0.29 [[ 9.99089566e-01 4.26549260e-02 7.71996460e-04 7.15003163e+01] [-4.26549066e-02 9.99089864e-01 -4.15624394e-05 -3.56077612e-01] [-7.73066681e-04 8.59516272e-06 9.99999701e-01 -2.85808223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.53, Y:-0.36, Z:-0.29 [[ 9.99152264e-01 4.11601375e-02 7.71988155e-04 7.15310762e+01] [-4.11601175e-02 9.99152562e-01 -4.17161217e-05 -3.62587251e-01] [-7.73050985e-04 9.90563425e-06 9.99999701e-01 -2.85088912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.56, Y:-0.37, Z:-0.28 [[ 9.99219913e-01 3.94837836e-02 7.71981440e-04 7.15620474e+01] [-3.94837631e-02 9.99220211e-01 -4.18400168e-05 -3.74008373e-01] [-7.73031460e-04 1.13266456e-05 9.99999701e-01 -2.84879486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.59, Y:-0.38, Z:-0.29 [[ 9.99214428e-01 3.96223559e-02 7.71974764e-04 7.15930079e+01] [-3.96223353e-02 9.99214726e-01 -4.19628323e-05 -3.78665199e-01] [-7.73031219e-04 1.13424246e-05 9.99999701e-01 -2.88739958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.134203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.62, Y:-0.38, Z:-0.29 [[ 9.99190248e-01 4.02275139e-02 7.71970699e-04 7.16242626e+01] [-4.02274934e-02 9.99190546e-01 -4.20374848e-05 -3.82309496e-01] [-7.73036888e-04 1.09489986e-05 9.99999701e-01 -2.93190167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.65, Y:-0.39, Z:-0.30 [[ 9.99121153e-01 4.19085283e-02 7.71964261e-04 7.16549055e+01] [-4.19085082e-02 9.99121452e-01 -4.21553728e-05 -3.89872953e-01] [-7.73052723e-04 9.76645411e-06 9.99999701e-01 -2.95416143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.194203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:71.69, Y:-0.39, Z:-0.30 [[ 9.99057101e-01 4.34086648e-02 7.71963239e-04 7.16869090e+01] [-4.34086452e-02 9.99057400e-01 -4.21740973e-05 -3.93983891e-01] [-7.73066307e-04 8.62445312e-06 9.99999701e-01 -2.97431843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.72, Y:-0.40, Z:-0.30 [[ 9.98959500e-01 4.55995762e-02 7.71956071e-04 7.17193740e+01] [-4.55995571e-02 9.98959798e-01 -4.23048825e-05 -3.96871140e-01] [-7.73082166e-04 7.06000933e-06 9.99999701e-01 -2.97229837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.75, Y:-0.40, Z:-0.30 [[ 9.98691313e-01 5.11377100e-02 7.71948856e-04 7.17499378e+01] [-5.11376924e-02 9.98691611e-01 -4.24361318e-05 -4.01519600e-01] [-7.73108934e-04 2.90491298e-06 9.99999701e-01 -3.01742599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.284203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:71.78, Y:-0.41, Z:-0.30 [[ 9.98557863e-01 5.36805304e-02 7.71942154e-04 7.17818364e+01] [-5.36805135e-02 9.98558161e-01 -4.25576919e-05 -4.05219143e-01] [-7.73113657e-04 1.05806664e-06 9.99999701e-01 -3.00637717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.81, Y:-0.41, Z:-0.30 [[ 9.98385440e-01 5.67971606e-02 7.71934989e-04 7.18135575e+01] [-5.67971446e-02 9.98385738e-01 -4.26872755e-05 -4.07949837e-01] [-7.73113400e-04 -1.22534879e-06 9.99999701e-01 -2.96687911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.84, Y:-0.41, Z:-0.30 [[ 9.97941752e-01 6.41222593e-02 7.71927645e-04 7.18441184e+01] [-6.41222454e-02 9.97942050e-01 -4.28196674e-05 -4.07665891e-01] [-7.73084750e-04 -6.76619990e-06 9.99999701e-01 -2.96266458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.88, Y:-0.41, Z:-0.29 [[ 9.97647765e-01 6.85444394e-02 7.71923994e-04 7.18759222e+01] [-6.85444268e-02 9.97648064e-01 -4.28853863e-05 -4.10130853e-01] [-7.73048032e-04 -1.01265778e-05 9.99999701e-01 -2.91058248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.91, Y:-0.41, Z:-0.29 [[ 9.97360158e-01 7.26093582e-02 7.71916734e-04 7.19083445e+01] [-7.26093467e-02 9.97360457e-01 -4.30156631e-05 -4.12600214e-01] [-7.73002566e-04 -1.31462612e-05 9.99999701e-01 -2.91511169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.94, Y:-0.41, Z:-0.30 [[ 9.96923582e-01 7.83758650e-02 7.71909514e-04 7.19396969e+01] [-7.83758551e-02 9.96923880e-01 -4.31448285e-05 -4.11452654e-01] [-7.72916542e-04 -1.74869712e-05 9.99999701e-01 -2.95281627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.97, Y:-0.41, Z:-0.29 [[ 9.96843156e-01 7.93922344e-02 7.71902850e-04 7.19722433e+01] [-7.93922247e-02 9.96843455e-01 -4.32637247e-05 -4.10137426e-01] [-7.72901108e-04 -1.81559367e-05 9.99999701e-01 -2.89579952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.00, Y:-0.41, Z:-0.29 [[ 9.96828112e-01 7.95808957e-02 7.71900748e-04 7.20035802e+01] [-7.95808860e-02 9.96828411e-01 -4.33011941e-05 -4.09290856e-01] [-7.72898544e-04 -1.82646979e-05 9.99999701e-01 -2.89680168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.03, Y:-0.41, Z:-0.29 [[ 9.97132203e-01 7.56754551e-02 7.71893948e-04 7.20342550e+01] [-7.56754441e-02 9.97132501e-01 -4.34220755e-05 -4.09223710e-01] [-7.72966529e-04 -1.51158676e-05 9.99999701e-01 -2.90148182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.07, Y:-0.41, Z:-0.29 [[ 9.97360324e-01 7.26070867e-02 7.71890466e-04 7.20675326e+01] [-7.26070748e-02 9.97360622e-01 -4.34838944e-05 -4.11678650e-01] [-7.73010394e-04 -1.26755978e-05 9.99999701e-01 -2.86042314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.10, Y:-0.41, Z:-0.29 [[ 9.97608161e-01 6.91184570e-02 7.71882127e-04 7.20995497e+01] [-6.91184439e-02 9.97608460e-01 -4.36314113e-05 -4.14540604e-01] [-7.73051876e-04 -9.82423948e-06 9.99999701e-01 -2.86970606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.13, Y:-0.42, Z:-0.29 [[ 9.97852276e-01 6.54999257e-02 7.71876909e-04 7.21316062e+01] [-6.54999115e-02 9.97852574e-01 -4.37235346e-05 -4.18649873e-01] [-7.73083249e-04 -6.92824066e-06 9.99999701e-01 -2.88281860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.16, Y:-0.42, Z:-0.29 [[ 9.98255371e-01 5.90391200e-02 7.71869594e-04 7.21628263e+01] [-5.90391037e-02 9.98255670e-01 -4.38522816e-05 -4.23804587e-01] [-7.73112199e-04 -1.79471336e-06 9.99999701e-01 -2.90799181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.20, Y:-0.43, Z:-0.29 [[ 9.98375402e-01 5.69733394e-02 7.71868518e-04 7.21960566e+01] [-5.69733225e-02 9.98375700e-01 -4.38712103e-05 -4.25694335e-01] [-7.73114262e-04 -1.75976765e-07 9.99999701e-01 -2.91387012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.23, Y:-0.43, Z:-0.29 [[ 9.98547212e-01 5.38782766e-02 7.71859842e-04 7.22280373e+01] [-5.38782587e-02 9.98547511e-01 -4.40233295e-05 -4.30010848e-01] [-7.73110625e-04 2.37290869e-06 9.99999701e-01 -2.90247308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.26, Y:-0.44, Z:-0.29 [[ 9.98611075e-01 5.26813545e-02 7.71852224e-04 7.22591754e+01] [-5.26813361e-02 9.98611373e-01 -4.41564983e-05 -4.36739512e-01] [-7.73106633e-04 3.43296178e-06 9.99999701e-01 -2.93077356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.29, Y:-0.44, Z:-0.30 [[ 9.98670174e-01 5.15488831e-02 7.71845159e-04 7.22895862e+01] [-5.15488642e-02 9.98670472e-01 -4.42796565e-05 -4.43765799e-01] [-7.73101536e-04 4.43303099e-06 9.99999701e-01 -2.96533559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.32, Y:-0.45, Z:-0.29 [[ 9.98726838e-01 5.04391457e-02 7.71840865e-04 7.23212226e+01] [-5.04391265e-02 9.98727136e-01 -4.43543654e-05 -4.47808374e-01] [-7.73095613e-04 5.36691608e-06 9.99999701e-01 -2.91466881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.35, Y:-0.45, Z:-0.29 [[ 9.98718644e-01 5.06011230e-02 7.71833276e-04 7.23530627e+01] [-5.06011037e-02 9.98718943e-01 -4.44860432e-05 -4.48853146e-01] [-7.73095557e-04 5.37342508e-06 9.99999701e-01 -2.90310032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.38, Y:-0.45, Z:-0.29 [[ 9.98635365e-01 5.22188816e-02 7.71825704e-04 7.23840105e+01] [-5.22188627e-02 9.98635663e-01 -4.46170284e-05 -4.52508994e-01] [-7.73102525e-04 4.25228196e-06 9.99999701e-01 -2.92360219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.41, Y:-0.46, Z:-0.29 [[ 9.98595054e-01 5.29841750e-02 7.71821396e-04 7.24147565e+01] [-5.29841563e-02 9.98595352e-01 -4.46914201e-05 -4.57146296e-01] [-7.73105197e-04 3.73432559e-06 9.99999701e-01 -2.93298586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.45, Y:-0.46, Z:-0.29 [[ 9.98578960e-01 5.32866390e-02 7.71814430e-04 7.24471425e+01] [-5.32866203e-02 9.98579258e-01 -4.48114056e-05 -4.62588911e-01] [-7.73105730e-04 3.62034429e-06 9.99999701e-01 -2.94030664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.48, Y:-0.47, Z:-0.29 [[ 9.98578637e-01 5.32926752e-02 7.71805873e-04 7.24791757e+01] [-5.32926564e-02 9.98578936e-01 -4.49583114e-05 -4.67669641e-01] [-7.73105036e-04 3.76282420e-06 9.99999701e-01 -2.94703904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.51, Y:-0.47, Z:-0.29 [[ 9.98580874e-01 5.32507593e-02 7.71798365e-04 7.25110714e+01] [-5.32507404e-02 9.98581172e-01 -4.50868320e-05 -4.71655717e-01] [-7.73104223e-04 3.92401370e-06 9.99999701e-01 -2.94712410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.54, Y:-0.48, Z:-0.29 [[ 9.98596658e-01 5.29539265e-02 7.71790798e-04 7.25426712e+01] [-5.29539074e-02 9.98596957e-01 -4.52159971e-05 -4.76362477e-01] [-7.73102306e-04 4.28320521e-06 9.99999701e-01 -2.94926170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.58, Y:-0.48, Z:-0.29 [[ 9.98586472e-01 5.31456777e-02 7.71783167e-04 7.25760760e+01] [-5.31456586e-02 9.98586770e-01 -4.53458727e-05 -4.78518892e-01] [-7.73102397e-04 4.26485033e-06 9.99999701e-01 -2.94952068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.61, Y:-0.48, Z:-0.30 [[ 9.98594374e-01 5.29969936e-02 7.71774431e-04 7.26074739e+01] [-5.29969742e-02 9.98594672e-01 -4.54940701e-05 -4.81545415e-01] [-7.73100883e-04 4.52841275e-06 9.99999701e-01 -2.98638920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.64, Y:-0.48, Z:-0.29 [[ 9.98608219e-01 5.27354694e-02 7.71767359e-04 7.26397995e+01] [-5.27354499e-02 9.98608517e-01 -4.56137203e-05 -4.83999627e-01] [-7.73098919e-04 4.85073708e-06 9.99999701e-01 -2.94491601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.67, Y:-0.49, Z:-0.30 [[ 9.98638494e-01 5.21590218e-02 7.71759469e-04 7.26714361e+01] [-5.21590021e-02 9.98638792e-01 -4.57468309e-05 -4.88484800e-01] [-7.73095054e-04 5.43034254e-06 9.99999701e-01 -2.97245395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.70, Y:-0.49, Z:-0.30 [[ 9.98667918e-01 5.15925681e-02 7.71751028e-04 7.27028762e+01] [-5.15925480e-02 9.98668217e-01 -4.58887952e-05 -4.92291512e-01] [-7.73090743e-04 6.01106565e-06 9.99999701e-01 -2.95256302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.73, Y:-0.50, Z:-0.29 [[ 9.98697614e-01 5.10145156e-02 7.71743854e-04 7.27348220e+01] [-5.10144953e-02 9.98697912e-01 -4.60091165e-05 -4.95694229e-01] [-7.73086109e-04 6.57907169e-06 9.99999701e-01 -2.93316954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.214203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.77, Y:-0.50, Z:-0.29 [[ 9.98756155e-01 4.98552699e-02 7.71736108e-04 7.27674569e+01] [-4.98552492e-02 9.98756453e-01 -4.61386864e-05 -4.99390709e-01] [-7.73076674e-04 7.60620105e-06 9.99999701e-01 -2.90545285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.80, Y:-0.50, Z:-0.29 [[ 9.98793511e-01 4.91011871e-02 7.71726935e-04 7.27993006e+01] [-4.91011660e-02 9.98793809e-01 -4.62916165e-05 -5.02717745e-01] [-7.73069058e-04 8.34307383e-06 9.99999701e-01 -2.89336187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.83, Y:-0.51, Z:-0.29 [[ 9.98929622e-01 4.62494938e-02 7.71718877e-04 7.28290588e+01] [-4.62494717e-02 9.98929920e-01 -4.64255608e-05 -5.08114072e-01] [-7.73040234e-04 1.06842775e-05 9.99999701e-01 -2.88560799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.86, Y:-0.51, Z:-0.29 [[ 9.98976500e-01 4.52256261e-02 7.71718877e-04 7.28606175e+01] [-4.52256037e-02 9.98976798e-01 -4.64255608e-05 -5.11956489e-01] [-7.73028877e-04 1.14765921e-05 9.99999701e-01 -2.85588829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.89, Y:-0.52, Z:-0.29 [[ 9.99024991e-01 4.41414952e-02 7.71710945e-04 7.28913952e+01] [-4.41414724e-02 9.99025289e-01 -4.65570338e-05 -5.15215601e-01] [-7.73013847e-04 1.24471829e-05 9.99999701e-01 -2.90473429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.92, Y:-0.52, Z:-0.29 [[ 9.99049039e-01 4.35938411e-02 7.71703581e-04 7.29237403e+01] [-4.35938180e-02 9.99049337e-01 -4.66787817e-05 -5.19121911e-01] [-7.73004858e-04 1.29928865e-05 9.99999701e-01 -2.91457789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.96, Y:-0.53, Z:-0.29 [[ 9.99048894e-01 4.35971516e-02 7.71695717e-04 7.29557525e+01] [-4.35971285e-02 9.99049192e-01 -4.68084242e-05 -5.25463112e-01] [-7.73002697e-04 1.31201871e-05 9.99999701e-01 -2.87005870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.99, Y:-0.53, Z:-0.29 [[ 9.99006331e-01 4.45618069e-02 7.71687571e-04 7.29879298e+01] [-4.45617839e-02 9.99006629e-01 -4.69423420e-05 -5.30001489e-01] [-7.73012834e-04 1.25079221e-05 9.99999701e-01 -2.87290620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.02, Y:-0.53, Z:-0.29 [[ 9.98938293e-01 4.60618138e-02 7.71679428e-04 7.30193762e+01] [-4.60617911e-02 9.98938591e-01 -4.70758157e-05 -5.33648797e-01] [-7.73028758e-04 1.14808983e-05 9.99999701e-01 -2.93393819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.05, Y:-0.54, Z:-0.30 [[ 9.98776698e-01 4.94420012e-02 7.71671302e-04 7.30501459e+01] [-4.94419795e-02 9.98776996e-01 -4.72086403e-05 -5.37292860e-01] [-7.73061635e-04 8.99793313e-06 9.99999701e-01 -2.98439725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.08, Y:-0.54, Z:-0.29 [[ 9.98674285e-01 5.14691815e-02 7.71666881e-04 7.30818155e+01] [-5.14691604e-02 9.98674583e-01 -4.72807977e-05 -5.40297198e-01] [-7.73077605e-04 7.50107042e-06 9.99999701e-01 -2.93369445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.11, Y:-0.55, Z:-0.30 [[ 9.98483753e-01 5.50418007e-02 7.71658810e-04 7.31127312e+01] [-5.50417805e-02 9.98484051e-01 -4.74121600e-05 -5.45056668e-01] [-7.73098665e-04 4.86679661e-06 9.99999701e-01 -3.00728115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.14, Y:-0.55, Z:-0.30 [[ 9.98389968e-01 5.67175152e-02 7.71654209e-04 7.31445571e+01] [-5.67174954e-02 9.98390266e-01 -4.74869199e-05 -5.49374824e-01] [-7.73105392e-04 3.64417034e-06 9.99999701e-01 -2.99809966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.18, Y:-0.55, Z:-0.30 [[ 9.98304142e-01 5.82086244e-02 7.71646291e-04 7.31762394e+01] [-5.82086050e-02 9.98304441e-01 -4.76152405e-05 -5.53648077e-01] [-7.73109537e-04 2.61803766e-06 9.99999701e-01 -3.00664120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.21, Y:-0.56, Z:-0.30 [[ 9.98155404e-01 6.07057918e-02 7.71638265e-04 7.32078771e+01] [-6.07057730e-02 9.98155703e-01 -4.77449528e-05 -5.57519724e-01] [-7.73113530e-04 8.13985266e-07 9.99999701e-01 -3.03145651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.24, Y:-0.56, Z:-0.30 [[ 9.98083322e-01 6.18796111e-02 7.71636498e-04 7.32403751e+01] [-6.18795926e-02 9.98083621e-01 -4.77735000e-05 -5.60075168e-01] [-7.73113955e-04 -6.66185355e-08 9.99999701e-01 -3.03645479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.694203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:73.27, Y:-0.56, Z:-0.31 [[ 9.98046127e-01 6.24766585e-02 7.71628189e-04 7.32711153e+01] [-6.24766402e-02 9.98046425e-01 -4.79073228e-05 -5.63937351e-01] [-7.73113846e-04 -3.95018741e-07 9.99999701e-01 -3.13665904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.30, Y:-0.57, Z:-0.31 [[ 9.98032313e-01 6.26969395e-02 7.71623749e-04 7.33030895e+01] [-6.26969212e-02 9.98032612e-01 -4.79787353e-05 -5.69455794e-01] [-7.73113785e-04 -4.94105183e-07 9.99999701e-01 -3.07925773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.33, Y:-0.57, Z:-0.31 [[ 9.98046947e-01 6.24635519e-02 7.71615646e-04 7.33346472e+01] [-6.24635334e-02 9.98047246e-01 -4.81087020e-05 -5.72605491e-01] [-7.73113911e-04 -1.83096491e-07 9.99999701e-01 -3.12075866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.37, Y:-0.58, Z:-0.31 [[ 9.98075378e-01 6.20076110e-02 7.71607599e-04 7.33665030e+01] [-6.20075922e-02 9.98075677e-01 -4.82374247e-05 -5.76239981e-01] [-7.73113864e-04 2.99056607e-07 9.99999701e-01 -3.06966813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.40, Y:-0.58, Z:-0.31 [[ 9.98091901e-01 6.17410810e-02 7.71599372e-04 7.33974554e+01] [-6.17410621e-02 9.98092200e-01 -4.83686550e-05 -5.80610588e-01] [-7.73113648e-04 6.36998029e-07 9.99999701e-01 -3.06506433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.43, Y:-0.59, Z:-0.31 [[ 9.98111022e-01 6.14312061e-02 7.71591756e-04 7.34293860e+01] [-6.14311870e-02 9.98111320e-01 -4.84898582e-05 -5.89192025e-01] [-7.73113256e-04 9.98464490e-07 9.99999701e-01 -3.05484770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.46, Y:-0.59, Z:-0.31 [[ 9.98076760e-01 6.19853667e-02 7.71583632e-04 7.34615551e+01] [-6.19853476e-02 9.98077058e-01 -4.86187727e-05 -5.92596034e-01] [-7.73113575e-04 6.98387486e-07 9.99999701e-01 -3.05185619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.49, Y:-0.59, Z:-0.31 [[ 9.97884716e-01 6.50038333e-02 7.71575345e-04 7.34926650e+01] [-6.50038150e-02 9.97885014e-01 -4.87499383e-05 -5.93711644e-01] [-7.73112407e-04 -1.50852269e-06 9.99999701e-01 -3.08601313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.934203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:73.52, Y:-0.60, Z:-0.31 [[ 9.97771208e-01 6.67234630e-02 7.71567650e-04 7.35240133e+01] [-6.67234452e-02 9.97771507e-01 -4.88714221e-05 -5.96511997e-01] [-7.73109087e-04 -2.71915399e-06 9.99999701e-01 -3.13438782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.964203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:73.56, Y:-0.60, Z:-0.31 [[ 9.97565239e-01 6.97351983e-02 7.71560033e-04 7.35561951e+01] [-6.97351812e-02 9.97565538e-01 -4.89913850e-05 -5.98994664e-01] [-7.73098123e-04 -4.93277606e-06 9.99999701e-01 -3.08724214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.994203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:73.59, Y:-0.60, Z:-0.31 [[ 9.97473905e-01 7.10296598e-02 7.71551743e-04 7.35871377e+01] [-7.10296431e-02 9.97474204e-01 -4.91216001e-05 -5.99947349e-01] [-7.73092051e-04 -5.80553054e-06 9.99999701e-01 -3.07884812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.62, Y:-0.60, Z:-0.31 [[ 9.97416985e-01 7.18245247e-02 7.71544068e-04 7.36184781e+01] [-7.18245081e-02 9.97417284e-01 -4.92418562e-05 -6.01110671e-01] [-7.73088161e-04 -6.30110938e-06 9.99999701e-01 -3.06168751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.65, Y:-0.60, Z:-0.31 [[ 9.97382081e-01 7.23076050e-02 7.71536504e-04 7.36494874e+01] [-7.23075884e-02 9.97382379e-01 -4.93600869e-05 -6.02827367e-01] [-7.73086023e-04 -6.55707780e-06 9.99999701e-01 -3.06487073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.68, Y:-0.60, Z:-0.30 [[ 9.97375354e-01 7.24003289e-02 7.71529011e-04 7.36812067e+01] [-7.24003123e-02 9.97375653e-01 -4.94769322e-05 -6.04604445e-01] [-7.73086397e-04 -6.51186854e-06 9.99999701e-01 -2.99403873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.71, Y:-0.61, Z:-0.29 [[ 9.97424412e-01 7.17213164e-02 7.71525325e-04 7.37134956e+01] [-7.17212996e-02 9.97424710e-01 -4.95343420e-05 -6.08124004e-01] [-7.73091092e-04 -5.92803699e-06 9.99999701e-01 -2.94572647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.75, Y:-0.61, Z:-0.29 [[ 9.97556057e-01 6.98664232e-02 7.71517026e-04 7.37457000e+01] [-6.98664056e-02 9.97556356e-01 -4.96632649e-05 -6.12094289e-01] [-7.73101507e-04 -4.36123075e-06 9.99999701e-01 -2.94465219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.174203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:73.78, Y:-0.61, Z:-0.30 [[ 9.97573506e-01 6.96168445e-02 7.71508677e-04 7.37772153e+01] [-6.96168268e-02 9.97573804e-01 -4.97926191e-05 -6.14245262e-01] [-7.73103251e-04 -4.03818834e-06 9.99999701e-01 -2.97706210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.81, Y:-0.62, Z:-0.30 [[ 9.97515640e-01 7.04411309e-02 7.71505714e-04 7.38099955e+01] [-7.04411134e-02 9.97515938e-01 -4.98384953e-05 -6.16862519e-01] [-7.73099926e-04 -4.63104290e-06 9.99999701e-01 -2.97468017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.84, Y:-0.62, Z:-0.30 [[ 9.97232833e-01 7.43376194e-02 7.71496115e-04 7.38407150e+01] [-7.43376030e-02 9.97233131e-01 -4.99866393e-05 -6.18165825e-01] [-7.73077375e-04 -7.50285406e-06 9.99999701e-01 -2.97302658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.87, Y:-0.62, Z:-0.30 [[ 9.97007101e-01 7.73061839e-02 7.71488340e-04 7.38727962e+01] [-7.73061683e-02 9.97007399e-01 -5.01063553e-05 -6.19292608e-01] [-7.73053114e-04 -9.68441544e-06 9.99999701e-01 -2.95348825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.90, Y:-0.62, Z:-0.30 [[ 9.96794577e-01 7.99998494e-02 7.71479713e-04 7.39039050e+01] [-7.99998345e-02 9.96794876e-01 -5.02388361e-05 -6.20728544e-01] [-7.73026124e-04 -1.16404499e-05 9.99999701e-01 -2.98375579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.94, Y:-0.62, Z:-0.30 [[ 9.96572596e-01 8.27191958e-02 7.71471724e-04 7.39350149e+01] [-8.27191816e-02 9.96572895e-01 -5.03612107e-05 -6.22405352e-01] [-7.72993648e-04 -1.36269072e-05 9.99999701e-01 -3.00877258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.97, Y:-0.62, Z:-0.30 [[ 9.96232543e-01 8.67186514e-02 7.71463974e-04 7.39675374e+01] [-8.67186383e-02 9.96232842e-01 -5.04796602e-05 -6.22010792e-01] [-7.72935275e-04 -1.66108250e-05 9.99999701e-01 -3.00381365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.00, Y:-0.62, Z:-0.31 [[ 9.96131641e-01 8.78701241e-02 7.71455544e-04 7.39983325e+01] [-8.78701112e-02 9.96131940e-01 -5.06081629e-05 -6.22166515e-01] [-7.72918453e-04 -1.73754920e-05 9.99999701e-01 -3.06504508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.03, Y:-0.62, Z:-0.30 [[ 9.96093066e-01 8.83063346e-02 7.71447748e-04 7.40308399e+01] [-8.83063218e-02 9.96093365e-01 -5.07267169e-05 -6.24360362e-01] [-7.72913474e-04 -1.75951821e-05 9.99999701e-01 -3.03082566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.06, Y:-0.63, Z:-0.30 [[ 9.96117595e-01 8.80292087e-02 7.71439588e-04 7.40629602e+01] [-8.80291957e-02 9.96117894e-01 -5.08505095e-05 -6.27457891e-01] [-7.72921108e-04 -1.72561192e-05 9.99999701e-01 -2.99759548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.09, Y:-0.63, Z:-0.30 [[ 9.96147875e-01 8.76858968e-02 7.71431366e-04 7.40945196e+01] [-8.76858836e-02 9.96148173e-01 -5.09749365e-05 -6.29077470e-01] [-7.72929730e-04 -1.68650664e-05 9.99999701e-01 -2.95489323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.13, Y:-0.63, Z:-0.29 [[ 9.96082612e-01 8.84241759e-02 7.71423558e-04 7.41271026e+01] [-8.84241629e-02 9.96082911e-01 -5.10928314e-05 -6.26767662e-01] [-7.72919665e-04 -1.73198014e-05 9.99999701e-01 -2.93706904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.534203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:74.16, Y:-0.63, Z:-0.30 [[ 9.95974026e-01 8.96389692e-02 7.71415062e-04 7.41586391e+01] [-8.96389564e-02 9.95974324e-01 -5.12207844e-05 -6.27919121e-01] [-7.72900974e-04 -1.81342703e-05 9.99999701e-01 -2.98947641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.19, Y:-0.63, Z:-0.29 [[ 9.95888868e-01 9.05801710e-02 7.71405948e-04 7.41907011e+01] [-9.05801583e-02 9.95889167e-01 -5.13576830e-05 -6.30172200e-01] [-7.72886814e-04 -1.87275281e-05 9.99999701e-01 -2.92622113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.22, Y:-0.63, Z:-0.29 [[ 9.95733620e-01 9.22711369e-02 7.71397417e-04 7.42231357e+01] [-9.22711247e-02 9.95733919e-01 -5.14854983e-05 -6.27801760e-01] [-7.72857198e-04 -1.99118657e-05 9.99999701e-01 -2.90972324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.26, Y:-0.63, Z:-0.29 [[ 9.95668334e-01 9.29729748e-02 7.71394396e-04 7.42550468e+01] [-9.29729628e-02 9.95668632e-01 -5.15307231e-05 -6.25721380e-01] [-7.72844168e-04 -2.04113133e-05 9.99999701e-01 -2.90704170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.29, Y:-0.62, Z:-0.29 [[ 9.95631860e-01 9.33627555e-02 7.71385894e-04 7.42885948e+01] [-9.33627435e-02 9.95632159e-01 -5.16576752e-05 -6.24674323e-01] [-7.72839506e-04 -2.05866761e-05 9.99999701e-01 -2.88868629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.32, Y:-0.62, Z:-0.29 [[ 9.95740565e-01 9.21961578e-02 7.71375961e-04 7.43201147e+01] [-9.21961453e-02 9.95740864e-01 -5.18055746e-05 -6.23385064e-01] [-7.72866841e-04 -1.95329781e-05 9.99999701e-01 -2.94722350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.35, Y:-0.63, Z:-0.29 [[ 9.95890138e-01 9.05662110e-02 7.71367925e-04 7.43526138e+01] [-9.05661979e-02 9.95890436e-01 -5.19249622e-05 -6.25360296e-01] [-7.72900586e-04 -1.81483024e-05 9.99999701e-01 -2.85515944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.744203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.39, Y:-0.63, Z:-0.28 [[ 9.96102083e-01 8.82045691e-02 7.71357900e-04 7.43851102e+01] [-8.82045552e-02 9.96102381e-01 -5.20734631e-05 -6.26856237e-01] [-7.72944558e-04 -1.61667954e-05 9.99999701e-01 -2.84292992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.42, Y:-0.63, Z:-0.29 [[ 9.96351411e-01 8.53420830e-02 7.71348952e-04 7.44165033e+01] [-8.53420681e-02 9.96351709e-01 -5.22056737e-05 -6.28195844e-01] [-7.72990187e-04 -1.38133182e-05 9.99999701e-01 -2.85546294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.45, Y:-0.62, Z:-0.29 [[ 9.96826157e-01 7.96053825e-02 7.71340633e-04 7.44487138e+01] [-7.96053659e-02 9.96826456e-01 -5.23282915e-05 -6.23625395e-01] [-7.73058363e-04 -9.24064359e-06 9.99999701e-01 -2.88105211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.48, Y:-0.62, Z:-0.29 [[ 9.97015649e-01 7.71958574e-02 7.71331898e-04 7.44810289e+01] [-7.71958399e-02 9.97015947e-01 -5.24567343e-05 -6.21847466e-01] [-7.73079646e-04 -7.24342868e-06 9.99999701e-01 -2.89945590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.51, Y:-0.62, Z:-0.29 [[ 9.97460736e-01 7.12143665e-02 7.71322502e-04 7.45119044e+01] [-7.12143472e-02 9.97461034e-01 -5.25945337e-05 -6.21143740e-01] [-7.73109626e-04 -2.46824618e-06 9.99999701e-01 -2.93737199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.54, Y:-0.62, Z:-0.29 [[ 9.97671997e-01 6.81908404e-02 7.71313803e-04 7.45446860e+01] [-6.81908200e-02 9.97672296e-01 -5.27217978e-05 -6.23564257e-01] [-7.73113556e-04 2.54069523e-09 9.99999701e-01 -2.88706933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.58, Y:-0.63, Z:-0.29 [[ 9.97658913e-01 6.83819989e-02 7.71303660e-04 7.45780681e+01] [-6.83819785e-02 9.97659211e-01 -5.28697692e-05 -6.26043785e-01] [-7.73113542e-04 2.72617263e-09 9.99999701e-01 -2.88732834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.61, Y:-0.63, Z:-0.29 [[ 9.97845203e-01 6.56075951e-02 7.71293501e-04 7.46104433e+01] [-6.56075737e-02 9.97845501e-01 -5.30175535e-05 -6.27641013e-01] [-7.73110104e-04 2.30061616e-06 9.99999701e-01 -2.87969090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.64, Y:-0.63, Z:-0.30 [[ 9.98100602e-01 6.16002768e-02 7.71284390e-04 7.46406598e+01] [-6.16002541e-02 9.98100900e-01 -5.31497735e-05 -6.28933440e-01] [-7.73093684e-04 5.53750649e-06 9.99999701e-01 -2.96472057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.67, Y:-0.63, Z:-0.30 [[ 9.98156236e-01 6.06921259e-02 7.71283735e-04 7.46727490e+01] [-6.06921029e-02 9.98156534e-01 -5.31592835e-05 -6.30016789e-01] [-7.73088249e-04 6.25043852e-06 9.99999701e-01 -2.95301220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.70, Y:-0.63, Z:-0.29 [[ 9.98157712e-01 6.06678386e-02 7.71275032e-04 7.47042432e+01] [-6.06678155e-02 9.98158010e-01 -5.32852560e-05 -6.28976155e-01] [-7.73087052e-04 6.39551786e-06 9.99999701e-01 -2.93723578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.74, Y:-0.63, Z:-0.29 [[ 9.98129154e-01 6.11358952e-02 7.71266992e-04 7.47362262e+01] [-6.11358721e-02 9.98129452e-01 -5.34013702e-05 -6.27545762e-01] [-7.73089040e-04 6.14938421e-06 9.99999701e-01 -2.88622197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.77, Y:-0.63, Z:-0.29 [[ 9.97983422e-01 6.34704261e-02 7.71257960e-04 7.47680563e+01] [-6.34704037e-02 9.97983720e-01 -5.35314960e-05 -6.28291372e-01] [-7.73100555e-04 4.47149152e-06 9.99999701e-01 -2.89757458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.80, Y:-0.63, Z:-0.29 [[ 9.97881166e-01 6.50583084e-02 7.71248929e-04 7.47999144e+01] [-6.50582864e-02 9.97881464e-01 -5.36613014e-05 -6.30692154e-01] [-7.73106124e-04 3.37146838e-06 9.99999701e-01 -2.89205557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.83, Y:-0.63, Z:-0.29 [[ 9.97724387e-01 6.74199743e-02 7.71239774e-04 7.48316740e+01] [-6.74199528e-02 9.97724685e-01 -5.37925519e-05 -6.28502625e-01] [-7.73111653e-04 1.67319165e-06 9.99999701e-01 -2.90018246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.86, Y:-0.63, Z:-0.29 [[ 9.97684704e-01 6.80046879e-02 7.71230016e-04 7.48630504e+01] [-6.80046666e-02 9.97685002e-01 -5.39320901e-05 -6.28004048e-01] [-7.73112255e-04 1.35998117e-06 9.99999701e-01 -2.90608442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.89, Y:-0.63, Z:-0.29 [[ 9.97680731e-01 6.80629396e-02 7.71225154e-04 7.48945892e+01] [-6.80629182e-02 9.97681029e-01 -5.40015346e-05 -6.28331788e-01] [-7.73112208e-04 1.38445597e-06 9.99999701e-01 -2.91065353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.93, Y:-0.63, Z:-0.29 [[ 9.97720855e-01 6.74722238e-02 7.71216965e-04 7.49270475e+01] [-6.74722021e-02 9.97721153e-01 -5.41182288e-05 -6.30117460e-01] [-7.73110957e-04 1.95917857e-06 9.99999701e-01 -2.88086540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.96, Y:-0.63, Z:-0.29 [[ 9.97866486e-01 6.52830858e-02 7.71206487e-04 7.49576931e+01] [-6.52830634e-02 9.97866784e-01 -5.42671363e-05 -6.31938290e-01] [-7.73104063e-04 3.80463469e-06 9.99999701e-01 -2.90905338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.99, Y:-0.64, Z:-0.29 [[ 9.97944491e-01 6.40796161e-02 7.71201907e-04 7.49896284e+01] [-6.40795933e-02 9.97944789e-01 -5.43321387e-05 -6.35385876e-01] [-7.73098508e-04 4.80215397e-06 9.99999701e-01 -2.89060735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.02, Y:-0.64, Z:-0.28 [[ 9.98116921e-01 6.13352909e-02 7.71192998e-04 7.50211513e+01] [-6.13352672e-02 9.98117219e-01 -5.44583041e-05 -6.40495919e-01] [-7.73081226e-04 7.05442617e-06 9.99999701e-01 -2.83320861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.05, Y:-0.64, Z:-0.28 [[ 9.98189214e-01 6.01472980e-02 7.71183708e-04 7.50532818e+01] [-6.01472738e-02 9.98189512e-01 -5.45895450e-05 -6.44542224e-01] [-7.73070903e-04 8.10609739e-06 9.99999701e-01 -2.83150816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.08, Y:-0.65, Z:-0.28 [[ 9.98244509e-01 5.92225118e-02 7.71174273e-04 7.50846506e+01] [-5.92224872e-02 9.98244807e-01 -5.47225131e-05 -6.47737950e-01] [-7.73061517e-04 8.95558976e-06 9.99999701e-01 -2.84440256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.12, Y:-0.65, Z:-0.28 [[ 9.98281013e-01 5.86039645e-02 7.71164168e-04 7.51162897e+01] [-5.86039396e-02 9.98281311e-01 -5.48645492e-05 -6.50650762e-01] [-7.73054056e-04 9.57697947e-06 9.99999701e-01 -2.84009368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.15, Y:-0.66, Z:-0.28 [[ 9.98322584e-01 5.78914742e-02 7.71154875e-04 7.51471313e+01] [-5.78914490e-02 9.98322882e-01 -5.49948572e-05 -6.58298152e-01] [-7.73045290e-04 1.02593349e-05 9.99999701e-01 -2.83020859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.18, Y:-0.66, Z:-0.27 [[ 9.98320508e-01 5.79272740e-02 7.71146274e-04 7.51789527e+01] [-5.79272487e-02 9.98320806e-01 -5.51151956e-05 -6.63612997e-01] [-7.73044042e-04 1.03522481e-05 9.99999701e-01 -2.74417242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.21, Y:-0.67, Z:-0.28 [[ 9.98286606e-01 5.85086132e-02 7.71136474e-04 7.52102732e+01] [-5.85085880e-02 9.98286904e-01 -5.52519756e-05 -6.67314429e-01] [-7.73048159e-04 1.00392010e-05 9.99999701e-01 -2.75544129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.24, Y:-0.67, Z:-0.28 [[ 9.98175162e-01 6.03800630e-02 7.71130188e-04 7.52413658e+01] [-6.03800383e-02 9.98175459e-01 -5.53395604e-05 -6.70363166e-01] [-7.73064636e-04 8.67770435e-06 9.99999701e-01 -2.81721230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.27, Y:-0.67, Z:-0.28 [[ 9.98071084e-01 6.20766921e-02 7.71121338e-04 7.52741950e+01] [-6.20766677e-02 9.98071382e-01 -5.54626031e-05 -6.74697043e-01] [-7.73077075e-04 7.48697734e-06 9.99999701e-01 -2.81783741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.31, Y:-0.68, Z:-0.28 [[ 9.97930685e-01 6.42942659e-02 7.71110679e-04 7.53074540e+01] [-6.42942421e-02 9.97930983e-01 -5.56104020e-05 -6.78602307e-01] [-7.73090668e-04 5.91734986e-06 9.99999701e-01 -2.80977738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.34, Y:-0.68, Z:-0.28 [[ 9.97543982e-01 7.00386310e-02 7.71099919e-04 7.53400358e+01] [-7.00386088e-02 9.97544280e-01 -5.57592021e-05 -6.81473866e-01] [-7.73111612e-04 1.61549086e-06 9.99999701e-01 -2.77497882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.674203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:75.37, Y:-0.68, Z:-0.28 [[ 9.97338759e-01 7.29027143e-02 7.71088762e-04 7.53721414e+01] [-7.29026929e-02 9.97339057e-01 -5.59130783e-05 -6.84468204e-01] [-7.73113153e-04 -4.50167054e-07 9.99999701e-01 -2.78788617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.40, Y:-0.69, Z:-0.28 [[ 9.97123524e-01 7.57897357e-02 7.71081817e-04 7.54043180e+01] [-7.57897151e-02 9.97123822e-01 -5.60086808e-05 -6.88552007e-01] [-7.73108932e-04 -2.59249807e-06 9.99999701e-01 -2.78821029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.44, Y:-0.69, Z:-0.28 [[ 9.96908177e-01 7.85715764e-02 7.71074940e-04 7.54360956e+01] [-7.85715565e-02 9.96908475e-01 -5.61032045e-05 -6.90631027e-01] [-7.73099260e-04 -4.65481494e-06 9.99999701e-01 -2.79019138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.47, Y:-0.69, Z:-0.28 [[ 9.96491994e-01 8.36845960e-02 7.71065476e-04 7.54675074e+01] [-8.36845776e-02 9.96492292e-01 -5.62329790e-05 -6.88960344e-01] [-7.73066637e-04 -8.49057520e-06 9.99999701e-01 -2.82661701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.794203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:75.50, Y:-0.69, Z:-0.29 [[ 9.96276246e-01 8.62151242e-02 7.71056706e-04 7.54991551e+01] [-8.62151064e-02 9.96276544e-01 -5.63529733e-05 -6.89041196e-01] [-7.73044189e-04 -1.03336072e-05 9.99999701e-01 -2.85241284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.53, Y:-0.69, Z:-0.28 [[ 9.95762803e-01 9.19556754e-02 7.71048047e-04 7.55314431e+01] [-9.19556592e-02 9.95763101e-01 -5.64712027e-05 -6.88653512e-01] [-7.72974042e-04 -1.46703083e-05 9.99999701e-01 -2.78770874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.56, Y:-0.69, Z:-0.28 [[ 9.95499722e-01 9.47613307e-02 7.71038581e-04 7.55622541e+01] [-9.47613153e-02 9.95500020e-01 -5.66001437e-05 -6.89707228e-01] [-7.72932428e-04 -1.67192028e-05 9.99999701e-01 -2.77341602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.59, Y:-0.69, Z:-0.28 [[ 9.95250337e-01 9.73456292e-02 7.71033387e-04 7.55938000e+01] [-9.73456145e-02 9.95250636e-01 -5.66708134e-05 -6.90286293e-01] [-7.72888125e-04 -1.86550727e-05 9.99999701e-01 -2.78848563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.63, Y:-0.69, Z:-0.28 [[ 9.94716853e-01 1.02653732e-01 7.71023344e-04 7.56255929e+01] [-1.02653718e-01 9.94717151e-01 -5.68071297e-05 -6.86897243e-01] [-7.72781608e-04 -2.26414041e-05 9.99999701e-01 -2.82963155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.66, Y:-0.68, Z:-0.29 [[ 9.94491366e-01 1.04815687e-01 7.71018086e-04 7.56568452e+01] [-1.04815674e-01 9.94491665e-01 -5.68783991e-05 -6.84979999e-01] [-7.72732809e-04 -2.42497037e-05 9.99999701e-01 -2.86230652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.69, Y:-0.68, Z:-0.28 [[ 9.94321119e-01 1.06418600e-01 7.71009800e-04 7.56887862e+01] [-1.06418588e-01 9.94321417e-01 -5.69905070e-05 -6.83460597e-01] [-7.72696407e-04 -2.53829094e-05 9.99999701e-01 -2.82448036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.72, Y:-0.68, Z:-0.29 [[ 9.94276217e-01 1.06837303e-01 7.71000209e-04 7.57197185e+01] [-1.06837291e-01 9.94276516e-01 -5.71199533e-05 -6.80391283e-01] [-7.72689944e-04 -2.55785628e-05 9.99999701e-01 -2.85955035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.75, Y:-0.68, Z:-0.28 [[ 9.94363746e-01 1.06019552e-01 7.70995433e-04 7.57519602e+01] [-1.06019540e-01 9.94364045e-01 -5.71843557e-05 -6.79901257e-01] [-7.72712797e-04 -2.48785310e-05 9.99999701e-01 -2.79923527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.78, Y:-0.68, Z:-0.28 [[ 9.94487527e-01 1.04852108e-01 7.70986037e-04 7.57837459e+01] [-1.04852095e-01 9.94487825e-01 -5.73107502e-05 -6.78687271e-01] [-7.72745381e-04 -2.38446751e-05 9.99999701e-01 -2.79881551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.82, Y:-0.68, Z:-0.28 [[ 9.94591232e-01 1.03863786e-01 7.70977318e-04 7.58172637e+01] [-1.03863773e-01 9.94591531e-01 -5.74278084e-05 -6.77578277e-01] [-7.72772181e-04 -2.29594183e-05 9.99999701e-01 -2.79041734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.85, Y:-0.67, Z:-0.28 [[ 9.94903421e-01 1.00829507e-01 7.70966700e-04 7.58501895e+01] [-1.00829492e-01 9.94903719e-01 -5.75700074e-05 -6.73919166e-01] [-7.72842392e-04 -2.04595837e-05 9.99999701e-01 -2.80235690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.88, Y:-0.67, Z:-0.28 [[ 9.95081334e-01 9.90582854e-02 7.70957358e-04 7.58824097e+01] [-9.90582704e-02 9.95081633e-01 -5.76948339e-05 -6.72927718e-01] [-7.72880658e-04 -1.89586502e-05 9.99999701e-01 -2.81469909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.92, Y:-0.67, Z:-0.28 [[ 9.95282382e-01 9.70174545e-02 7.70947842e-04 7.59151030e+01] [-9.70174388e-02 9.95282680e-01 -5.78217139e-05 -6.71091406e-01] [-7.72920750e-04 -1.72464520e-05 9.99999701e-01 -2.83558883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.95, Y:-0.67, Z:-0.28 [[ 9.95467566e-01 9.50985276e-02 7.70938289e-04 7.59475011e+01] [-9.50985112e-02 9.95467865e-01 -5.79488017e-05 -6.68999557e-01] [-7.72955138e-04 -1.56289310e-05 9.99999701e-01 -2.84254732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.98, Y:-0.66, Z:-0.28 [[ 9.95908481e-01 9.03642788e-02 7.70931480e-04 7.59796364e+01] [-9.03642610e-02 9.95908779e-01 -5.80392453e-05 -6.62214237e-01] [-7.73022104e-04 -1.18628769e-05 9.99999701e-01 -2.83865266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.01, Y:-0.66, Z:-0.28 [[ 9.96142150e-01 8.77509109e-02 7.70922686e-04 7.60123099e+01] [-8.77508921e-02 9.96142448e-01 -5.81558234e-05 -6.61216304e-01] [-7.73052039e-04 -9.71768655e-06 9.99999701e-01 -2.77657067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.04, Y:-0.66, Z:-0.28 [[ 9.96381469e-01 8.49904400e-02 7.70911972e-04 7.60437854e+01] [-8.49904203e-02 9.96381767e-01 -5.82975006e-05 -6.60828564e-01] [-7.73077363e-04 -7.43358327e-06 9.99999701e-01 -2.81760615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.08, Y:-0.66, Z:-0.28 [[ 9.96919250e-01 7.84309546e-02 7.70902705e-04 7.60768715e+01] [-7.84309329e-02 9.96919548e-01 -5.84197849e-05 -6.56416746e-01] [-7.73109896e-04 -2.22281020e-06 9.99999701e-01 -2.80783932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.11, Y:-0.66, Z:-0.28 [[ 9.97212185e-01 7.46140961e-02 7.70897240e-04 7.61087435e+01] [-7.46140732e-02 9.97212483e-01 -5.84918226e-05 -6.55734907e-01] [-7.73112665e-04 8.08975220e-07 9.99999701e-01 -2.81602262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.14, Y:-0.66, Z:-0.29 [[ 9.97509465e-01 7.05285201e-02 7.70887198e-04 7.61395910e+01] [-7.05284958e-02 9.97509763e-01 -5.86238715e-05 -6.55562663e-01] [-7.73102161e-04 4.10835225e-06 9.99999701e-01 -2.85329483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.424203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.17, Y:-0.65, Z:-0.29 [[ 9.98074198e-01 6.20266207e-02 7.70877914e-04 7.61722016e+01] [-6.20265938e-02 9.98074495e-01 -5.87456976e-05 -6.53412299e-01] [-7.73037382e-04 1.08176338e-05 9.99999701e-01 -2.86328863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.20, Y:-0.65, Z:-0.28 [[ 9.98325747e-01 5.78369226e-02 7.70868151e-04 7.62040625e+01] [-5.78368944e-02 9.98326044e-01 -5.88735216e-05 -6.52531053e-01] [-7.72982815e-04 1.41903325e-05 9.99999701e-01 -2.82146179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.24, Y:-0.65, Z:-0.28 [[ 9.98540532e-01 5.40019542e-02 7.70858789e-04 7.62358590e+01] [-5.40019248e-02 9.98540830e-01 -5.89958519e-05 -6.52559798e-01] [-7.72919866e-04 1.72818910e-05 9.99999701e-01 -2.79394459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.27, Y:-0.65, Z:-0.28 [[ 9.98709862e-01 5.07741722e-02 7.70849382e-04 7.62667509e+01] [-5.07741417e-02 9.98710160e-01 -5.91185062e-05 -6.53912219e-01] [-7.72856803e-04 1.99030195e-05 9.99999701e-01 -2.82098672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.544203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:76.30, Y:-0.66, Z:-0.28 [[ 9.98957485e-01 4.56437081e-02 7.70844027e-04 7.62994580e+01] [-4.56436760e-02 9.98957783e-01 -5.91882500e-05 -6.57217554e-01] [-7.72742211e-04 2.39423904e-05 9.99999701e-01 -2.75471565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.33, Y:-0.66, Z:-0.27 [[ 9.99007055e-01 4.45455931e-02 7.70832474e-04 7.63302299e+01] [-4.45455606e-02 9.99007352e-01 -5.93383306e-05 -6.60161384e-01] [-7.72710570e-04 2.49422463e-05 9.99999701e-01 -2.74776189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.604203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:76.36, Y:-0.66, Z:-0.28 [[ 9.99022684e-01 4.41936960e-02 7.70823145e-04 7.63620845e+01] [-4.41936632e-02 9.99022981e-01 -5.94592669e-05 -6.60946529e-01] [-7.72697761e-04 2.53356579e-05 9.99999701e-01 -2.75451128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.39, Y:-0.66, Z:-0.28 [[ 9.98888230e-01 4.71350143e-02 7.70813054e-04 7.63937195e+01] [-4.71349823e-02 9.98888527e-01 -5.95897984e-05 -6.59722657e-01] [-7.72765083e-04 2.31912886e-05 9.99999701e-01 -2.79977905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.43, Y:-0.66, Z:-0.28 [[ 9.98779499e-01 4.93854004e-02 7.70803727e-04 7.64253715e+01] [-4.93853690e-02 9.98779796e-01 -5.97102109e-05 -6.63082007e-01] [-7.72812002e-04 2.15709080e-05 9.99999701e-01 -2.77845934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.46, Y:-0.67, Z:-0.28 [[ 9.98645912e-01 5.20168104e-02 7.70802284e-04 7.64569199e+01] [-5.20167798e-02 9.98646209e-01 -5.97288300e-05 -6.68568560e-01] [-7.72865682e-04 1.95532993e-05 9.99999701e-01 -2.77592399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.724203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:76.49, Y:-0.67, Z:-0.28 [[ 9.98328241e-01 5.77938555e-02 7.70792200e-04 7.64874383e+01] [-5.77938265e-02 9.98328538e-01 -5.98586778e-05 -6.73659944e-01] [-7.72963314e-04 1.52115778e-05 9.99999701e-01 -2.76802051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.52, Y:-0.68, Z:-0.27 [[ 9.98128695e-01 6.11433845e-02 7.70790761e-04 7.65191080e+01] [-6.11433565e-02 9.98128993e-01 -5.98771962e-05 -6.77575361e-01] [-7.73009701e-04 1.26364134e-05 9.99999701e-01 -2.73240078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.55, Y:-0.68, Z:-0.27 [[ 9.97932671e-01 6.42634453e-02 7.70780923e-04 7.65514716e+01] [-6.42634181e-02 9.97932968e-01 -6.00035759e-05 -6.81748944e-01] [-7.73043731e-04 1.03465120e-05 9.99999701e-01 -2.69759983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.58, Y:-0.69, Z:-0.27 [[ 9.97518021e-01 7.04074144e-02 7.70770833e-04 7.65825742e+01] [-7.04073890e-02 9.97518319e-01 -6.01329051e-05 -6.85557140e-01] [-7.73091828e-04 5.71569466e-06 9.99999701e-01 -2.70363163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.62, Y:-0.69, Z:-0.27 [[ 9.97506409e-01 7.05717293e-02 7.70761484e-04 7.66151232e+01] [-7.05717038e-02 9.97506707e-01 -6.02525084e-05 -6.88255516e-01] [-7.73091873e-04 5.70831220e-06 9.99999701e-01 -2.70388420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.65, Y:-0.69, Z:-0.27 [[ 9.97253420e-01 7.40609356e-02 7.70751538e-04 7.66467068e+01] [-7.40609111e-02 9.97253718e-01 -6.03794701e-05 -6.91427909e-01] [-7.73106596e-04 3.13107200e-06 9.99999701e-01 -2.70619963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.68, Y:-0.70, Z:-0.27 [[ 9.96664628e-01 8.16028484e-02 7.70741353e-04 7.66770726e+01] [-8.16028260e-02 9.96664926e-01 -6.05091901e-05 -6.98627526e-01] [-7.73108596e-04 -2.58730312e-06 9.99999701e-01 -2.73171016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.71, Y:-0.70, Z:-0.27 [[ 9.96341012e-01 8.54634037e-02 7.70731883e-04 7.67091779e+01] [-8.54633824e-02 9.96341310e-01 -6.06295743e-05 -7.03374934e-01] [-7.73093624e-04 -5.46162225e-06 9.99999701e-01 -2.70519767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.74, Y:-0.71, Z:-0.27 [[ 9.95989634e-01 8.94653876e-02 7.70721740e-04 7.67399591e+01] [-8.94653673e-02 9.95989932e-01 -6.07582469e-05 -7.07063666e-01] [-7.73066853e-04 -8.43831947e-06 9.99999701e-01 -2.69174498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.77, Y:-0.71, Z:-0.26 [[ 9.95629404e-01 9.33889453e-02 7.70712363e-04 7.67714662e+01] [-9.33889261e-02 9.95629703e-01 -6.08769597e-05 -7.10742883e-01] [-7.73029356e-04 -1.13651088e-05 9.99999701e-01 -2.62987024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.80, Y:-0.71, Z:-0.26 [[ 9.95271152e-01 9.71325925e-02 7.70702649e-04 7.68026597e+01] [-9.71325744e-02 9.95271450e-01 -6.09996876e-05 -7.14514658e-01] [-7.72983401e-04 -1.41491031e-05 9.99999701e-01 -2.64626733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.83, Y:-0.72, Z:-0.28 [[ 9.94641945e-01 1.03377014e-01 7.70696713e-04 7.68326978e+01] [-1.03376997e-01 9.94642244e-01 -6.10745915e-05 -7.18692088e-01] [-7.72881217e-04 -1.89249616e-05 9.99999701e-01 -2.75694604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.86, Y:-0.72, Z:-0.28 [[ 9.94435316e-01 1.05346137e-01 7.70696713e-04 7.68643286e+01] [-1.05346122e-01 9.94435614e-01 -6.10745915e-05 -7.21197669e-01] [-7.72842232e-04 -2.04551790e-05 9.99999701e-01 -2.78775806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.114203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.90, Y:-0.72, Z:-0.28 [[ 9.94304456e-01 1.06574175e-01 7.70694580e-04 7.68964731e+01] [-1.06574160e-01 9.94304754e-01 -6.11015063e-05 -7.24419297e-01] [-7.72817127e-04 -2.13826271e-05 9.99999701e-01 -2.79736814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.144203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.93, Y:-0.73, Z:-0.27 [[ 9.94308761e-01 1.06534003e-01 7.70684548e-04 7.69281954e+01] [-1.06533987e-01 9.94309060e-01 -6.12277760e-05 -7.30851083e-01] [-7.72821468e-04 -2.12247837e-05 9.99999701e-01 -2.74084562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.96, Y:-0.74, Z:-0.28 [[ 9.94375841e-01 1.05906055e-01 7.70674095e-04 7.69592019e+01] [-1.05906039e-01 9.94376140e-01 -6.13590723e-05 -7.35034855e-01] [-7.72838228e-04 -2.06050614e-05 9.99999701e-01 -2.76606261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.99, Y:-0.74, Z:-0.28 [[ 9.94422759e-01 1.05464601e-01 7.70668160e-04 7.69910875e+01] [-1.05464585e-01 9.94423058e-01 -6.14335243e-05 -7.37348152e-01] [-7.72849250e-04 -2.01873031e-05 9.99999701e-01 -2.77284024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.02, Y:-0.74, Z:-0.28 [[ 9.94476025e-01 1.04961146e-01 7.70657921e-04 7.70219272e+01] [-1.04961130e-01 9.94476323e-01 -6.15616998e-05 -7.37005993e-01] [-7.72862642e-04 -1.96674918e-05 9.99999701e-01 -2.78482562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.05, Y:-0.74, Z:-0.28 [[ 9.94539461e-01 1.04358360e-01 7.70648419e-04 7.70531216e+01] [-1.04358343e-01 9.94539759e-01 -6.16804194e-05 -7.38585819e-01] [-7.72877360e-04 -1.90799812e-05 9.99999701e-01 -2.82462975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.08, Y:-0.74, Z:-0.28 [[ 9.94701073e-01 1.02806528e-01 7.70639007e-04 7.70846474e+01] [-1.02806511e-01 9.94701371e-01 -6.17977890e-05 -7.40635116e-01] [-7.72908893e-04 -1.77563805e-05 9.99999701e-01 -2.76648642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.12, Y:-0.74, Z:-0.27 [[ 9.94746408e-01 1.02366942e-01 7.70629770e-04 7.71169447e+01] [-1.02366925e-01 9.94746706e-01 -6.19127586e-05 -7.44120015e-01] [-7.72919245e-04 -1.72995058e-05 9.99999701e-01 -2.70776632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.15, Y:-0.75, Z:-0.27 [[ 9.94800698e-01 1.01837995e-01 7.70619358e-04 7.71476061e+01] [-1.01837978e-01 9.94800996e-01 -6.20420820e-05 -7.47790152e-01] [-7.72931147e-04 -1.67588106e-05 9.99999701e-01 -2.72508583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.18, Y:-0.75, Z:-0.27 [[ 9.94879428e-01 1.01065966e-01 7.70613688e-04 7.71796112e+01] [-1.01065949e-01 9.94879726e-01 -6.21124386e-05 -7.50922359e-01] [-7.72945388e-04 -1.60884159e-05 9.99999701e-01 -2.72007421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.21, Y:-0.75, Z:-0.28 [[ 9.95093625e-01 9.89347426e-02 7.70603447e-04 7.72115434e+01] [-9.89347241e-02 9.95093923e-01 -6.22392241e-05 -7.48781546e-01] [-7.72980430e-04 -1.43055843e-05 9.99999701e-01 -2.75673092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.24, Y:-0.75, Z:-0.27 [[ 9.95178701e-01 9.80752703e-02 7.70593231e-04 7.72441251e+01] [-9.80752514e-02 9.95179000e-01 -6.23654601e-05 -7.47222544e-01] [-7.72994710e-04 -1.35113472e-05 9.99999701e-01 -2.71664373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.28, Y:-0.75, Z:-0.27 [[ 9.95278716e-01 9.70550527e-02 7.70582539e-04 7.72756893e+01] [-9.70550334e-02 9.95279014e-01 -6.24972927e-05 -7.46553254e-01] [-7.73010308e-04 -1.25866887e-05 9.99999701e-01 -2.71328243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.31, Y:-0.75, Z:-0.27 [[ 9.95438189e-01 9.54055440e-02 7.70572634e-04 7.73065927e+01] [-9.54055241e-02 9.95438487e-01 -6.26191838e-05 -7.47898115e-01] [-7.73031874e-04 -1.11833590e-05 9.99999701e-01 -2.71378690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.34, Y:-0.75, Z:-0.27 [[ 9.95826480e-01 9.12635107e-02 7.70562855e-04 7.73384605e+01] [-9.12634895e-02 9.95826778e-01 -6.27392869e-05 -7.50395077e-01] [-7.73072932e-04 -7.84681179e-06 9.99999701e-01 -2.71178552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.37, Y:-0.75, Z:-0.27 [[ 9.95999107e-01 8.93598674e-02 7.70552157e-04 7.73709523e+01] [-8.93598455e-02 9.95999405e-01 -6.28704001e-05 -7.53240085e-01] [-7.73087580e-04 -6.23755934e-06 9.99999701e-01 -2.72395287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.40, Y:-0.76, Z:-0.27 [[ 9.96221982e-01 8.68398992e-02 7.70548250e-04 7.74029991e+01] [-8.68398765e-02 9.96222280e-01 -6.29182494e-05 -7.55686862e-01] [-7.73101149e-04 -4.23377168e-06 9.99999701e-01 -2.69538229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.43, Y:-0.76, Z:-0.27 [[ 9.96260872e-01 8.63925981e-02 7.70537098e-04 7.74344845e+01] [-8.63925752e-02 9.96261170e-01 -6.30545273e-05 -7.56766983e-01] [-7.73103635e-04 -3.74992581e-06 9.99999701e-01 -2.72765178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.47, Y:-0.76, Z:-0.27 [[ 9.96286884e-01 8.60921097e-02 7.70526758e-04 7.74656129e+01] [-8.60920866e-02 9.96287182e-01 -6.31806314e-05 -7.57074679e-01] [-7.73105286e-04 -3.39022201e-06 9.99999701e-01 -2.71250036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.50, Y:-0.76, Z:-0.27 [[ 9.96315362e-01 8.57619102e-02 7.70525225e-04 7.74958308e+01] [-8.57618869e-02 9.96315660e-01 -6.31993181e-05 -7.57356239e-01] [-7.73106443e-04 -3.11524571e-06 9.99999701e-01 -2.73540196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.53, Y:-0.76, Z:-0.27 [[ 9.96462908e-01 8.40302322e-02 7.70524461e-04 7.75285178e+01] [-8.40302085e-02 9.96463206e-01 -6.32086293e-05 -7.57375465e-01] [-7.73110711e-04 -1.76227658e-06 9.99999701e-01 -2.74429453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.56, Y:-0.76, Z:-0.27 [[ 9.96576580e-01 8.26712003e-02 7.70513927e-04 7.75595232e+01] [-8.26711760e-02 9.96576877e-01 -6.33367809e-05 -7.60101227e-01] [-7.73112491e-04 -5.79340064e-07 9.99999701e-01 -2.69903710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.59, Y:-0.76, Z:-0.27 [[ 9.96716729e-01 8.09640001e-02 7.70512359e-04 7.75906089e+01] [-8.09639753e-02 9.96717026e-01 -6.33558505e-05 -7.63368234e-01] [-7.73112331e-04 7.64092451e-07 9.99999701e-01 -2.71542568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.62, Y:-0.77, Z:-0.27 [[ 9.96953519e-01 7.79941456e-02 7.70502221e-04 7.76220548e+01] [-7.79941198e-02 9.96953817e-01 -6.34789099e-05 -7.69581443e-01] [-7.73106113e-04 3.19088009e-06 9.99999701e-01 -2.69217687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.65, Y:-0.77, Z:-0.27 [[ 9.97029092e-01 7.70220442e-02 7.70491253e-04 7.76527771e+01] [-7.70220180e-02 9.97029390e-01 -6.36117603e-05 -7.73038695e-01] [-7.73101932e-04 4.07798445e-06 9.99999701e-01 -2.74690819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.68, Y:-0.78, Z:-0.28 [[ 9.97052244e-01 7.67217673e-02 7.70481102e-04 7.76845358e+01] [-7.67217410e-02 9.97052541e-01 -6.37344707e-05 -7.75823328e-01] [-7.73099962e-04 4.43394546e-06 9.99999701e-01 -2.75739337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.72, Y:-0.78, Z:-0.27 [[ 9.97041978e-01 7.68550576e-02 7.70478861e-04 7.77169145e+01] [-7.68550313e-02 9.97042276e-01 -6.37615505e-05 -7.76707770e-01] [-7.73100395e-04 4.35776546e-06 9.99999701e-01 -2.72242368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.75, Y:-0.78, Z:-0.27 [[ 9.97011234e-01 7.72528679e-02 7.70467945e-04 7.77493808e+01] [-7.72528416e-02 9.97011532e-01 -6.38931788e-05 -7.79277861e-01] [-7.73101358e-04 4.18137892e-06 9.99999701e-01 -2.68931895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.78, Y:-0.78, Z:-0.27 [[ 9.96965992e-01 7.78345475e-02 7.70456728e-04 7.77805823e+01] [-7.78345213e-02 9.96966290e-01 -6.40281614e-05 -7.83305594e-01] [-7.73102988e-04 3.86576883e-06 9.99999701e-01 -2.71893743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.81, Y:-0.79, Z:-0.27 [[ 9.96855536e-01 7.92366444e-02 7.70446367e-04 7.78125857e+01] [-7.92366185e-02 9.96855834e-01 -6.41525953e-05 -7.88527083e-01] [-7.73107192e-04 2.90330498e-06 9.99999701e-01 -2.68522688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.84, Y:-0.79, Z:-0.27 [[ 9.96736338e-01 8.07222324e-02 7.70435228e-04 7.78433309e+01] [-8.07222069e-02 9.96736636e-01 -6.42860848e-05 -7.89883975e-01] [-7.73110334e-04 1.88504494e-06 9.99999701e-01 -2.71337447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.044203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:77.87, Y:-0.79, Z:-0.27 [[ 9.96547446e-01 8.30216535e-02 7.70429030e-04 7.78749566e+01] [-8.30216285e-02 9.96547743e-01 -6.43602850e-05 -7.90397384e-01] [-7.73112608e-04 1.75804902e-07 9.99999701e-01 -2.70140858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.90, Y:-0.79, Z:-0.27 [[ 9.95968196e-01 8.97037260e-02 7.70427469e-04 7.79045575e+01] [-8.97037030e-02 9.95968494e-01 -6.43789653e-05 -7.91955391e-01] [-7.73096519e-04 -4.99079493e-06 9.99999701e-01 -2.65958230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.94, Y:-0.80, Z:-0.26 [[ 9.95582992e-01 9.38824433e-02 7.70427469e-04 7.79351986e+01] [-9.38824216e-02 9.95583290e-01 -6.43789653e-05 -7.95336668e-01] [-7.73068768e-04 -8.23499355e-06 9.99999701e-01 -2.63583776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.97, Y:-0.80, Z:-0.26 [[ 9.95160840e-01 9.82563452e-02 7.70424310e-04 7.79651983e+01] [-9.82563248e-02 9.95161138e-01 -6.44167426e-05 -7.97969619e-01] [-7.73025687e-04 -1.15940415e-05 9.99999701e-01 -2.63709058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.00, Y:-0.80, Z:-0.27 [[ 9.94422954e-01 1.05462768e-01 7.70424310e-04 7.79956587e+01] [-1.05462749e-01 9.94423252e-01 -6.44167426e-05 -7.97179521e-01] [-7.72921416e-04 -1.71935783e-05 9.99999701e-01 -2.67844182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.02, Y:-0.80, Z:-0.27 [[ 9.94181355e-01 1.07716475e-01 7.70424310e-04 7.80249544e+01] [-1.07716458e-01 9.94181654e-01 -6.44167426e-05 -7.97437912e-01] [-7.72880459e-04 -1.89454530e-05 9.99999701e-01 -2.70813295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.06, Y:-0.80, Z:-0.27 [[ 9.94001389e-01 1.09364738e-01 7.70425051e-04 7.80555032e+01] [-1.09364721e-01 9.94001687e-01 -6.44078815e-05 -7.97386512e-01] [-7.72847751e-04 -2.02357972e-05 9.99999701e-01 -2.68236074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.08, Y:-0.80, Z:-0.27 [[ 9.93906102e-01 1.10227341e-01 7.70425051e-04 7.80848349e+01] [-1.10227324e-01 9.93906400e-01 -6.44078815e-05 -7.96059992e-01] [-7.72829898e-04 -2.09065052e-05 9.99999701e-01 -2.71219395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.11, Y:-0.79, Z:-0.27 [[ 9.93887808e-01 1.10392174e-01 7.70423729e-04 7.81146477e+01] [-1.10392157e-01 9.93888106e-01 -6.44236849e-05 -7.91381729e-01] [-7.72826852e-04 -2.10188224e-05 9.99999701e-01 -2.72068688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.14, Y:-0.79, Z:-0.27 [[ 9.93962969e-01 1.09713363e-01 7.70425220e-04 7.81440604e+01] [-1.09713346e-01 9.93963268e-01 -6.44058492e-05 -7.92905227e-01] [-7.72840552e-04 -2.05088995e-05 9.99999701e-01 -2.68723227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.17, Y:-0.79, Z:-0.27 [[ 9.94087143e-01 1.08582497e-01 7.70426748e-04 7.81729872e+01] [-1.08582479e-01 9.94087441e-01 -6.43875720e-05 -7.94575772e-01] [-7.72862918e-04 -1.96479890e-05 9.99999701e-01 -2.68435797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.20, Y:-0.80, Z:-0.26 [[ 9.94295193e-01 1.06660566e-01 7.70424466e-04 7.82033302e+01] [-1.06660548e-01 9.94295491e-01 -6.44148672e-05 -7.95473481e-01] [-7.72900098e-04 -1.81265031e-05 9.99999701e-01 -2.64075763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.23, Y:-0.79, Z:-0.26 [[ 9.94968671e-01 1.00183579e-01 7.70424466e-04 7.82331386e+01] [-1.00183559e-01 9.94968970e-01 -6.44148672e-05 -7.93355352e-01] [-7.73001749e-04 -1.30930902e-05 9.99999701e-01 -2.60012312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.26, Y:-0.80, Z:-0.26 [[ 9.95417704e-01 9.56190411e-02 7.70424466e-04 7.82634289e+01] [-9.56190199e-02 9.95418002e-01 -6.44148672e-05 -7.95703496e-01] [-7.73053670e-04 -9.54753310e-06 9.99999701e-01 -2.59730210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.29, Y:-0.80, Z:-0.26 [[ 9.96362901e-01 8.52078423e-02 7.70424466e-04 7.82947549e+01] [-8.52078179e-02 9.96363199e-01 -6.44148672e-05 -8.00245097e-01] [-7.73111237e-04 -1.46560364e-06 9.99999701e-01 -2.63892988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.32, Y:-0.80, Z:-0.27 [[ 9.96698713e-01 8.11854754e-02 7.70422910e-04 7.83242974e+01] [-8.11854498e-02 9.96699011e-01 -6.44334613e-05 -8.03078833e-01] [-7.73110814e-04 1.67361741e-06 9.99999701e-01 -2.68858566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.36, Y:-0.81, Z:-0.27 [[ 9.97070400e-01 7.64854470e-02 7.70569789e-04 7.83563457e+01] [-7.64854214e-02 9.97070698e-01 -6.26758131e-05 -8.06171536e-01] [-7.73106345e-04 3.55484294e-06 9.99999701e-01 -2.68406439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.39, Y:-0.81, Z:-0.27 [[ 9.97330269e-01 7.30187694e-02 7.70422247e-04 7.83876662e+01] [-7.30187414e-02 9.97330567e-01 -6.44397785e-05 -8.10740497e-01] [-7.73070970e-04 8.01247881e-06 9.99999701e-01 -2.67639840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.42, Y:-0.82, Z:-0.27 [[ 9.97618976e-01 6.89621949e-02 7.70420661e-04 7.84181490e+01] [-6.89621657e-02 9.97619274e-01 -6.44587396e-05 -8.18796811e-01] [-7.73031717e-04 1.11753846e-05 9.99999701e-01 -2.72780435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.45, Y:-0.82, Z:-0.27 [[ 9.97652154e-01 6.84805500e-02 7.70410366e-04 7.84493590e+01] [-6.84805205e-02 9.97652452e-01 -6.45815538e-05 -8.22615323e-01] [-7.73024371e-04 1.16718233e-05 9.99999701e-01 -2.69435716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.48, Y:-0.83, Z:-0.27 [[ 9.97604439e-01 6.91721736e-02 7.70408782e-04 7.84801310e+01] [-6.91721444e-02 9.97604736e-01 -6.46004436e-05 -8.25310538e-01] [-7.73032003e-04 1.11548618e-05 9.99999701e-01 -2.71683240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.51, Y:-0.83, Z:-0.28 [[ 9.97338224e-01 7.29100297e-02 7.70407994e-04 7.85103501e+01] [-7.29100016e-02 9.97338522e-01 -6.46098438e-05 -8.28497744e-01] [-7.73068275e-04 8.26741894e-06 9.99999701e-01 -2.78310635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.54, Y:-0.83, Z:-0.28 [[ 9.97095292e-01 7.61602610e-02 7.70407208e-04 7.85402089e+01] [-7.61602338e-02 9.97095590e-01 -6.46192055e-05 -8.32869826e-01] [-7.73091045e-04 5.75711243e-06 9.99999701e-01 -2.77039824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.57, Y:-0.84, Z:-0.28 [[ 9.97093498e-01 7.61837478e-02 7.70404207e-04 7.85719143e+01] [-7.61837206e-02 9.97093795e-01 -6.46549724e-05 -8.35576705e-01] [-7.73090912e-04 5.77479376e-06 9.99999701e-01 -2.77064426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.60, Y:-0.84, Z:-0.27 [[ 9.96808511e-01 7.98260585e-02 7.70402683e-04 7.86019877e+01] [-7.98260323e-02 9.96808808e-01 -6.46731195e-05 -8.39887931e-01] [-7.73106781e-04 2.96852638e-06 9.99999701e-01 -2.70353728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.63, Y:-0.84, Z:-0.27 [[ 9.96088650e-01 8.83561424e-02 7.70402683e-04 7.86314839e+01] [-8.83561188e-02 9.96088948e-01 -6.46731195e-05 -8.44129989e-01] [-7.73103866e-04 -3.64963076e-06 9.99999701e-01 -2.73976647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.66, Y:-0.85, Z:-0.27 [[ 9.95610073e-01 9.35948128e-02 7.70403478e-04 7.86621446e+01] [-9.35947908e-02 9.95610371e-01 -6.46636458e-05 -8.46054914e-01] [-7.73073875e-04 -7.72597534e-06 9.99999701e-01 -2.73131457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.69, Y:-0.85, Z:-0.27 [[ 9.95077278e-01 9.90990296e-02 7.70403478e-04 7.86926712e+01] [-9.90990092e-02 9.95077576e-01 -6.46636458e-05 -8.47213695e-01] [-7.73019330e-04 -1.20008968e-05 9.99999701e-01 -2.68515742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.72, Y:-0.84, Z:-0.27 [[ 9.94011407e-01 1.09273640e-01 7.70403478e-04 7.87224105e+01] [-1.09273623e-01 9.94011706e-01 -6.46636458e-05 -8.44777398e-01] [-7.72856108e-04 -1.99083778e-05 9.99999701e-01 -2.65093112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.75, Y:-0.85, Z:-0.27 [[ 9.93504515e-01 1.13790091e-01 7.70405007e-04 7.87509349e+01] [-1.13790075e-01 9.93504814e-01 -6.46454300e-05 -8.45012788e-01] [-7.72757092e-04 -2.34389170e-05 9.99999701e-01 -2.68188999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.78, Y:-0.85, Z:-0.27 [[ 9.93060579e-01 1.17601415e-01 7.70407274e-04 7.87801444e+01] [-1.17601400e-01 9.93060878e-01 -6.46184053e-05 -8.46718708e-01] [-7.72660539e-04 -2.64309830e-05 9.99999701e-01 -2.65371635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.81, Y:-0.85, Z:-0.27 [[ 9.92644544e-01 1.21062861e-01 7.70408785e-04 7.88090378e+01] [-1.21062847e-01 9.92644842e-01 -6.46003786e-05 -8.49723413e-01] [-7.72563014e-04 -2.91426675e-05 9.99999701e-01 -2.67220920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.84, Y:-0.85, Z:-0.27 [[ 9.91874575e-01 1.27217271e-01 7.70411035e-04 7.88379943e+01] [-1.27217259e-01 9.91874874e-01 -6.45735364e-05 -8.50944667e-01] [-7.72366217e-04 -3.39607311e-05 9.99999701e-01 -2.66760798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.87, Y:-0.85, Z:-0.26 [[ 9.91573008e-01 1.29546809e-01 7.70413993e-04 7.88678132e+01] [-1.29546798e-01 9.91573307e-01 -6.45382295e-05 -8.50325187e-01] [-7.72282672e-04 -3.58102993e-05 9.99999701e-01 -2.64555787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.90, Y:-0.85, Z:-0.26 [[ 9.91307927e-01 1.31559870e-01 7.70415471e-04 7.88971213e+01] [-1.31559860e-01 9.91308226e-01 -6.45205813e-05 -8.48871331e-01] [-7.72207513e-04 -3.73959874e-05 9.99999701e-01 -2.60296307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.094203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:78.93, Y:-0.84, Z:-0.26 [[ 9.91037694e-01 1.33580298e-01 7.70417691e-04 7.89253926e+01] [-1.33580288e-01 9.91037992e-01 -6.44940538e-05 -8.40969121e-01] [-7.72128337e-04 -3.89965791e-05 9.99999701e-01 -2.58446806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.95, Y:-0.84, Z:-0.26 [[ 9.91101656e-01 1.33104900e-01 7.70421950e-04 7.89544342e+01] [-1.33104890e-01 9.91101954e-01 -6.44431399e-05 -8.38493172e-01] [-7.72144398e-04 -3.86772265e-05 9.99999701e-01 -2.59364111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.98, Y:-0.83, Z:-0.26 [[ 9.91913323e-01 1.26914796e-01 7.70424933e-04 7.89842065e+01] [-1.26914785e-01 9.91913622e-01 -6.44074577e-05 -8.33788221e-01] [-7.72369245e-04 -3.38916990e-05 9.99999701e-01 -2.63595507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.01, Y:-0.83, Z:-0.26 [[ 9.92634185e-01 1.21147766e-01 7.70429222e-04 7.90127573e+01] [-1.21147753e-01 9.92634483e-01 -6.43561206e-05 -8.33431789e-01] [-7.72551213e-04 -2.94536837e-05 9.99999701e-01 -2.63587845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.04, Y:-0.83, Z:-0.26 [[ 9.93464356e-01 1.14140180e-01 7.70432282e-04 7.90424671e+01] [-1.14140164e-01 9.93464654e-01 -6.43194628e-05 -8.34778269e-01] [-7.72738675e-04 -2.40381737e-05 9.99999701e-01 -2.60118976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.07, Y:-0.84, Z:-0.26 [[ 9.94322803e-01 1.06402869e-01 7.70433866e-04 7.90700315e+01] [-1.06402852e-01 9.94323101e-01 -6.43004788e-05 -8.37493142e-01] [-7.72901947e-04 -1.80409280e-05 9.99999701e-01 -2.60044564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.10, Y:-0.84, Z:-0.26 [[ 9.95822736e-01 9.13043551e-02 7.70437028e-04 7.90997400e+01] [-9.13043327e-02 9.95823034e-01 -6.42625700e-05 -8.36938072e-01] [-7.73086391e-04 -6.35011051e-06 9.99999701e-01 -2.62122080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.13, Y:-0.84, Z:-0.26 [[ 9.96419093e-01 8.45481925e-02 7.70436186e-04 7.91294927e+01] [-8.45481680e-02 9.96419391e-01 -6.42726651e-05 -8.36204276e-01] [-7.73111693e-04 -1.09645749e-06 9.99999701e-01 -2.59993142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.16, Y:-0.84, Z:-0.26 [[ 9.97392958e-01 7.21574250e-02 7.70437759e-04 7.91591161e+01] [-7.21573969e-02 9.97393255e-01 -6.42538053e-05 -8.39659145e-01] [-7.73065814e-04 8.49350971e-06 9.99999701e-01 -2.64109027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.19, Y:-0.85, Z:-0.27 [[ 9.97755157e-01 6.69630665e-02 7.70438537e-04 7.91877478e+01] [-6.69630369e-02 9.97755455e-01 -6.42444768e-05 -8.47137777e-01] [-7.73011260e-04 1.25093539e-05 9.99999701e-01 -2.67322681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.22, Y:-0.85, Z:-0.27 [[ 9.98052563e-01 6.23737747e-02 7.70439284e-04 7.92179924e+01] [-6.23737437e-02 9.98052860e-01 -6.42355211e-05 -8.54440948e-01] [-7.72945743e-04 1.60552441e-05 9.99999701e-01 -2.66578296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.25, Y:-0.86, Z:-0.27 [[ 9.98262084e-01 5.89255339e-02 7.70439284e-04 7.92475785e+01] [-5.89255019e-02 9.98262381e-01 -6.42355211e-05 -8.58290661e-01] [-7.72885666e-04 1.87253636e-05 9.99999701e-01 -2.70333511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.28, Y:-0.86, Z:-0.27 [[ 9.98476624e-01 5.51709851e-02 7.70440055e-04 7.92781752e+01] [-5.51709520e-02 9.98476921e-01 -6.42262643e-05 -8.58020461e-01] [-7.72810041e-04 2.16225123e-05 9.99999701e-01 -2.67833842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.31, Y:-0.86, Z:-0.27 [[ 9.98499582e-01 5.47539215e-02 7.70440055e-04 7.93087721e+01] [-5.47538882e-02 9.98499879e-01 -6.42262643e-05 -8.61096710e-01] [-7.72800942e-04 2.19453094e-05 9.99999701e-01 -2.69494743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.34, Y:-0.87, Z:-0.27 [[ 9.98460534e-01 5.54614105e-02 7.70440055e-04 7.93386702e+01] [-5.54613774e-02 9.98460831e-01 -6.42262643e-05 -8.65946731e-01] [-7.72816297e-04 2.13977235e-05 9.99999701e-01 -2.71625894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.37, Y:-0.87, Z:-0.27 [[ 9.98385616e-01 5.67940895e-02 7.70440055e-04 7.93684521e+01] [-5.67940568e-02 9.98385913e-01 -6.42262643e-05 -8.71258002e-01] [-7.72844170e-04 2.03661622e-05 9.99999701e-01 -2.72707338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.574203822 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:79.40, Y:-0.88, Z:-0.27 [[ 9.98134296e-01 6.10518926e-02 7.70440055e-04 7.93975022e+01] [-6.10518613e-02 9.98134593e-01 -6.42262643e-05 -8.78812590e-01] [-7.72924006e-04 1.70696378e-05 9.99999701e-01 -2.71676142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.43, Y:-0.88, Z:-0.27 [[ 9.97973740e-01 6.36224823e-02 7.70440831e-04 7.94268937e+01] [-6.36224517e-02 9.97974037e-01 -6.42169616e-05 -8.83139117e-01] [-7.72965589e-04 1.50695068e-05 9.99999701e-01 -2.72352211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.46, Y:-0.89, Z:-0.27 [[ 9.97759285e-01 6.69015303e-02 7.70441603e-04 7.94574111e+01] [-6.69015006e-02 9.97759583e-01 -6.42076990e-05 -8.86739166e-01] [-7.73011085e-04 1.25201285e-05 9.99999701e-01 -2.70203014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.49, Y:-0.89, Z:-0.27 [[ 9.97215188e-01 7.45739549e-02 7.70441603e-04 7.94862960e+01] [-7.45739276e-02 9.97215486e-01 -6.42076990e-05 -8.90080788e-01] [-7.73084519e-04 6.57403637e-06 9.99999701e-01 -2.70967337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.52, Y:-0.89, Z:-0.27 [[ 9.96948616e-01 7.80567963e-02 7.70439275e-04 7.95159132e+01] [-7.80567699e-02 9.96948914e-01 -6.42356164e-05 -8.94430874e-01] [-7.73102625e-04 3.90160767e-06 9.99999701e-01 -2.70028503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.55, Y:-0.90, Z:-0.27 [[ 9.96515054e-01 8.34095537e-02 7.70440032e-04 7.95454414e+01] [-8.34095290e-02 9.96515352e-01 -6.42265316e-05 -9.02483590e-01] [-7.73112426e-04 -2.59334548e-07 9.99999701e-01 -2.67273878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.58, Y:-0.91, Z:-0.26 [[ 9.96314236e-01 8.57749968e-02 7.70441537e-04 7.95755428e+01] [-8.57749728e-02 9.96314534e-01 -6.42084819e-05 -9.08121774e-01] [-7.73109583e-04 -2.11277726e-06 9.99999701e-01 -2.62652776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.61, Y:-0.91, Z:-0.26 [[ 9.96077590e-01 8.84807437e-02 7.70441537e-04 7.96050373e+01] [-8.84807205e-02 9.96077888e-01 -6.42084819e-05 -9.12968998e-01] [-7.73100992e-04 -4.21259237e-06 9.99999701e-01 -2.63546302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.64, Y:-0.92, Z:-0.26 [[ 9.95804103e-01 9.15073510e-02 7.70442316e-04 7.96356475e+01] [-9.15073287e-02 9.95804401e-01 -6.41991247e-05 -9.16189678e-01] [-7.73084541e-04 -6.57136652e-06 9.99999701e-01 -2.62181963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.66, Y:-0.92, Z:-0.27 [[ 9.95094535e-01 9.89255936e-02 7.70442316e-04 7.96648336e+01] [-9.89255735e-02 9.95094833e-01 -6.41991247e-05 -9.15656269e-01] [-7.73014105e-04 -1.23322499e-05 9.99999701e-01 -2.67102115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.69, Y:-0.92, Z:-0.26 [[ 9.94733542e-01 1.02491884e-01 7.70444687e-04 7.96940479e+01] [-1.02491865e-01 9.94733841e-01 -6.41706672e-05 -9.17411322e-01] [-7.72964375e-04 -1.51315975e-05 9.99999701e-01 -2.63406878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.72, Y:-0.92, Z:-0.26 [[ 9.94122437e-01 1.08258888e-01 7.70446229e-04 7.97233309e+01] [-1.08258871e-01 9.94122735e-01 -6.41521482e-05 -9.19903099e-01] [-7.72863152e-04 -1.96325489e-05 9.99999701e-01 -2.63934510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.75, Y:-0.92, Z:-0.27 [[ 9.93925501e-01 1.10052283e-01 7.70447781e-04 7.97520311e+01] [-1.10052266e-01 9.93925799e-01 -6.41334934e-05 -9.22335434e-01] [-7.72825964e-04 -2.10456096e-05 9.99999701e-01 -2.70908962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.78, Y:-0.92, Z:-0.27 [[ 9.93830468e-01 1.10907198e-01 7.70449135e-04 7.97819668e+01] [-1.10907182e-01 9.93830767e-01 -6.41172328e-05 -9.24703360e-01] [-7.72807117e-04 -2.17266826e-05 9.99999701e-01 -2.69365036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.81, Y:-0.93, Z:-0.27 [[ 9.93804088e-01 1.11143334e-01 7.70450642e-04 7.98110076e+01] [-1.11143318e-01 9.93804387e-01 -6.40991192e-05 -9.27257580e-01] [-7.72801417e-04 -2.19284737e-05 9.99999701e-01 -2.73161391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.84, Y:-0.93, Z:-0.26 [[ 9.93983112e-01 1.09530724e-01 7.70452268e-04 7.98408820e+01] [-1.09530708e-01 9.93983410e-01 -6.40795640e-05 -9.29129016e-01] [-7.72835454e-04 -2.06941777e-05 9.99999701e-01 -2.64633314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.87, Y:-0.93, Z:-0.26 [[ 9.94144468e-01 1.08056393e-01 7.70453778e-04 7.98703486e+01] [-1.08056376e-01 9.94144766e-01 -6.40614002e-05 -9.29399994e-01] [-7.72864835e-04 -1.95661565e-05 9.99999701e-01 -2.61700795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.90, Y:-0.93, Z:-0.26 [[ 9.94312217e-01 1.06501747e-01 7.70454561e-04 7.99000073e+01] [-1.06501729e-01 9.94312515e-01 -6.40519806e-05 -9.28947054e-01] [-7.72894261e-04 -1.83670765e-05 9.99999701e-01 -2.62169173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.93, Y:-0.93, Z:-0.27 [[ 9.94666922e-01 1.03136420e-01 7.70456139e-04 7.99289483e+01] [-1.03136401e-01 9.94667220e-01 -6.40329961e-05 -9.27946730e-01] [-7.72951600e-04 -1.57705702e-05 9.99999701e-01 -2.67085962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.96, Y:-0.93, Z:-0.27 [[ 9.94865410e-01 1.01203869e-01 7.70457703e-04 7.99587413e+01] [-1.01203850e-01 9.94865708e-01 -6.40141723e-05 -9.30226971e-01] [-7.72980430e-04 -1.42878002e-05 9.99999701e-01 -2.65689705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.99, Y:-0.93, Z:-0.27 [[ 9.95233400e-01 9.75186399e-02 7.70459239e-04 7.99877768e+01] [-9.75186195e-02 9.95233699e-01 -6.39956882e-05 -9.31267841e-01] [-7.73027770e-04 -1.14434750e-05 9.99999701e-01 -2.68525484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.02, Y:-0.93, Z:-0.27 [[ 9.95405282e-01 9.57482654e-02 7.70461523e-04 8.00175992e+01] [-9.57482445e-02 9.95405580e-01 -6.39681776e-05 -9.33413974e-01] [-7.73046541e-04 -1.00960764e-05 9.99999701e-01 -2.66927457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.05, Y:-0.94, Z:-0.27 [[ 9.95604856e-01 9.36502869e-02 7.70463078e-04 8.00476601e+01] [-9.36502655e-02 9.95605155e-01 -6.39494357e-05 -9.35076072e-01] [-7.73065895e-04 -8.48570308e-06 9.99999701e-01 -2.67031250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.08, Y:-0.94, Z:-0.27 [[ 9.95806376e-01 9.14826141e-02 7.70464632e-04 8.00775593e+01] [-9.14825920e-02 9.95806674e-01 -6.39307153e-05 -9.36906987e-01] [-7.73082371e-04 -6.82148768e-06 9.99999701e-01 -2.65645336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.11, Y:-0.94, Z:-0.27 [[ 9.96269026e-01 8.62985150e-02 7.70466183e-04 8.01066588e+01] [-8.62984914e-02 9.96269324e-01 -6.39120188e-05 -9.39319106e-01] [-7.73107335e-04 -2.81650444e-06 9.99999701e-01 -2.65833039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.324203822 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:80.14, Y:-0.94, Z:-0.26 [[ 9.96513302e-01 8.34304836e-02 7.70466952e-04 8.01370988e+01] [-8.34304592e-02 9.96513600e-01 -6.39027447e-05 -9.42726187e-01] [-7.73112232e-04 -6.00476399e-07 9.99999701e-01 -2.63807382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.17, Y:-0.95, Z:-0.27 [[ 9.96738139e-01 8.06999891e-02 7.70466952e-04 8.01664312e+01] [-8.06999638e-02 9.96738437e-01 -6.39027447e-05 -9.47238805e-01] [-7.73110976e-04 1.51764779e-06 9.99999701e-01 -2.66010791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.20, Y:-0.95, Z:-0.26 [[ 9.97087546e-01 7.62616067e-02 7.70467713e-04 8.01969805e+01] [-7.62615801e-02 9.97087843e-01 -6.38935603e-05 -9.50943940e-01] [-7.73096616e-04 4.95038803e-06 9.99999701e-01 -2.64195055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.23, Y:-0.95, Z:-0.26 [[ 9.97205983e-01 7.46969438e-02 7.70467713e-04 8.02272933e+01] [-7.46969167e-02 9.97206281e-01 -6.38935603e-05 -9.53327633e-01] [-7.73087897e-04 6.16347802e-06 9.99999701e-01 -2.62336100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.26, Y:-0.96, Z:-0.26 [[ 9.97303660e-01 7.33813053e-02 7.70467713e-04 8.02576716e+01] [-7.33812778e-02 9.97303958e-01 -6.38935603e-05 -9.56893471e-01] [-7.73079093e-04 7.18337625e-06 9.99999701e-01 -2.62193687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.474203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:80.29, Y:-0.96, Z:-0.27 [[ 9.97481020e-01 7.09296957e-02 7.70467713e-04 8.02881089e+01] [-7.09296675e-02 9.97481317e-01 -6.38935603e-05 -9.64865043e-01] [-7.73059100e-04 9.08359497e-06 9.99999701e-01 -2.68468256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.32, Y:-0.97, Z:-0.27 [[ 9.97563214e-01 6.97641747e-02 7.70466214e-04 8.03182646e+01] [-6.97641461e-02 9.97563512e-01 -6.39116304e-05 -9.71558175e-01] [-7.73047725e-04 1.00049738e-05 9.99999701e-01 -2.71969407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.35, Y:-0.98, Z:-0.27 [[ 9.97628485e-01 6.88245080e-02 7.70462167e-04 8.03483772e+01] [-6.88244791e-02 9.97628782e-01 -6.39603804e-05 -9.76399744e-01] [-7.73037276e-04 1.07820401e-05 9.99999701e-01 -2.71430268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.38, Y:-0.98, Z:-0.27 [[ 9.97612165e-01 6.90606635e-02 7.70462167e-04 8.03784420e+01] [-6.90606347e-02 9.97612462e-01 -6.39603804e-05 -9.81475312e-01] [-7.73039806e-04 1.05990473e-05 9.99999701e-01 -2.68669232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.41, Y:-0.99, Z:-0.27 [[ 9.97511116e-01 7.05051733e-02 7.70459095e-04 8.04083855e+01] [-7.05051449e-02 9.97511414e-01 -6.39973739e-05 -9.85456224e-01] [-7.73053887e-04 9.51676172e-06 9.99999701e-01 -2.69363223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.44, Y:-0.99, Z:-0.27 [[ 9.97168348e-01 7.51976887e-02 7.70459095e-04 8.04373965e+01] [-7.51976617e-02 9.97168646e-01 -6.39973739e-05 -9.88840743e-01] [-7.73090106e-04 5.87943320e-06 9.99999701e-01 -2.72225653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.47, Y:-0.99, Z:-0.27 [[ 9.97166652e-01 7.52201794e-02 7.70459820e-04 8.04691078e+01] [-7.52201524e-02 9.97166949e-01 -6.39886405e-05 -9.91521404e-01] [-7.73090305e-04 5.85323329e-06 9.99999701e-01 -2.72250256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.50, Y:-0.99, Z:-0.27 [[ 9.96934500e-01 7.82368730e-02 7.70458376e-04 8.04998485e+01] [-7.82368469e-02 9.96934798e-01 -6.40060178e-05 -9.93932208e-01] [-7.73104397e-04 3.53157335e-06 9.99999701e-01 -2.72956030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.53, Y:-1.00, Z:-0.27 [[ 9.96712450e-01 8.10166525e-02 7.70457655e-04 8.05298246e+01] [-8.10166272e-02 9.96712748e-01 -6.40146947e-05 -9.96741814e-01] [-7.73111223e-04 1.38436257e-06 9.99999701e-01 -2.71843416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.56, Y:-1.00, Z:-0.27 [[ 9.96498652e-01 8.36052854e-02 7.70457655e-04 8.05602121e+01] [-8.36052609e-02 9.96498949e-01 -6.40146947e-05 -1.00015018e+00] [-7.73112211e-04 -6.23756347e-07 9.99999701e-01 -2.69031389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.59, Y:-1.00, Z:-0.27 [[ 9.96138626e-01 8.77909126e-02 7.70457655e-04 8.05894742e+01] [-8.77908894e-02 9.96138924e-01 -6.40146947e-05 -1.00385377e+00] [-7.73102768e-04 -3.87165274e-06 9.99999701e-01 -2.65839723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.62, Y:-1.01, Z:-0.27 [[ 9.96005795e-01 8.92852894e-02 7.70458374e-04 8.06186673e+01] [-8.92852666e-02 9.96006093e-01 -6.40060466e-05 -1.00622718e+00] [-7.73096033e-04 -5.04018800e-06 9.99999701e-01 -2.68193100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.65, Y:-1.01, Z:-0.27 [[ 9.95902175e-01 9.04337592e-02 7.70459084e-04 8.06496579e+01] [-9.04337367e-02 9.95902473e-01 -6.39974982e-05 -1.00889465e+00] [-7.73089641e-04 -5.94024627e-06 9.99999701e-01 -2.72793408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.68, Y:-1.01, Z:-0.28 [[ 9.95844740e-01 9.10640472e-02 7.70458379e-04 8.06795189e+01] [-9.10640249e-02 9.95845038e-01 -6.40059790e-05 -1.01146248e+00] [-7.73085797e-04 -6.42102353e-06 9.99999701e-01 -2.75650683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.71, Y:-1.01, Z:-0.27 [[ 9.95829966e-01 9.12254597e-02 7.70458379e-04 8.07095509e+01] [-9.12254375e-02 9.95830264e-01 -6.40059790e-05 -1.01206057e+00] [-7.73084746e-04 -6.54633077e-06 9.99999701e-01 -2.74868011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.74, Y:-1.01, Z:-0.27 [[ 9.95884115e-01 9.06324262e-02 7.70455186e-04 8.07395598e+01] [-9.06324037e-02 9.95884413e-01 -6.40443975e-05 -1.01360102e+00] [-7.73088809e-04 -6.04740733e-06 9.99999701e-01 -2.74385432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.77, Y:-1.02, Z:-0.28 [[ 9.96065015e-01 8.86221930e-02 7.70455186e-04 8.07700477e+01] [-8.86221700e-02 9.96065313e-01 -6.40443975e-05 -1.01833122e+00] [-7.73099440e-04 -4.48702666e-06 9.99999701e-01 -2.76199305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.80, Y:-1.02, Z:-0.28 [[ 9.96110970e-01 8.81041515e-02 7.70454495e-04 8.08008403e+01] [-8.81041283e-02 9.96111268e-01 -6.40527055e-05 -1.02144702e+00] [-7.73101713e-04 -4.07661908e-06 9.99999701e-01 -2.76167278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.83, Y:-1.02, Z:-0.28 [[ 9.96127727e-01 8.79144881e-02 7.70454495e-04 8.08311772e+01] [-8.79144648e-02 9.96128025e-01 -6.40527055e-05 -1.02375503e+00] [-7.73102476e-04 -3.92941868e-06 9.99999701e-01 -2.75150096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.86, Y:-1.03, Z:-0.27 [[ 9.96182318e-01 8.72937308e-02 7.70454495e-04 8.08615112e+01] [-8.72937074e-02 9.96182616e-01 -6.40527055e-05 -1.02707351e+00] [-7.73104774e-04 -3.44765663e-06 9.99999701e-01 -2.72520275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.89, Y:-1.03, Z:-0.26 [[ 9.96221066e-01 8.68504131e-02 7.70453811e-04 8.08929775e+01] [-8.68503895e-02 9.96221364e-01 -6.40609295e-05 -1.03140637e+00] [-7.73106265e-04 -3.09536618e-06 9.99999701e-01 -2.61680069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.92, Y:-1.04, Z:-0.26 [[ 9.96241557e-01 8.66150466e-02 7.70452223e-04 8.09227036e+01] [-8.66150229e-02 9.96241855e-01 -6.40800212e-05 -1.03533099e+00] [-7.73107046e-04 -2.89355687e-06 9.99999701e-01 -2.63042031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.134203822 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:80.95, Y:-1.04, Z:-0.28 [[ 9.96315801e-01 8.57568113e-02 7.70451437e-04 8.09526862e+01] [-8.57567874e-02 9.96316099e-01 -6.40894766e-05 -1.03858066e+00] [-7.73109279e-04 -2.21808185e-06 9.99999701e-01 -2.80606750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.98, Y:-1.04, Z:-0.27 [[ 9.96337223e-01 8.55075640e-02 7.70450648e-04 8.09839644e+01] [-8.55075400e-02 9.96337521e-01 -6.40989550e-05 -1.04035388e+00] [-7.73109835e-04 -2.01516478e-06 9.99999701e-01 -2.70328699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.01, Y:-1.04, Z:-0.27 [[ 9.96350217e-01 8.53560332e-02 7.70449075e-04 8.10144339e+01] [-8.53560091e-02 9.96350514e-01 -6.41178635e-05 -1.04206623e+00] [-7.73110178e-04 -1.87861112e-06 9.99999701e-01 -2.73075452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.05, Y:-1.05, Z:-0.27 [[ 9.96348871e-01 8.53717404e-02 7.70448290e-04 8.10454769e+01] [-8.53717164e-02 9.96349169e-01 -6.41272868e-05 -1.04509060e+00] [-7.73110172e-04 -1.88134311e-06 9.99999701e-01 -2.68372831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.08, Y:-1.05, Z:-0.27 [[ 9.96348388e-01 8.53773759e-02 7.70446722e-04 8.10766745e+01] [-8.53773518e-02 9.96348686e-01 -6.41461301e-05 -1.05117154e+00] [-7.73110207e-04 -1.86680754e-06 9.99999701e-01 -2.67671993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.11, Y:-1.06, Z:-0.27 [[ 9.96367153e-01 8.51581023e-02 7.70445160e-04 8.11074565e+01] [-8.51580781e-02 9.96367451e-01 -6.41648843e-05 -1.05504030e+00] [-7.73110640e-04 -1.67784592e-06 9.99999701e-01 -2.68955281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.14, Y:-1.06, Z:-0.28 [[ 9.96408803e-01 8.46693798e-02 7.70443603e-04 8.11373411e+01] [-8.46693555e-02 9.96409101e-01 -6.41835638e-05 -1.05753371e+00] [-7.73111401e-04 -1.27989540e-06 9.99999701e-01 -2.80835094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.17, Y:-1.06, Z:-0.27 [[ 9.96498618e-01 8.36056920e-02 7.70439453e-04 8.11681532e+01] [-8.36056673e-02 9.96498915e-01 -6.42333495e-05 -1.06053024e+00] [-7.73112353e-04 -4.04660603e-07 9.99999701e-01 -2.73223145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.20, Y:-1.06, Z:-0.27 [[ 9.96530101e-01 8.32295846e-02 7.70437880e-04 8.11989364e+01] [-8.32295598e-02 9.96530399e-01 -6.42522101e-05 -1.06456234e+00] [-7.73112453e-04 -9.39441243e-08 9.99999701e-01 -2.72901687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.23, Y:-1.07, Z:-0.27 [[ 9.96548633e-01 8.30073963e-02 7.70436296e-04 8.12300542e+01] [-8.30073714e-02 9.96548931e-01 -6.42712005e-05 -1.07126917e+00] [-7.73112452e-04 9.74852548e-08 9.99999701e-01 -2.65910908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.26, Y:-1.08, Z:-0.27 [[ 9.96489871e-01 8.37098733e-02 7.70425835e-04 8.12609291e+01] [-8.37098485e-02 9.96490169e-01 -6.43963438e-05 -1.07533656e+00] [-7.73112381e-04 -3.21925689e-07 9.99999701e-01 -2.69209482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.29, Y:-1.08, Z:-0.27 [[ 9.96282204e-01 8.61462492e-02 7.70415435e-04 8.12919905e+01] [-8.61462251e-02 9.96282502e-01 -6.45205369e-05 -1.08028340e+00] [-7.73109619e-04 -2.08771870e-06 9.99999701e-01 -2.66619200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.32, Y:-1.08, Z:-0.26 [[ 9.96133334e-01 8.78509356e-02 7.70413993e-04 8.13229788e+01] [-8.78509119e-02 9.96133632e-01 -6.45377501e-05 -1.08336591e+00] [-7.73104990e-04 -3.39336762e-06 9.99999701e-01 -2.62037447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.35, Y:-1.09, Z:-0.26 [[ 9.95937165e-01 9.00475951e-02 7.70412410e-04 8.13542055e+01] [-9.00475721e-02 9.95937463e-01 -6.45566387e-05 -1.08596582e+00] [-7.73095751e-04 -5.07941132e-06 9.99999701e-01 -2.64756111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.39, Y:-1.09, Z:-0.27 [[ 9.95736066e-01 9.22447476e-02 7.70402158e-04 8.13852544e+01] [-9.22447252e-02 9.95736364e-01 -6.46787474e-05 -1.08799495e+00] [-7.73083719e-04 -6.66257388e-06 9.99999701e-01 -2.67013127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.42, Y:-1.09, Z:-0.27 [[ 9.95364996e-01 9.61661635e-02 7.70400596e-04 8.14155845e+01] [-9.61661422e-02 9.95365294e-01 -6.46973462e-05 -1.09045688e+00] [-7.73051712e-04 -9.68897952e-06 9.99999701e-01 -2.71523480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.45, Y:-1.09, Z:-0.27 [[ 9.95233821e-01 9.75143477e-02 7.70396493e-04 8.14472532e+01] [-9.75143268e-02 9.95234119e-01 -6.47461691e-05 -1.09305011e+00] [-7.73038556e-04 -1.06871181e-05 9.99999701e-01 -2.73866594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.644203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:81.48, Y:-1.09, Z:-0.27 [[ 9.95023127e-01 9.96412728e-02 7.70393480e-04 8.14789661e+01] [-9.96412525e-02 9.95023425e-01 -6.47819978e-05 -1.09298741e+00] [-7.73014520e-04 -1.23033852e-05 9.99999701e-01 -2.74845522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.51, Y:-1.10, Z:-0.27 [[ 9.94934116e-01 1.00526172e-01 7.70391963e-04 8.15098008e+01] [-1.00526152e-01 9.94934414e-01 -6.48000360e-05 -1.09513746e+00] [-7.73003576e-04 -1.29727727e-05 9.99999701e-01 -2.72415802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.54, Y:-1.10, Z:-0.28 [[ 9.94868078e-01 1.01177636e-01 7.70390404e-04 8.15401008e+01] [-1.01177616e-01 9.94868376e-01 -6.48185610e-05 -1.09898937e+00] [-7.72995239e-04 -1.34603475e-05 9.99999701e-01 -2.76697279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.57, Y:-1.10, Z:-0.27 [[ 9.94821050e-01 1.01638990e-01 7.70389631e-04 8.15722396e+01] [-1.01638971e-01 9.94821349e-01 -6.48277543e-05 -1.10451414e+00] [-7.72989079e-04 -1.38095944e-05 9.99999701e-01 -2.66855058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.764203822 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:81.60, Y:-1.11, Z:-0.27 [[ 9.94811776e-01 1.01729727e-01 7.70378384e-04 8.16035450e+01] [-1.01729707e-01 9.94812074e-01 -6.49611288e-05 -1.10535315e+00] [-7.72990196e-04 -1.37462715e-05 9.99999701e-01 -2.69582568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.63, Y:-1.11, Z:-0.27 [[ 9.94818875e-01 1.01660280e-01 7.70371983e-04 8.16347739e+01] [-1.01660260e-01 9.94819173e-01 -6.50369572e-05 -1.10606461e+00] [-7.72992494e-04 -1.36162234e-05 9.99999701e-01 -2.67048711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.67, Y:-1.11, Z:-0.27 [[ 9.94888215e-01 1.00979433e-01 7.70370397e-04 8.16654342e+01] [-1.00979413e-01 9.94888513e-01 -6.50557284e-05 -1.10680084e+00] [-7.73001950e-04 -1.30683730e-05 9.99999701e-01 -2.68551579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.70, Y:-1.11, Z:-0.27 [[ 9.95186252e-01 9.79986234e-02 7.70368814e-04 8.16973549e+01] [-9.79986024e-02 9.95186550e-01 -6.50744776e-05 -1.10685603e+00] [-7.73037891e-04 -1.07338416e-05 9.99999701e-01 -2.69902360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.73, Y:-1.11, Z:-0.27 [[ 9.95383473e-01 9.59747313e-02 7.70367284e-04 8.17278384e+01] [-9.59747097e-02 9.95383771e-01 -6.50925799e-05 -1.10869969e+00] [-7.73058335e-04 -9.14369819e-06 9.99999701e-01 -2.72780125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.76, Y:-1.11, Z:-0.27 [[ 9.95805390e-01 9.14933375e-02 7.70366520e-04 8.17586105e+01] [-9.14933146e-02 9.95805688e-01 -6.51016164e-05 -1.11260783e+00] [-7.73091727e-04 -5.65484578e-06 9.99999701e-01 -2.70987564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.79, Y:-1.12, Z:-0.27 [[ 9.95944902e-01 8.99619801e-02 7.70356660e-04 8.17900322e+01] [-8.99619565e-02 9.95945200e-01 -6.52180929e-05 -1.11536776e+00] [-7.73100166e-04 -4.34916513e-06 9.99999701e-01 -2.67433500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.82, Y:-1.12, Z:-0.27 [[ 9.96041340e-01 8.88878801e-02 7.70355145e-04 8.18214870e+01] [-8.88878563e-02 9.96041638e-01 -6.52359813e-05 -1.11631724e+00] [-7.73104488e-04 -3.49748314e-06 9.99999701e-01 -2.65535453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.85, Y:-1.12, Z:-0.26 [[ 9.96175894e-01 8.73670112e-02 7.70353579e-04 8.18531770e+01] [-8.73669869e-02 9.96176192e-01 -6.52544702e-05 -1.11639349e+00] [-7.73108982e-04 -2.29854083e-06 9.99999701e-01 -2.64052168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.88, Y:-1.12, Z:-0.26 [[ 9.96240444e-01 8.66278488e-02 7.70351976e-04 8.18836348e+01] [-8.66278242e-02 9.96240742e-01 -6.52733818e-05 -1.11836858e+00] [-7.73110517e-04 -1.70593276e-06 9.99999701e-01 -2.63602656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.91, Y:-1.12, Z:-0.26 [[ 9.96318190e-01 8.57290592e-02 7.70351175e-04 8.19149532e+01] [-8.57290343e-02 9.96318487e-01 -6.52828331e-05 -1.12006670e+00] [-7.73111753e-04 -9.98988217e-07 9.99999701e-01 -2.62122071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.95, Y:-1.12, Z:-0.26 [[ 9.96468612e-01 8.39625606e-02 7.70349617e-04 8.19463991e+01] [-8.39625352e-02 9.96468910e-01 -6.53012092e-05 -1.12385212e+00] [-7.73112300e-04 3.90098432e-07 9.99999701e-01 -2.63604813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.98, Y:-1.13, Z:-0.27 [[ 9.96573459e-01 8.27088148e-02 7.70348011e-04 8.19778201e+01] [-8.27087890e-02 9.96573756e-01 -6.53201494e-05 -1.12763273e+00] [-7.73111164e-04 1.38177611e-06 9.99999701e-01 -2.65518893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.01, Y:-1.13, Z:-0.27 [[ 9.96668483e-01 8.15557575e-02 7.70346409e-04 8.20080428e+01] [-8.15557313e-02 9.96668781e-01 -6.53390377e-05 -1.13019964e+00] [-7.73108991e-04 2.29519478e-06 9.99999701e-01 -2.71400140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.04, Y:-1.13, Z:-0.27 [[ 9.96845802e-01 7.93590216e-02 7.70345612e-04 8.20392277e+01] [-7.93589948e-02 9.96846099e-01 -6.53484335e-05 -1.13110858e+00] [-7.73102007e-04 4.00845810e-06 9.99999701e-01 -2.66186746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.07, Y:-1.13, Z:-0.27 [[ 9.96926281e-01 7.83415335e-02 7.70344004e-04 8.20698113e+01] [-7.83415064e-02 9.96926579e-01 -6.53673927e-05 -1.13381399e+00] [-7.73097394e-04 4.81656206e-06 9.99999701e-01 -2.67674129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.10, Y:-1.14, Z:-0.27 [[ 9.96995921e-01 7.74502433e-02 7.70343204e-04 8.20995914e+01] [-7.74502159e-02 9.96996219e-01 -6.53768114e-05 -1.13699910e+00] [-7.73092712e-04 5.51716681e-06 9.99999701e-01 -2.71481842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.13, Y:-1.14, Z:-0.27 [[ 9.97008643e-01 7.72863068e-02 7.70342413e-04 8.21308733e+01] [-7.72862794e-02 9.97008940e-01 -6.53861290e-05 -1.13836779e+00] [-7.73091726e-04 5.65363674e-06 9.99999701e-01 -2.70683484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.16, Y:-1.14, Z:-0.27 [[ 9.96915958e-01 7.84727916e-02 7.70340825e-04 8.21620982e+01] [-7.84727645e-02 9.96916256e-01 -6.54048352e-05 -1.13925743e+00] [-7.73097791e-04 4.75234984e-06 9.99999701e-01 -2.67974155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.19, Y:-1.14, Z:-0.27 [[ 9.96778869e-01 8.01953401e-02 7.70339222e-04 8.21924066e+01] [-8.01953134e-02 9.96779167e-01 -6.54237111e-05 -1.14082114e+00] [-7.73104765e-04 3.43537739e-06 9.99999701e-01 -2.67221618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.22, Y:-1.14, Z:-0.27 [[ 9.96475553e-01 8.38801411e-02 7.70338424e-04 8.22223667e+01] [-8.38801156e-02 9.96475851e-01 -6.54331007e-05 -1.14285725e+00] [-7.73112175e-04 5.86409164e-07 9.99999701e-01 -2.74891023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.25, Y:-1.14, Z:-0.27 [[ 9.96321609e-01 8.56893148e-02 7.70338424e-04 8.22527838e+01] [-8.56892898e-02 9.96321906e-01 -6.54331007e-05 -1.14431622e+00] [-7.73111965e-04 -8.17340330e-07 9.99999701e-01 -2.71433145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.28, Y:-1.14, Z:-0.27 [[ 9.96194650e-01 8.71528850e-02 7.70337980e-04 8.22837601e+01] [-8.71528605e-02 9.96194948e-01 -6.54383343e-05 -1.14488654e+00] [-7.73109944e-04 -1.94783991e-06 9.99999701e-01 -2.71302224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.31, Y:-1.14, Z:-0.27 [[ 9.96049298e-01 8.87986591e-02 7.70337980e-04 8.23149075e+01] [-8.87986351e-02 9.96049596e-01 -6.54383343e-05 -1.14406658e+00] [-7.73105670e-04 -3.22515419e-06 9.99999701e-01 -2.69533289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.34, Y:-1.14, Z:-0.27 [[ 9.96015294e-01 8.91792576e-02 7.70337980e-04 8.23442686e+01] [-8.91792336e-02 9.96015592e-01 -6.54383343e-05 -1.14471207e+00] [-7.73104381e-04 -3.52056889e-06 9.99999701e-01 -2.70145289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.37, Y:-1.14, Z:-0.27 [[ 9.96011244e-01 8.92244887e-02 7.70338779e-04 8.23749395e+01] [-8.92244647e-02 9.96011541e-01 -6.54289233e-05 -1.14497943e+00] [-7.73104177e-04 -3.56512200e-06 9.99999701e-01 -2.67288972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.41, Y:-1.15, Z:-0.27 [[ 9.96011244e-01 8.92244887e-02 7.70338779e-04 8.24058191e+01] [-8.92244647e-02 9.96011541e-01 -6.54289233e-05 -1.14760219e+00] [-7.73104177e-04 -3.56512200e-06 9.99999701e-01 -2.67312932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.44, Y:-1.15, Z:-0.26 [[ 9.96031555e-01 8.89974559e-02 7.70338779e-04 8.24365637e+01] [-8.89974319e-02 9.96031853e-01 -6.54289233e-05 -1.14757315e+00] [-7.73104970e-04 -3.38890081e-06 9.99999701e-01 -2.64723809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.47, Y:-1.15, Z:-0.27 [[ 9.96174519e-01 8.73826891e-02 7.70338779e-04 8.24673110e+01] [-8.73826647e-02 9.96174817e-01 -6.54289233e-05 -1.14596848e+00] [-7.73109448e-04 -2.13562903e-06 9.99999701e-01 -2.68012043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.50, Y:-1.15, Z:-0.27 [[ 9.96313018e-01 8.57891370e-02 7.70338779e-04 8.24975817e+01] [-8.57891120e-02 9.96313316e-01 -6.54289233e-05 -1.14744552e+00] [-7.73111875e-04 -8.98991791e-07 9.99999701e-01 -2.67794454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.664203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:82.53, Y:-1.15, Z:-0.27 [[ 9.96613840e-01 8.22208063e-02 7.70338779e-04 8.25273983e+01] [-8.22207803e-02 9.96614137e-01 -6.54289233e-05 -1.14888572e+00] [-7.73110137e-04 1.86951496e-06 9.99999701e-01 -2.69464258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.56, Y:-1.15, Z:-0.27 [[ 9.96766752e-01 8.03458094e-02 7.70339577e-04 8.25568964e+01] [-8.03457829e-02 9.96767049e-01 -6.54195298e-05 -1.15105689e+00] [-7.73105292e-04 3.31447585e-06 9.99999701e-01 -2.69113750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.59, Y:-1.15, Z:-0.27 [[ 9.96893254e-01 7.87606906e-02 7.70340348e-04 8.25864001e+01] [-7.87606636e-02 9.96893552e-01 -6.54104493e-05 -1.15318813e+00] [-7.73099098e-04 4.53471869e-06 9.99999701e-01 -2.68068560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.62, Y:-1.15, Z:-0.27 [[ 9.97013497e-01 7.72236571e-02 7.70341109e-04 8.26167459e+01] [-7.72236296e-02 9.97013795e-01 -6.54014874e-05 -1.15437429e+00] [-7.73091254e-04 5.71762919e-06 9.99999701e-01 -2.66440969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.65, Y:-1.15, Z:-0.27 [[ 9.97147022e-01 7.54799508e-02 7.70341109e-04 8.26474743e+01] [-7.54799228e-02 9.97147320e-01 -6.54014874e-05 -1.15307473e+00] [-7.73080073e-04 7.06961098e-06 9.99999701e-01 -2.65287919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.68, Y:-1.15, Z:-0.27 [[ 9.97155353e-01 7.53698086e-02 7.70341109e-04 8.26766084e+01] [-7.53697806e-02 9.97155651e-01 -6.54014874e-05 -1.15410371e+00] [-7.73079287e-04 7.15500288e-06 9.99999701e-01 -2.67671668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.71, Y:-1.16, Z:-0.26 [[ 9.97173593e-01 7.51280987e-02 7.70341904e-04 8.27066725e+01] [-7.51280706e-02 9.97173891e-01 -6.53921174e-05 -1.15527177e+00] [-7.73077619e-04 7.33299164e-06 9.99999701e-01 -2.64752965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.74, Y:-1.16, Z:-0.27 [[ 9.97209219e-01 7.46537294e-02 7.70341904e-04 8.27362865e+01] [-7.46537012e-02 9.97209517e-01 -6.53921174e-05 -1.15830821e+00] [-7.73074044e-04 7.70074796e-06 9.99999701e-01 -2.69728407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.904203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:82.77, Y:-1.16, Z:-0.27 [[ 9.97291989e-01 7.35397531e-02 7.70340833e-04 8.27660676e+01] [-7.35397245e-02 9.97292286e-01 -6.54047310e-05 -1.16223050e+00] [-7.73064819e-04 8.57696163e-06 9.99999701e-01 -2.67798313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.79, Y:-1.17, Z:-0.27 [[ 9.97404640e-01 7.19957704e-02 7.70341621e-04 8.27949911e+01] [-7.19957414e-02 9.97404937e-01 -6.53954552e-05 -1.16723645e+00] [-7.73050732e-04 9.76441429e-06 9.99999701e-01 -2.68485323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.83, Y:-1.17, Z:-0.27 [[ 9.97647939e-01 6.85419339e-02 7.70341058e-04 8.28252087e+01] [-6.85419038e-02 9.97648236e-01 -6.54020782e-05 -1.16977087e+00] [-7.73012183e-04 1.24476058e-05 9.99999701e-01 -2.65504703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.86, Y:-1.17, Z:-0.26 [[ 9.97735275e-01 6.72586554e-02 7.70341058e-04 8.28561008e+01] [-6.72586249e-02 9.97735573e-01 -6.54020782e-05 -1.17072452e+00] [-7.72995533e-04 1.34418802e-05 9.99999701e-01 -2.63976303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.89, Y:-1.18, Z:-0.27 [[ 9.97839369e-01 6.56962704e-02 7.70341058e-04 8.28854817e+01] [-6.56962395e-02 9.97839666e-01 -6.54020782e-05 -1.17562536e+00] [-7.72973537e-04 1.46522578e-05 9.99999701e-01 -2.71257445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.92, Y:-1.18, Z:-0.27 [[ 9.97809749e-01 6.61446187e-02 7.70341850e-04 8.29152344e+01] [-6.61445880e-02 9.97810047e-01 -6.53927542e-05 -1.18163813e+00] [-7.72980216e-04 1.42955834e-05 9.99999701e-01 -2.70534890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.084203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:82.95, Y:-1.19, Z:-0.27 [[ 9.97725469e-01 6.74039640e-02 7.70341850e-04 8.29451238e+01] [-6.74039336e-02 9.97725767e-01 -6.53927542e-05 -1.18700619e+00] [-7.72997644e-04 1.33199454e-05 9.99999701e-01 -2.69174690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.97, Y:-1.19, Z:-0.27 [[ 9.97378331e-01 7.23593176e-02 7.70341850e-04 8.29739500e+01] [-7.23592887e-02 9.97378629e-01 -6.53927542e-05 -1.19490730e+00] [-7.73054273e-04 9.47992774e-06 9.99999701e-01 -2.69294267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.00, Y:-1.20, Z:-0.27 [[ 9.97141725e-01 7.55498982e-02 7.70342615e-04 8.30043052e+01] [-7.55498702e-02 9.97142022e-01 -6.53837355e-05 -1.19676518e+00] [-7.73080728e-04 6.99756620e-06 9.99999701e-01 -2.68802994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.03, Y:-1.19, Z:-0.27 [[ 9.96579171e-01 8.26399597e-02 7.70342615e-04 8.30340092e+01] [-8.26399339e-02 9.96579469e-01 -6.53837355e-05 -1.19359994e+00] [-7.73110943e-04 1.49900612e-06 9.99999701e-01 -2.70659605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.06, Y:-1.19, Z:-0.27 [[ 9.96275537e-01 8.62233174e-02 7.70343375e-04 8.30647388e+01] [-8.62232926e-02 9.96275835e-01 -6.53747895e-05 -1.19412375e+00] [-7.73111320e-04 -1.29023869e-06 9.99999701e-01 -2.70870751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.09, Y:-1.20, Z:-0.27 [[ 9.95968671e-01 8.96984540e-02 7.70343375e-04 8.30945629e+01] [-8.96984302e-02 9.95968969e-01 -6.53747895e-05 -1.19627956e+00] [-7.73102114e-04 -3.98734926e-06 9.99999701e-01 -2.71222792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.12, Y:-1.20, Z:-0.27 [[ 9.95673911e-01 9.29132370e-02 7.70344928e-04 8.31243161e+01] [-9.29132142e-02 9.95674209e-01 -6.53564759e-05 -1.20084631e+00] [-7.73085059e-04 -6.50148536e-06 9.99999701e-01 -2.71480826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.15, Y:-1.21, Z:-0.27 [[ 9.95243680e-01 9.74136717e-02 7.70346490e-04 8.31529224e+01] [-9.74136503e-02 9.95243978e-01 -6.53380659e-05 -1.20674025e+00] [-7.73047526e-04 -1.00149664e-05 9.99999701e-01 -2.70859360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.18, Y:-1.21, Z:-0.27 [[ 9.95111225e-01 9.87575637e-02 7.70348817e-04 8.31823811e+01] [-9.87575427e-02 9.95111523e-01 -6.53106170e-05 -1.20755648e+00] [-7.73032902e-04 -1.10864281e-05 9.99999701e-01 -2.69400086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.21, Y:-1.20, Z:-0.27 [[ 9.95156653e-01 9.82987382e-02 7.70350399e-04 8.32124487e+01] [-9.82987171e-02 9.95156951e-01 -6.52919460e-05 -1.20313342e+00] [-7.73037671e-04 -1.07487415e-05 9.99999701e-01 -2.68458972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.24, Y:-1.20, Z:-0.27 [[ 9.95254151e-01 9.73066414e-02 7.70352001e-04 8.32426556e+01] [-9.73066200e-02 9.95254449e-01 -6.52730420e-05 -1.20282089e+00] [-7.73047757e-04 -9.99708348e-06 9.99999701e-01 -2.66495702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.27, Y:-1.20, Z:-0.27 [[ 9.95426753e-01 9.55247950e-02 7.70353607e-04 8.32716328e+01] [-9.55247731e-02 9.95427051e-01 -6.52540902e-05 -1.20369731e+00] [-7.73064202e-04 -8.63218634e-06 9.99999701e-01 -2.66652387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.30, Y:-1.21, Z:-0.27 [[ 9.95944098e-01 8.99708901e-02 7.70355999e-04 8.33008793e+01] [-8.99708665e-02 9.95944395e-01 -6.52258384e-05 -1.20975361e+00] [-7.73100166e-04 -4.34830800e-06 9.99999701e-01 -2.70296186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.33, Y:-1.22, Z:-0.27 [[ 9.96197015e-01 8.71258518e-02 7.70356787e-04 8.33309333e+01] [-8.71258274e-02 9.96197313e-01 -6.52165254e-05 -1.21555227e+00] [-7.73109406e-04 -2.14946453e-06 9.99999701e-01 -2.69821222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.36, Y:-1.22, Z:-0.27 [[ 9.96434099e-01 8.43711592e-02 7.70356787e-04 8.33598186e+01] [-8.43711340e-02 9.96434397e-01 -6.52165254e-05 -1.21998490e+00] [-7.73112394e-04 -1.19059329e-08 9.99999701e-01 -2.68495502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.39, Y:-1.22, Z:-0.27 [[ 9.96639911e-01 8.19041808e-02 7.70357585e-04 8.33891319e+01] [-8.19041549e-02 9.96640208e-01 -6.52071020e-05 -1.22265799e+00] [-7.73110078e-04 1.89251343e-06 9.99999701e-01 -2.68671907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.42, Y:-1.22, Z:-0.27 [[ 9.96839667e-01 7.94360445e-02 7.70358373e-04 8.34192774e+01] [-7.94360178e-02 9.96839964e-01 -6.51977864e-05 -1.22451145e+00] [-7.73103068e-04 3.79753822e-06 9.99999701e-01 -2.65710540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.45, Y:-1.23, Z:-0.27 [[ 9.96872274e-01 7.90257944e-02 7.70358373e-04 8.34481648e+01] [-7.90257676e-02 9.96872571e-01 -6.51977864e-05 -1.22817875e+00] [-7.73101439e-04 4.11570380e-06 9.99999701e-01 -2.69435618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.624203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.48, Y:-1.23, Z:-0.27 [[ 9.96853374e-01 7.92638403e-02 7.70359165e-04 8.34781352e+01] [-7.92638136e-02 9.96853672e-01 -6.51884302e-05 -1.23184285e+00] [-7.73102448e-04 3.92170145e-06 9.99999701e-01 -2.65100041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.51, Y:-1.24, Z:-0.26 [[ 9.96700793e-01 8.11599361e-02 7.70359165e-04 8.35082397e+01] [-8.11599100e-02 9.96701091e-01 -6.51884302e-05 -1.23604178e+00] [-7.73108509e-04 2.45107967e-06 9.99999701e-01 -2.60716048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.54, Y:-1.24, Z:-0.26 [[ 9.96603318e-01 8.23482413e-02 7.70359165e-04 8.35373816e+01] [-8.23482155e-02 9.96603616e-01 -6.51884302e-05 -1.23971370e+00] [-7.73110882e-04 1.52930338e-06 9.99999701e-01 -2.62818908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.714203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.57, Y:-1.24, Z:-0.27 [[ 9.96425639e-01 8.44710196e-02 7.70359962e-04 8.35668779e+01] [-8.44709945e-02 9.96425936e-01 -6.51790068e-05 -1.24210220e+00] [-7.73112384e-04 -1.27038627e-07 9.99999701e-01 -2.66294813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.60, Y:-1.24, Z:-0.26 [[ 9.96379111e-01 8.50180759e-02 7.70360736e-04 8.35971397e+01] [-8.50180509e-02 9.96379409e-01 -6.51698617e-05 -1.24452736e+00] [-7.73112191e-04 -5.60679345e-07 9.99999701e-01 -2.64642718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.63, Y:-1.25, Z:-0.27 [[ 9.96382158e-01 8.49823575e-02 7.70360736e-04 8.36260246e+01] [-8.49823325e-02 9.96382456e-01 -6.51698617e-05 -1.24828071e+00] [-7.73112210e-04 -5.32964707e-07 9.99999701e-01 -2.68084763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.66, Y:-1.25, Z:-0.27 [[ 9.96384142e-01 8.49590931e-02 7.70361536e-04 8.36561817e+01] [-8.49590681e-02 9.96384440e-01 -6.51603974e-05 -1.25442204e+00] [-7.73112216e-04 -5.24411514e-07 9.99999701e-01 -2.67998914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.69, Y:-1.26, Z:-0.27 [[ 9.96321570e-01 8.56897664e-02 7.70361536e-04 8.36857174e+01] [-8.56897416e-02 9.96321868e-01 -6.51603974e-05 -1.26235188e+00] [-7.73111624e-04 -1.09137150e-06 9.99999701e-01 -2.66167952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.72, Y:-1.27, Z:-0.26 [[ 9.96280665e-01 8.61640518e-02 7.70358213e-04 8.37158677e+01] [-8.61640272e-02 9.96280962e-01 -6.51996629e-05 -1.26538982e+00] [-7.73111089e-04 -1.42000252e-06 9.99999701e-01 -2.64914105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.75, Y:-1.27, Z:-0.27 [[ 9.96243239e-01 8.65956947e-02 7.70357444e-04 8.37462183e+01] [-8.65956702e-02 9.96243537e-01 -6.52087457e-05 -1.27024243e+00] [-7.73110422e-04 -1.74584716e-06 9.99999701e-01 -2.65186746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.78, Y:-1.27, Z:-0.27 [[ 9.96222174e-01 8.68377041e-02 7.70357444e-04 8.37766061e+01] [-8.68376796e-02 9.96222472e-01 -6.52087457e-05 -1.27421267e+00] [-7.73109975e-04 -1.93365457e-06 9.99999701e-01 -2.65843874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.81, Y:-1.28, Z:-0.26 [[ 9.96164534e-01 8.74964443e-02 7.70357444e-04 8.38078657e+01] [-8.74964200e-02 9.96164832e-01 -6.52087457e-05 -1.27782067e+00] [-7.73108527e-04 -2.44487876e-06 9.99999701e-01 -2.63229436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.84, Y:-1.28, Z:-0.27 [[ 9.96087761e-01 8.83661641e-02 7.70355836e-04 8.38383617e+01] [-8.83661401e-02 9.96088059e-01 -6.52277396e-05 -1.28122577e+00] [-7.73106174e-04 -3.10081864e-06 9.99999701e-01 -2.65371603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.87, Y:-1.29, Z:-0.26 [[ 9.95833776e-01 9.11838603e-02 7.70355034e-04 8.38689026e+01] [-9.11838371e-02 9.95834074e-01 -6.52372115e-05 -1.28627224e+00] [-7.73094373e-04 -5.27850917e-06 9.99999701e-01 -2.63530271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.90, Y:-1.29, Z:-0.26 [[ 9.95664666e-01 9.30122557e-02 7.70355034e-04 8.39004567e+01] [-9.30122331e-02 9.95664964e-01 -6.52372115e-05 -1.28870971e+00] [-7.73083377e-04 -6.69805552e-06 9.99999701e-01 -2.61418056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.93, Y:-1.29, Z:-0.26 [[ 9.95495557e-01 9.48050794e-02 7.70353447e-04 8.39303531e+01] [-9.48050573e-02 9.95495855e-01 -6.52559408e-05 -1.28974933e+00] [-7.73070258e-04 -8.07140361e-06 9.99999701e-01 -2.62526583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.96, Y:-1.29, Z:-0.26 [[ 9.95243040e-01 9.74202111e-02 7.70351299e-04 8.39598808e+01] [-9.74201897e-02 9.95243338e-01 -6.52812945e-05 -1.28882244e+00] [-7.73046716e-04 -1.00770157e-05 9.99999701e-01 -2.64466096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.99, Y:-1.29, Z:-0.27 [[ 9.95191216e-01 9.79482059e-02 7.70351321e-04 8.39903710e+01] [-9.79481847e-02 9.95191514e-01 -6.52810390e-05 -1.29047320e+00] [-7.73041258e-04 -1.04873969e-05 9.99999701e-01 -2.66339516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.02, Y:-1.29, Z:-0.27 [[ 9.95181835e-01 9.80434686e-02 7.70351321e-04 8.40204454e+01] [-9.80434474e-02 9.95182133e-01 -6.52810390e-05 -1.29284554e+00] [-7.73040250e-04 -1.05613950e-05 9.99999701e-01 -2.67378799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.05, Y:-1.30, Z:-0.26 [[ 9.95299074e-01 9.68460654e-02 7.70350550e-04 8.40512060e+01] [-9.68460439e-02 9.95299372e-01 -6.52901324e-05 -1.29549597e+00] [-7.73052511e-04 -9.62219492e-06 9.99999701e-01 -2.62972843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.08, Y:-1.30, Z:-0.26 [[ 9.95419385e-01 9.56015377e-02 7.70348012e-04 8.40809571e+01] [-9.56015157e-02 9.95419683e-01 -6.53200708e-05 -1.29808140e+00] [-7.73064273e-04 -8.62557283e-06 9.99999701e-01 -2.61199160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.11, Y:-1.30, Z:-0.26 [[ 9.95571795e-01 9.40011089e-02 7.70348012e-04 8.41118552e+01] [-9.40010865e-02 9.95572093e-01 -6.53200708e-05 -1.30045327e+00] [-7.73077141e-04 -7.38272997e-06 9.99999701e-01 -2.60210722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.14, Y:-1.30, Z:-0.26 [[ 9.95843463e-01 9.10780099e-02 7.70346469e-04 8.41419104e+01] [-9.10779866e-02 9.95843761e-01 -6.53382543e-05 -1.29998659e+00] [-7.73095603e-04 -5.09493200e-06 9.99999701e-01 -2.63874966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.17, Y:-1.30, Z:-0.26 [[ 9.95951978e-01 8.98836109e-02 7.70345701e-04 8.41720875e+01] [-8.98835872e-02 9.95952276e-01 -6.53473124e-05 -1.30164023e+00] [-7.73101207e-04 -4.15864991e-06 9.99999701e-01 -2.64606751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.20, Y:-1.30, Z:-0.26 [[ 9.96072852e-01 8.85340652e-02 7.70345701e-04 8.42028695e+01] [-8.85340411e-02 9.96073150e-01 -6.53473124e-05 -1.30489916e+00] [-7.73106132e-04 -3.11113412e-06 9.99999701e-01 -2.58584632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.23, Y:-1.31, Z:-0.25 [[ 9.96323939e-01 8.56622203e-02 7.70345701e-04 8.42337908e+01] [-8.56621953e-02 9.96324236e-01 -6.53473124e-05 -1.30901971e+00] [-7.73111888e-04 -8.82412224e-07 9.99999701e-01 -2.51887071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.26, Y:-1.31, Z:-0.25 [[ 9.96399180e-01 8.47825470e-02 7.70344089e-04 8.42643285e+01] [-8.47825218e-02 9.96399478e-01 -6.53663061e-05 -1.31046748e+00] [-7.73112370e-04 -1.80780742e-07 9.99999701e-01 -2.51647292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.30, Y:-1.31, Z:-0.25 [[ 9.96447072e-01 8.42178038e-02 7.70340491e-04 8.42953105e+01] [-8.42177784e-02 9.96447370e-01 -6.54086864e-05 -1.31163357e+00] [-7.73112332e-04 2.99929265e-07 9.99999701e-01 -2.52587973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.33, Y:-1.31, Z:-0.25 [[ 9.96447072e-01 8.42178038e-02 7.70339692e-04 8.43261940e+01] [-8.42177784e-02 9.96447370e-01 -6.54181000e-05 -1.31425622e+00] [-7.73112328e-04 3.09376795e-07 9.99999701e-01 -2.52611935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.36, Y:-1.32, Z:-0.26 [[ 9.96464178e-01 8.40151666e-02 7.70339692e-04 8.43565663e+01] [-8.40151412e-02 9.96464476e-01 -6.54181000e-05 -1.31627709e+00] [-7.73112250e-04 4.66595324e-07 9.99999701e-01 -2.57475114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.39, Y:-1.32, Z:-0.25 [[ 9.96495271e-01 8.36455697e-02 7.70338896e-04 8.43874154e+01] [-8.36455442e-02 9.96495569e-01 -6.54274695e-05 -1.31731820e+00] [-7.73112014e-04 7.62747834e-07 9.99999701e-01 -2.54322622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.42, Y:-1.32, Z:-0.26 [[ 9.96513086e-01 8.34330645e-02 7.70338896e-04 8.44179725e+01] [-8.34330389e-02 9.96513384e-01 -6.54274695e-05 -1.31968945e+00] [-7.73111834e-04 9.27614484e-07 9.99999701e-01 -2.55687064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.45, Y:-1.32, Z:-0.26 [[ 9.96586086e-01 8.25565191e-02 7.70338101e-04 8.44484758e+01] [-8.25564932e-02 9.96586384e-01 -6.54368243e-05 -1.32267626e+00] [-7.73110699e-04 1.61701644e-06 9.99999701e-01 -2.57617021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.48, Y:-1.32, Z:-0.25 [[ 9.96644917e-01 8.18432394e-02 7.70337332e-04 8.44794012e+01] [-8.18432133e-02 9.96645215e-01 -6.54458736e-05 -1.32476125e+00] [-7.73109318e-04 2.17941466e-06 9.99999701e-01 -2.53969927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.51, Y:-1.33, Z:-0.25 [[ 9.96729922e-01 8.08014150e-02 7.70337332e-04 8.45105825e+01] [-8.08013886e-02 9.96730220e-01 -6.54458736e-05 -1.32730068e+00] [-7.73106618e-04 2.98753438e-06 9.99999701e-01 -2.54397662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.54, Y:-1.33, Z:-0.26 [[ 9.96853432e-01 7.92631180e-02 7.70335730e-04 8.45413502e+01] [-7.92630911e-02 9.96853730e-01 -6.54647263e-05 -1.33000047e+00] [-7.73100984e-04 4.19954593e-06 9.99999701e-01 -2.59093094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.57, Y:-1.33, Z:-0.26 [[ 9.96882659e-01 7.88946791e-02 7.70334137e-04 8.45713778e+01] [-7.88946520e-02 9.96882957e-01 -6.54834725e-05 -1.33232483e+00] [-7.73099269e-04 4.50409453e-06 9.99999701e-01 -2.58526149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.60, Y:-1.33, Z:-0.26 [[ 9.96894457e-01 7.87454637e-02 7.70334137e-04 8.46007230e+01] [-7.87454366e-02 9.96894755e-01 -6.54834725e-05 -1.33410363e+00] [-7.73098587e-04 4.61981284e-06 9.99999701e-01 -2.58539434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.63, Y:-1.34, Z:-0.25 [[ 9.96845392e-01 7.93641719e-02 7.70334936e-04 8.46315214e+01] [-7.93641450e-02 9.96845689e-01 -6.54740642e-05 -1.33701022e+00] [-7.73101355e-04 4.13054562e-06 9.99999701e-01 -2.54273642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.66, Y:-1.34, Z:-0.25 [[ 9.96807272e-01 7.98415293e-02 7.70334936e-04 8.46613011e+01] [-7.98415026e-02 9.96807569e-01 -6.54740642e-05 -1.34195668e+00] [-7.73103245e-04 3.76032454e-06 9.99999701e-01 -2.53107275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.69, Y:-1.35, Z:-0.25 [[ 9.96777354e-01 8.02141732e-02 7.70334936e-04 8.46909388e+01] [-8.02141465e-02 9.96777651e-01 -6.54740642e-05 -1.34740632e+00] [-7.73104596e-04 3.47130503e-06 9.99999701e-01 -2.53825928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.72, Y:-1.35, Z:-0.25 [[ 9.96718040e-01 8.09478537e-02 7.70334151e-04 8.47223397e+01] [-8.09478273e-02 9.96718338e-01 -6.54833042e-05 -1.35205366e+00] [-7.73106907e-04 2.91151487e-06 9.99999701e-01 -2.54677240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.75, Y:-1.35, Z:-0.26 [[ 9.96588820e-01 8.25235183e-02 7.70332583e-04 8.47525194e+01] [-8.25234924e-02 9.96589117e-01 -6.55017367e-05 -1.35462011e+00] [-7.73110503e-04 1.70776339e-06 9.99999701e-01 -2.57896708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.78, Y:-1.36, Z:-0.25 [[ 9.96555024e-01 8.29306401e-02 7.70331803e-04 8.47828575e+01] [-8.29306142e-02 9.96555322e-01 -6.55109184e-05 -1.35749336e+00] [-7.73111120e-04 1.40114528e-06 9.99999701e-01 -2.54508386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.81, Y:-1.36, Z:-0.26 [[ 9.96545200e-01 8.30486054e-02 7.70331803e-04 8.48130090e+01] [-8.30485796e-02 9.96545498e-01 -6.55109184e-05 -1.36138600e+00] [-7.73111280e-04 1.30962924e-06 9.99999701e-01 -2.56072736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.84, Y:-1.37, Z:-0.25 [[ 9.96539735e-01 8.31141624e-02 7.70330996e-04 8.48429237e+01] [-8.31141366e-02 9.96540032e-01 -6.55204024e-05 -1.36887666e+00] [-7.73111349e-04 1.26828874e-06 9.99999701e-01 -2.53908022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.87, Y:-1.37, Z:-0.25 [[ 9.96519730e-01 8.33536678e-02 7.70330237e-04 8.48736069e+01] [-8.33536420e-02 9.96520028e-01 -6.55293241e-05 -1.37403602e+00] [-7.73111619e-04 1.09143354e-06 9.99999701e-01 -2.49263017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.90, Y:-1.38, Z:-0.25 [[ 9.96451857e-01 8.41611787e-02 7.70328631e-04 8.49034375e+01] [-8.41611532e-02 9.96452154e-01 -6.55481997e-05 -1.38243845e+00] [-7.73112238e-04 4.83879338e-07 9.99999701e-01 -2.52262424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.93, Y:-1.39, Z:-0.26 [[ 9.96375619e-01 8.50589952e-02 7.70327828e-04 8.49342477e+01] [-8.50589700e-02 9.96375917e-01 -6.55576304e-05 -1.38805568e+00] [-7.73112362e-04 -2.03267067e-07 9.99999701e-01 -2.57200088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.96, Y:-1.39, Z:-0.26 [[ 9.96264184e-01 8.63543965e-02 7.70321487e-04 8.49639099e+01] [-8.63543715e-02 9.96264482e-01 -6.56320546e-05 -1.39321728e+00] [-7.73111554e-04 -1.13376258e-06 9.99999701e-01 -2.58003114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.99, Y:-1.40, Z:-0.25 [[ 9.95936399e-01 9.00560673e-02 7.70320730e-04 8.49947215e+01] [-9.00560435e-02 9.95936697e-01 -6.56409417e-05 -1.40126402e+00] [-7.73102049e-04 -3.99783403e-06 9.99999701e-01 -2.53226479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.03, Y:-1.41, Z:-0.25 [[ 9.95757091e-01 9.20175107e-02 7.70319153e-04 8.50255754e+01] [-9.20174874e-02 9.95757389e-01 -6.56594480e-05 -1.40602987e+00] [-7.73092807e-04 -5.50197200e-06 9.99999701e-01 -2.53117013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.06, Y:-1.41, Z:-0.25 [[ 9.95617090e-01 9.35201424e-02 7.70308953e-04 8.50569979e+01] [-9.35201195e-02 9.95617388e-01 -6.57788890e-05 -1.40969517e+00] [-7.73084639e-04 -6.54879935e-06 9.99999701e-01 -2.53610800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.09, Y:-1.41, Z:-0.25 [[ 9.95439583e-01 9.53910025e-02 7.70302712e-04 8.50889864e+01] [-9.53909801e-02 9.95439881e-01 -6.58518968e-05 -1.41299210e+00] [-7.73071718e-04 -7.92834601e-06 9.99999701e-01 -2.53322756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.12, Y:-1.42, Z:-0.25 [[ 9.95078259e-01 9.90891738e-02 7.70291839e-04 8.51193384e+01] [-9.90891524e-02 9.95078557e-01 -6.59788401e-05 -1.41941627e+00] [-7.73038680e-04 -1.06734560e-05 9.99999701e-01 -2.53446580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.15, Y:-1.42, Z:-0.25 [[ 9.94914448e-01 1.00720638e-01 7.70281803e-04 8.51516024e+01] [-1.00720617e-01 9.94914747e-01 -6.60957927e-05 -1.42484104e+00] [-7.73021935e-04 -1.18235990e-05 9.99999701e-01 -2.54580284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.18, Y:-1.43, Z:-0.26 [[ 9.94735763e-01 1.02470330e-01 7.70277935e-04 8.51834292e+01] [-1.02470309e-01 9.94736061e-01 -6.61408434e-05 -1.42904267e+00] [-7.73000713e-04 -1.31379560e-05 9.99999701e-01 -2.55622163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.22, Y:-1.43, Z:-0.26 [[ 9.94518532e-01 1.04557621e-01 7.70267034e-04 8.52150121e+01] [-1.04557601e-01 9.94518830e-01 -6.62675548e-05 -1.43140777e+00] [-7.72973847e-04 -1.46329620e-05 9.99999701e-01 -2.55006896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.25, Y:-1.44, Z:-0.26 [[ 9.94523141e-01 1.04513770e-01 7.70256705e-04 8.52472464e+01] [-1.04513750e-01 9.94523440e-01 -6.63873906e-05 -1.43548903e+00] [-7.72976744e-04 -1.44786201e-05 9.99999701e-01 -2.55409770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.28, Y:-1.44, Z:-0.26 [[ 9.94682151e-01 1.02989445e-01 7.70244809e-04 8.52780843e+01] [-1.02989425e-01 9.94682449e-01 -6.65251227e-05 -1.44320852e+00] [-7.73000379e-04 -1.31557177e-05 9.99999701e-01 -2.57878023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.31, Y:-1.45, Z:-0.26 [[ 9.94794465e-01 1.01898871e-01 7.70234643e-04 8.53095753e+01] [-1.01898850e-01 9.94794763e-01 -6.66426248e-05 -1.44880224e+00] [-7.73016197e-04 -1.21903101e-05 9.99999701e-01 -2.58811062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.34, Y:-1.45, Z:-0.26 [[ 9.94925665e-01 1.00609783e-01 7.70223765e-04 8.53414949e+01] [-1.00609761e-01 9.94925963e-01 -6.67681086e-05 -1.45381492e+00] [-7.73033146e-04 -1.10627242e-05 9.99999701e-01 -2.59379753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.37, Y:-1.46, Z:-0.26 [[ 9.95303340e-01 9.68022080e-02 7.70212679e-04 8.53720792e+01] [-9.68021852e-02 9.95303638e-01 -6.68957467e-05 -1.45809318e+00] [-7.73071138e-04 -7.97671027e-06 9.99999701e-01 -2.62708382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.40, Y:-1.46, Z:-0.26 [[ 9.95518837e-01 9.45603105e-02 7.70202413e-04 8.54029301e+01] [-9.45602870e-02 9.95519135e-01 -6.70137401e-05 -1.46098713e+00] [-7.73088080e-04 -6.11712064e-06 9.99999701e-01 -2.63211389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.43, Y:-1.47, Z:-0.26 [[ 9.95677251e-01 9.28774414e-02 7.70192443e-04 8.54347067e+01] [-9.28774172e-02 9.95677549e-01 -6.71281274e-05 -1.46520180e+00] [-7.73098012e-04 -4.69553556e-06 9.99999701e-01 -2.57157717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.47, Y:-1.47, Z:-0.26 [[ 9.95937582e-01 9.00429849e-02 7.70180951e-04 8.54651761e+01] [-9.00429598e-02 9.95937880e-01 -6.72597271e-05 -1.47287738e+00] [-7.73108650e-04 -2.36288244e-06 9.99999701e-01 -2.58520068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.50, Y:-1.48, Z:-0.26 [[ 9.96054089e-01 8.87449029e-02 7.70170320e-04 8.54963890e+01] [-8.87448773e-02 9.96054387e-01 -6.73812331e-05 -1.47909231e+00] [-7.73111267e-04 -1.23331778e-06 9.99999701e-01 -2.58893706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.53, Y:-1.48, Z:-0.26 [[ 9.96176996e-01 8.73544440e-02 7.70162148e-04 8.55281506e+01] [-8.73544179e-02 9.96177294e-01 -6.74745126e-05 -1.48372558e+00] [-7.73112243e-04 -6.05087989e-08 9.99999701e-01 -2.56891234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.56, Y:-1.49, Z:-0.25 [[ 9.96274282e-01 8.62378179e-02 7.70150777e-04 8.55597584e+01] [-8.62377914e-02 9.96274580e-01 -6.76040537e-05 -1.48665475e+00] [-7.73111668e-04 9.36078050e-07 9.99999701e-01 -2.54796406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.59, Y:-1.49, Z:-0.25 [[ 9.96319117e-01 8.57182793e-02 7.70139396e-04 8.55916154e+01] [-8.57182526e-02 9.96319415e-01 -6.77334544e-05 -1.49029339e+00] [-7.73110828e-04 1.46913225e-06 9.99999701e-01 -2.53416695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.62, Y:-1.49, Z:-0.25 [[ 9.96248281e-01 8.65376725e-02 7.70127921e-04 8.56231524e+01] [-8.65376458e-02 9.96248579e-01 -6.78636691e-05 -1.49474749e+00] [-7.73111611e-04 9.64006431e-07 9.99999701e-01 -2.54998255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.66, Y:-1.50, Z:-0.26 [[ 9.95968133e-01 8.97044284e-02 7.70115672e-04 8.56552350e+01] [-8.97044026e-02 9.95968431e-01 -6.80023889e-05 -1.50008181e+00] [-7.73111013e-04 -1.35455402e-06 9.99999701e-01 -2.55584363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.69, Y:-1.51, Z:-0.25 [[ 9.95761657e-01 9.19680842e-02 7.70104614e-04 8.56883437e+01] [-9.19680591e-02 9.95761955e-01 -6.81273903e-05 -1.50552032e+00] [-7.73106422e-04 -2.98638355e-06 9.99999701e-01 -2.53183427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.72, Y:-1.51, Z:-0.25 [[ 9.95524147e-01 9.45043936e-02 7.70091341e-04 8.57192229e+01] [-9.45043690e-02 9.95524444e-01 -6.82770993e-05 -1.51113413e+00] [-7.73097240e-04 -4.80549521e-06 9.99999701e-01 -2.54778554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.75, Y:-1.51, Z:-0.25 [[ 9.94904538e-01 1.00818490e-01 7.70080590e-04 8.57511783e+01] [-1.00818468e-01 9.94904836e-01 -6.83981423e-05 -1.51281548e+00] [-7.73052700e-04 -9.58872279e-06 9.99999701e-01 -2.53598277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.78, Y:-1.51, Z:-0.25 [[ 9.94551273e-01 1.04245727e-01 7.70069118e-04 8.57839972e+01] [-1.04245705e-01 9.94551571e-01 -6.85270584e-05 -1.51357998e+00] [-7.73017104e-04 -1.21227250e-05 9.99999701e-01 -2.53828367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.82, Y:-1.52, Z:-0.26 [[ 9.94248125e-01 1.07098431e-01 7.70055890e-04 8.58150970e+01] [-1.07098410e-01 9.94248423e-01 -6.86753836e-05 -1.51605379e+00] [-7.72981879e-04 -1.41913898e-05 9.99999701e-01 -2.55619009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.85, Y:-1.52, Z:-0.25 [[ 9.93874802e-01 1.10509206e-01 7.70045187e-04 8.58454399e+01] [-1.10509186e-01 9.93875100e-01 -6.87951866e-05 -1.52197093e+00] [-7.72931239e-04 -1.67232640e-05 9.99999701e-01 -2.54694433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.88, Y:-1.53, Z:-0.26 [[ 9.93726092e-01 1.11838548e-01 7.70039231e-04 8.58765688e+01] [-1.11838528e-01 9.93726390e-01 -6.88617848e-05 -1.52571843e+00] [-7.72909707e-04 -1.76903017e-05 9.99999701e-01 -2.55473891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.91, Y:-1.53, Z:-0.25 [[ 9.93607443e-01 1.12887802e-01 7.70071653e-04 8.59095535e+01] [-1.12887783e-01 9.93607741e-01 -6.84994289e-05 -1.52781101e+00] [-7.72881906e-04 -1.88701395e-05 9.99999701e-01 -2.51273906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.94, Y:-1.53, Z:-0.26 [[ 9.93514466e-01 1.13703177e-01 7.70025806e-04 8.59411274e+01] [-1.13703157e-01 9.93514764e-01 -6.90109924e-05 -1.52818522e+00] [-7.72878776e-04 -1.89909461e-05 9.99999701e-01 -2.55026489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.97, Y:-1.53, Z:-0.25 [[ 9.93272729e-01 1.15795908e-01 7.70019425e-04 8.59732387e+01] [-1.15795889e-01 9.93273028e-01 -6.90821172e-05 -1.52567139e+00] [-7.72838952e-04 -2.05477007e-05 9.99999701e-01 -2.53962776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.01, Y:-1.53, Z:-0.25 [[ 9.93119730e-01 1.17100845e-01 7.70007900e-04 8.60057105e+01] [-1.17100827e-01 9.93120029e-01 -6.92103396e-05 -1.52727872e+00] [-7.72814857e-04 -2.14344081e-05 9.99999701e-01 -2.54341014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.04, Y:-1.53, Z:-0.26 [[ 9.93015759e-01 1.17979275e-01 7.69996085e-04 8.60363856e+01] [-1.17979257e-01 9.93016057e-01 -6.93415406e-05 -1.52929038e+00] [-7.72799341e-04 -2.19863232e-05 9.99999701e-01 -2.58233323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.144203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:86.07, Y:-1.53, Z:-0.26 [[ 9.92970097e-01 1.18362977e-01 7.69989335e-04 8.60699231e+01] [-1.18362959e-01 9.92970395e-01 -6.94164164e-05 -1.52842029e+00] [-7.72792947e-04 -2.22097906e-05 9.99999701e-01 -2.55932109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.10, Y:-1.53, Z:-0.26 [[ 9.93142205e-01 1.16910083e-01 7.69975900e-04 8.61019928e+01] [-1.16910064e-01 9.93142503e-01 -6.95651114e-05 -1.52924198e+00] [-7.72828656e-04 -2.09298835e-05 9.99999701e-01 -2.59379283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.13, Y:-1.53, Z:-0.26 [[ 9.94087005e-01 1.08583761e-01 7.69963356e-04 8.61345690e+01] [-1.08583740e-01 9.94087303e-01 -6.97036766e-05 -1.52740023e+00] [-7.72979484e-04 -1.43139818e-05 9.99999701e-01 -2.56612244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.17, Y:-1.53, Z:-0.26 [[ 9.94713012e-01 1.02690952e-01 7.69959256e-04 8.61658356e+01] [-1.02690929e-01 9.94713310e-01 -6.97489389e-05 -1.52851854e+00] [-7.73051305e-04 -9.68765423e-06 9.99999701e-01 -2.55241061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.20, Y:-1.53, Z:-0.25 [[ 9.95404528e-01 9.57561062e-02 7.69948588e-04 8.61976772e+01] [-9.57560808e-02 9.95404826e-01 -6.98665028e-05 -1.53117734e+00] [-7.73100685e-04 -4.18182597e-06 9.99999701e-01 -2.51268442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.23, Y:-1.54, Z:-0.25 [[ 9.96680285e-01 8.14114068e-02 7.69944402e-04 8.62292924e+01] [-8.14113771e-02 9.96680582e-01 -6.99126052e-05 -1.53785618e+00] [-7.73080318e-04 6.99828121e-06 9.99999701e-01 -2.47732648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.26, Y:-1.54, Z:-0.25 [[ 9.97162261e-01 7.52783682e-02 7.69932537e-04 8.62606861e+01] [-7.52783366e-02 9.97162558e-01 -7.00430276e-05 -1.54229930e+00] [-7.73020623e-04 1.18850231e-05 9.99999701e-01 -2.49357921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.29, Y:-1.55, Z:-0.25 [[ 9.97148298e-01 7.54630995e-02 7.69919818e-04 8.62940272e+01] [-7.54630678e-02 9.97148595e-01 -7.01825633e-05 -1.54553945e+00] [-7.73020658e-04 1.18819121e-05 9.99999701e-01 -2.49383830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.33, Y:-1.55, Z:-0.25 [[ 9.97536211e-01 7.01492314e-02 7.69906789e-04 8.63259650e+01] [-7.01491980e-02 9.97536508e-01 -7.03251949e-05 -1.54932291e+00] [-7.72943388e-04 1.61435847e-05 9.99999701e-01 -2.50397318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.36, Y:-1.55, Z:-0.25 [[ 9.97827556e-01 6.58754576e-02 7.69895029e-04 8.63566351e+01] [-6.58754228e-02 9.97827853e-01 -7.04537101e-05 -1.55381315e+00] [-7.72863874e-04 1.95834928e-05 9.99999701e-01 -2.53048088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.39, Y:-1.56, Z:-0.25 [[ 9.98158448e-01 6.06557432e-02 7.69884165e-04 8.63881622e+01] [-6.06557068e-02 9.98158745e-01 -7.05722213e-05 -1.56318145e+00] [-7.72747223e-04 2.37443907e-05 9.99999701e-01 -2.52917710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.42, Y:-1.57, Z:-0.25 [[ 9.98189206e-01 6.01474587e-02 7.69872371e-04 8.64198983e+01] [-6.01474221e-02 9.98189502e-01 -7.07006545e-05 -1.56906962e+00] [-7.72730983e-04 2.42667918e-05 9.99999701e-01 -2.52912003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.45, Y:-1.57, Z:-0.25 [[ 9.98166477e-01 6.05234742e-02 7.69859797e-04 8.64522270e+01] [-6.05234376e-02 9.98166774e-01 -7.08373004e-05 -1.57363177e+00] [-7.72735790e-04 2.41128572e-05 9.99999701e-01 -2.51499297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.48, Y:-1.58, Z:-0.26 [[ 9.97973222e-01 6.36306180e-02 7.69847800e-04 8.64827823e+01] [-6.36305822e-02 9.97973519e-01 -7.09674479e-05 -1.57877700e+00] [-7.72803420e-04 2.18377489e-05 9.99999701e-01 -2.56303917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.51, Y:-1.58, Z:-0.26 [[ 9.97775722e-01 6.66559586e-02 7.69836688e-04 8.65134030e+01] [-6.66559236e-02 9.97776018e-01 -7.10877855e-05 -1.58282588e+00] [-7.72863010e-04 1.96154910e-05 9.99999701e-01 -2.58599522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.54, Y:-1.59, Z:-0.26 [[ 9.97211500e-01 7.46232655e-02 7.69825815e-04 8.65449896e+01] [-7.46232327e-02 9.97211797e-01 -7.12053307e-05 -1.58958116e+00] [-7.72992959e-04 1.35598836e-05 9.99999701e-01 -2.55969936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.58, Y:-1.59, Z:-0.25 [[ 9.96873924e-01 7.90049793e-02 7.69814056e-04 8.65764310e+01] [-7.90049477e-02 9.96874221e-01 -7.13322332e-05 -1.59448353e+00] [-7.73043390e-04 1.02901239e-05 9.99999701e-01 -2.54278143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.61, Y:-1.60, Z:-0.26 [[ 9.96057729e-01 8.87040496e-02 7.69809711e-04 8.66075181e+01] [-8.87040210e-02 9.96058026e-01 -7.13790993e-05 -1.60131662e+00] [-7.73106756e-04 2.81248681e-06 9.99999701e-01 -2.55334273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.64, Y:-1.61, Z:-0.25 [[ 9.95650088e-01 9.31681803e-02 7.69798406e-04 8.66403274e+01] [-9.31681529e-02 9.95650386e-01 -7.15008073e-05 -1.60719553e+00] [-7.73111680e-04 -5.30910492e-07 9.99999701e-01 -2.53711418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.67, Y:-1.61, Z:-0.25 [[ 9.95341908e-01 9.64048446e-02 7.69784369e-04 8.66716420e+01] [-9.64048180e-02 9.95342205e-01 -7.16516139e-05 -1.61279828e+00] [-7.73106434e-04 -2.89306793e-06 9.99999701e-01 -2.54364608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.70, Y:-1.62, Z:-0.25 [[ 9.95079124e-01 9.90804984e-02 7.69771294e-04 8.67040304e+01] [-9.90804725e-02 9.95079421e-01 -7.17918151e-05 -1.61733986e+00] [-7.73096742e-04 -4.83076701e-06 9.99999701e-01 -2.53773554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.74, Y:-1.62, Z:-0.26 [[ 9.94859397e-01 1.01262964e-01 7.69757424e-04 8.67360700e+01] [-1.01262939e-01 9.94859695e-01 -7.19402194e-05 -1.62045232e+00] [-7.73085516e-04 -6.37749586e-06 9.99999701e-01 -2.55962751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.77, Y:-1.62, Z:-0.25 [[ 9.94504793e-01 1.04688225e-01 7.69744506e-04 8.67692946e+01] [-1.04688201e-01 9.94505091e-01 -7.20781730e-05 -1.62390892e+00] [-7.73060566e-04 -8.90107870e-06 9.99999701e-01 -2.54622849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.80, Y:-1.63, Z:-0.25 [[ 9.94377649e-01 1.05889087e-01 7.69730813e-04 8.68020501e+01] [-1.05889063e-01 9.94377947e-01 -7.22241047e-05 -1.62895699e+00] [-7.73051090e-04 -9.68803883e-06 9.99999701e-01 -2.54418745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.83, Y:-1.64, Z:-0.26 [[ 9.94217805e-01 1.07379532e-01 7.69717093e-04 8.68339414e+01] [-1.07379508e-01 9.94218103e-01 -7.23700338e-05 -1.63537707e+00] [-7.73037728e-04 -1.07002666e-05 9.99999701e-01 -2.56494122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.87, Y:-1.64, Z:-0.25 [[ 9.94187288e-01 1.07661714e-01 7.69705136e-04 8.68665225e+01] [-1.07661690e-01 9.94187586e-01 -7.24969757e-05 -1.63957510e+00] [-7.73036440e-04 -1.07921843e-05 9.99999701e-01 -2.53908055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.90, Y:-1.64, Z:-0.26 [[ 9.94151380e-01 1.07992779e-01 7.69690824e-04 8.68971938e+01] [-1.07992756e-01 9.94151678e-01 -7.26486150e-05 -1.64384584e+00] [-7.73034950e-04 -1.08973121e-05 9.99999701e-01 -2.56297743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.93, Y:-1.65, Z:-0.26 [[ 9.94080707e-01 1.08641410e-01 7.69679257e-04 8.69290303e+01] [-1.08641387e-01 9.94081005e-01 -7.27709510e-05 -1.65156501e+00] [-7.73029468e-04 -1.12788233e-05 9.99999701e-01 -2.55579348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.96, Y:-1.66, Z:-0.26 [[ 9.93976680e-01 1.09589083e-01 7.69666864e-04 8.69597200e+01] [-1.09589060e-01 9.93976978e-01 -7.29017921e-05 -1.65697681e+00] [-7.73020384e-04 -1.18843866e-05 9.99999701e-01 -2.57608758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.99, Y:-1.66, Z:-0.26 [[ 9.93872843e-01 1.10526828e-01 7.69655409e-04 8.69913213e+01] [-1.10526804e-01 9.93873141e-01 -7.30225279e-05 -1.66096684e+00] [-7.73010787e-04 -1.24924452e-05 9.99999701e-01 -2.59299054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.02, Y:-1.66, Z:-0.26 [[ 9.93582834e-01 1.13104202e-01 7.69643233e-04 8.70221648e+01] [-1.13104179e-01 9.93583132e-01 -7.31506317e-05 -1.66156135e+00] [-7.72978178e-04 -1.43686542e-05 9.99999701e-01 -2.60562482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.05, Y:-1.66, Z:-0.26 [[ 9.93413554e-01 1.14581488e-01 7.69631975e-04 8.70530961e+01] [-1.14581466e-01 9.93413852e-01 -7.32688901e-05 -1.66263369e+00] [-7.72958324e-04 -1.53992514e-05 9.99999701e-01 -2.62853482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.09, Y:-1.66, Z:-0.26 [[ 9.93280910e-01 1.15725719e-01 7.69620800e-04 8.70857432e+01] [-1.15725697e-01 9.93281208e-01 -7.33860884e-05 -1.66450886e+00] [-7.72942535e-04 -1.61719028e-05 9.99999701e-01 -2.60272196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.12, Y:-1.67, Z:-0.26 [[ 9.93220329e-01 1.16244512e-01 7.69607319e-04 8.71168778e+01] [-1.16244489e-01 9.93220627e-01 -7.35271896e-05 -1.66666001e+00] [-7.72936996e-04 -1.64339105e-05 9.99999701e-01 -2.60860317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.15, Y:-1.67, Z:-0.26 [[ 9.93257635e-01 1.15925315e-01 7.69596398e-04 8.71487633e+01] [-1.15925293e-01 9.93257933e-01 -7.36413200e-05 -1.66955723e+00] [-7.72944621e-04 -1.60708846e-05 9.99999701e-01 -2.56313976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.18, Y:-1.67, Z:-0.25 [[ 9.93551968e-01 1.13375020e-01 7.69584210e-04 8.71804532e+01] [-1.13374997e-01 9.93552266e-01 -7.37684708e-05 -1.67276368e+00] [-7.72985638e-04 -1.39587980e-05 9.99999701e-01 -2.53087689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.21, Y:-1.68, Z:-0.25 [[ 9.93761330e-01 1.11525005e-01 7.69571854e-04 8.72121456e+01] [-1.11524981e-01 9.93761628e-01 -7.38971471e-05 -1.67691056e+00] [-7.73012358e-04 -1.23903590e-05 9.99999701e-01 -2.54074664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.24, Y:-1.68, Z:-0.25 [[ 9.94011397e-01 1.09273744e-01 7.69558623e-04 8.72438535e+01] [-1.09273720e-01 9.94011694e-01 -7.40346828e-05 -1.68019976e+00] [-7.73040318e-04 -1.05012148e-05 9.99999701e-01 -2.54369689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.28, Y:-1.68, Z:-0.26 [[ 9.94634734e-01 1.03446381e-01 7.69546479e-04 8.72765699e+01] [-1.03446355e-01 9.94635032e-01 -7.41606912e-05 -1.68113731e+00] [-7.73089542e-04 -5.84397881e-06 9.99999701e-01 -2.57596035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.31, Y:-1.68, Z:-0.26 [[ 9.94959650e-01 1.00273137e-01 7.69542108e-04 8.73080671e+01] [-1.00273110e-01 9.94959948e-01 -7.42060230e-05 -1.68450089e+00] [-7.73104447e-04 -3.33238185e-06 9.99999701e-01 -2.57519942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.34, Y:-1.69, Z:-0.26 [[ 9.95248810e-01 9.73612559e-02 7.69535346e-04 8.73394040e+01] [-9.73612275e-02 9.95249107e-01 -7.42760811e-05 -1.68813906e+00] [-7.73110979e-04 -9.99724574e-07 9.99999701e-01 -2.56698819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.37, Y:-1.69, Z:-0.26 [[ 9.95494688e-01 9.48142055e-02 7.69523924e-04 8.73717609e+01] [-9.48141763e-02 9.95494986e-01 -7.43942327e-05 -1.69106922e+00] [-7.73110837e-04 1.09728653e-06 9.99999701e-01 -2.56826719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.41, Y:-1.69, Z:-0.26 [[ 9.95907185e-01 9.03785786e-02 7.69509964e-04 8.74050003e+01] [-9.03785480e-02 9.95907482e-01 -7.45383440e-05 -1.69247864e+00] [-7.73097401e-04 4.68607907e-06 9.99999701e-01 -2.55985762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.44, Y:-1.70, Z:-0.26 [[ 9.96068860e-01 8.85789734e-02 7.69495871e-04 8.74371106e+01] [-8.85789421e-02 9.96069157e-01 -7.46835498e-05 -1.69557808e+00] [-7.73086496e-04 6.22882799e-06 9.99999701e-01 -2.56639296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.47, Y:-1.70, Z:-0.26 [[ 9.96307978e-01 8.58476561e-02 7.69483421e-04 8.74690580e+01] [-8.58476239e-02 9.96308276e-01 -7.48116076e-05 -1.70144492e+00] [-7.73065102e-04 8.47707819e-06 9.99999701e-01 -2.59025634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.50, Y:-1.71, Z:-0.26 [[ 9.96358505e-01 8.52592422e-02 7.69470654e-04 8.75006022e+01] [-8.52592097e-02 9.96358802e-01 -7.49426990e-05 -1.70625231e+00] [-7.73058416e-04 9.06533562e-06 9.99999701e-01 -2.59710498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.53, Y:-1.71, Z:-0.26 [[ 9.96387238e-01 8.49227830e-02 7.69457011e-04 8.75328270e+01] [-8.49227503e-02 9.96387535e-01 -7.50825154e-05 -1.70973450e+00] [-7.73053591e-04 9.46685463e-06 9.99999701e-01 -2.57390029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.56, Y:-1.71, Z:-0.26 [[ 9.96394435e-01 8.48383011e-02 7.69444197e-04 8.75634779e+01] [-8.48382683e-02 9.96394732e-01 -7.52136023e-05 -1.71131591e+00] [-7.73051139e-04 9.66410154e-06 9.99999701e-01 -2.55586325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.60, Y:-1.72, Z:-0.26 [[ 9.96367054e-01 8.51592705e-02 7.69437815e-04 8.75955917e+01] [-8.51592377e-02 9.96367351e-01 -7.52788259e-05 -1.71540308e+00] [-7.73053408e-04 9.48060417e-06 9.99999701e-01 -2.57123678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.63, Y:-1.72, Z:-0.25 [[ 9.96333877e-01 8.55465536e-02 7.69424619e-04 8.76274670e+01] [-8.55465209e-02 9.96334174e-01 -7.54134683e-05 -1.71991282e+00] [-7.73055405e-04 9.31539404e-06 9.99999701e-01 -2.54805916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.66, Y:-1.72, Z:-0.26 [[ 9.96146251e-01 8.77043577e-02 7.69411806e-04 8.76583045e+01] [-8.77043255e-02 9.96146548e-01 -7.55439631e-05 -1.72409471e+00] [-7.73072450e-04 7.77209216e-06 9.99999701e-01 -2.61355498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.674203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.69, Y:-1.73, Z:-0.26 [[ 9.95999778e-01 8.93523881e-02 7.69399948e-04 8.76913953e+01] [-8.93523563e-02 9.96000076e-01 -7.56645477e-05 -1.72696910e+00] [-7.73083214e-04 6.61417446e-06 9.99999701e-01 -2.60738359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.72, Y:-1.73, Z:-0.26 [[ 9.95814179e-01 9.13976420e-02 7.69385341e-04 8.77222355e+01] [-9.13976107e-02 9.95814476e-01 -7.58127801e-05 -1.73182520e+00] [-7.73094170e-04 5.17545945e-06 9.99999701e-01 -2.62551545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.75, Y:-1.74, Z:-0.26 [[ 9.95360879e-01 9.62087715e-02 7.69378317e-04 8.77546336e+01] [-9.62087416e-02 9.95361177e-01 -7.58840041e-05 -1.73756569e+00] [-7.73110013e-04 1.51104945e-06 9.99999701e-01 -2.60934974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.79, Y:-1.74, Z:-0.26 [[ 9.95115378e-01 9.87157194e-02 7.69364006e-04 8.77875233e+01] [-9.87156902e-02 9.95115675e-01 -7.60288175e-05 -1.73992427e+00] [-7.73111422e-04 -2.90853403e-07 9.99999701e-01 -2.59946854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.82, Y:-1.74, Z:-0.26 [[ 9.94890393e-01 1.00957978e-01 7.69349562e-04 8.78198799e+01] [-1.00957950e-01 9.94890691e-01 -7.61747011e-05 -1.74112812e+00] [-7.73109161e-04 -1.88647585e-06 9.99999701e-01 -2.55942395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.85, Y:-1.75, Z:-0.26 [[ 9.94805657e-01 1.01789555e-01 7.69336231e-04 8.78502826e+01] [-1.01789526e-01 9.94805954e-01 -7.63091019e-05 -1.74512126e+00] [-7.73107733e-04 -2.39764407e-06 9.99999701e-01 -2.58809700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.88, Y:-1.75, Z:-0.26 [[ 9.94982517e-01 1.00045985e-01 7.69325753e-04 8.78814878e+01] [-1.00045956e-01 9.94982814e-01 -7.64145938e-05 -1.75116741e+00] [-7.73110876e-04 -9.36745640e-07 9.99999701e-01 -2.59430441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.91, Y:-1.76, Z:-0.26 [[ 9.95210252e-01 9.77546063e-02 7.69312304e-04 8.79117899e+01] [-9.77545764e-02 9.95210549e-01 -7.65497556e-05 -1.75730050e+00] [-7.73110811e-04 9.79303193e-07 9.99999701e-01 -2.59423059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.94, Y:-1.77, Z:-0.26 [[ 9.95823678e-01 9.12940846e-02 7.69300784e-04 8.79429420e+01] [-9.12940527e-02 9.95823975e-01 -7.66653534e-05 -1.76760645e+00] [-7.73087258e-04 6.11258795e-06 9.99999701e-01 -2.55861145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.97, Y:-1.77, Z:-0.26 [[ 9.96050200e-01 8.87885563e-02 7.69288113e-04 8.79735325e+01] [-8.87885234e-02 9.96050497e-01 -7.67922833e-05 -1.77496550e+00] [-7.73068083e-04 8.18501350e-06 9.99999701e-01 -2.56029251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.01, Y:-1.78, Z:-0.25 [[ 9.96184520e-01 8.72686133e-02 7.69276361e-04 8.80052970e+01] [-8.72685799e-02 9.96184817e-01 -7.69098337e-05 -1.78187372e+00] [-7.73053245e-04 9.48273024e-06 9.99999701e-01 -2.51768634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.04, Y:-1.79, Z:-0.25 [[ 9.96184323e-01 8.72708581e-02 7.69263333e-04 8.80366452e+01] [-8.72708247e-02 9.96184620e-01 -7.70399222e-05 -1.79117435e+00] [-7.73051641e-04 9.61171730e-06 9.99999701e-01 -2.52154668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.07, Y:-1.80, Z:-0.25 [[ 9.96083743e-01 8.84114558e-02 7.69249399e-04 8.80681028e+01] [-8.84114225e-02 9.96084040e-01 -7.71788012e-05 -1.79858363e+00] [-7.73060539e-04 8.86611553e-06 9.99999701e-01 -2.53079135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.10, Y:-1.81, Z:-0.25 [[ 9.95931135e-01 9.01142774e-02 7.69236561e-04 8.80997208e+01] [-9.01142446e-02 9.95931432e-01 -7.73065469e-05 -1.80660782e+00] [-7.73073293e-04 7.67282537e-06 9.99999701e-01 -2.52627137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.13, Y:-1.82, Z:-0.26 [[ 9.95522553e-01 9.45211838e-02 7.69223160e-04 8.81303339e+01] [-9.45211521e-02 9.95522850e-01 -7.74396589e-05 -1.81835164e+00] [-7.73098921e-04 4.38506757e-06 9.99999701e-01 -2.61476771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.16, Y:-1.82, Z:-0.26 [[ 9.95217780e-01 9.76779367e-02 7.69209827e-04 8.81632071e+01] [-9.76779060e-02 9.95218077e-01 -7.75718738e-05 -1.82440262e+00] [-7.73108585e-04 2.06610288e-06 9.99999701e-01 -2.59937980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.19, Y:-1.83, Z:-0.26 [[ 9.94484786e-01 1.04878110e-01 7.69194974e-04 8.81943809e+01] [-1.04878081e-01 9.94485084e-01 -7.77188772e-05 -1.83054078e+00] [-7.73103937e-04 -3.38145207e-06 9.99999701e-01 -2.64465078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.23, Y:-1.84, Z:-0.26 [[ 9.94070994e-01 1.08730249e-01 7.69185746e-04 8.82271544e+01] [-1.08730222e-01 9.94071292e-01 -7.78100971e-05 -1.83591437e+00] [-7.73085779e-04 -6.28497622e-06 9.99999701e-01 -2.59995871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.26, Y:-1.84, Z:-0.26 [[ 9.93697226e-01 1.12094741e-01 7.69170883e-04 8.82582957e+01] [-1.12094715e-01 9.93697524e-01 -7.79567435e-05 -1.84142775e+00] [-7.73061743e-04 -8.75459090e-06 9.99999701e-01 -2.59258919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.29, Y:-1.85, Z:-0.26 [[ 9.93305428e-01 1.15515088e-01 7.69158897e-04 8.82895301e+01] [-1.15515063e-01 9.93305725e-01 -7.80748226e-05 -1.84681126e+00] [-7.73028756e-04 -1.12972931e-05 9.99999701e-01 -2.57376404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.32, Y:-1.85, Z:-0.25 [[ 9.92721944e-01 1.20426536e-01 7.69146958e-04 8.83216308e+01] [-1.20426512e-01 9.92722242e-01 -7.81922641e-05 -1.85268270e+00] [-7.72965716e-04 -1.50025086e-05 9.99999701e-01 -2.53963612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.35, Y:-1.86, Z:-0.25 [[ 9.92699545e-01 1.20611037e-01 7.69134128e-04 8.83549168e+01] [-1.20611012e-01 9.92699843e-01 -7.83182610e-05 -1.85625593e+00] [-7.72965375e-04 -1.50195438e-05 9.99999701e-01 -2.53989517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.39, Y:-1.86, Z:-0.25 [[ 9.92497183e-01 1.22265083e-01 7.69119546e-04 8.83867561e+01] [-1.22265059e-01 9.92497481e-01 -7.84612062e-05 -1.86064196e+00] [-7.72942277e-04 -1.61639205e-05 9.99999701e-01 -2.53666882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.42, Y:-1.87, Z:-0.25 [[ 9.92274497e-01 1.24059387e-01 7.69106660e-04 8.84188851e+01] [-1.24059363e-01 9.92274795e-01 -7.85873114e-05 -1.86526091e+00] [-7.72914647e-04 -1.74346977e-05 9.99999701e-01 -2.52689992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.45, Y:-1.87, Z:-0.25 [[ 9.92325851e-01 1.23647942e-01 7.69093584e-04 8.84502652e+01] [-1.23647918e-01 9.92326149e-01 -7.87150723e-05 -1.86876763e+00] [-7.72924631e-04 -1.69858193e-05 9.99999701e-01 -2.54211310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.48, Y:-1.87, Z:-0.26 [[ 9.92456067e-01 1.22598380e-01 7.69079626e-04 8.84815107e+01] [-1.22598356e-01 9.92456365e-01 -7.88512105e-05 -1.87286884e+00] [-7.72945001e-04 -1.60315353e-05 9.99999701e-01 -2.57183700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.51, Y:-1.88, Z:-0.26 [[ 9.92957000e-01 1.18472804e-01 7.69072298e-04 8.85117533e+01] [-1.18472778e-01 9.92957297e-01 -7.89226244e-05 -1.88247936e+00] [-7.73006135e-04 -1.27473596e-05 9.99999701e-01 -2.56304847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.54, Y:-1.89, Z:-0.25 [[ 9.93222602e-01 1.16225094e-01 7.69060599e-04 8.85434052e+01] [-1.16225067e-01 9.93222899e-01 -7.90364616e-05 -1.88922007e+00] [-7.73034618e-04 -1.08833198e-05 9.99999701e-01 -2.50292438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.57, Y:-1.89, Z:-0.25 [[ 9.93447111e-01 1.14290184e-01 7.69047248e-04 8.85746960e+01] [-1.14290157e-01 9.93447409e-01 -7.91661545e-05 -1.89347454e+00] [-7.73055910e-04 -9.24714333e-06 9.99999701e-01 -2.52922245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.61, Y:-1.89, Z:-0.25 [[ 9.93861894e-01 1.10625239e-01 7.69032981e-04 8.86081871e+01] [-1.10625211e-01 9.93862192e-01 -7.93045078e-05 -1.89497347e+00] [-7.73085884e-04 -6.25670733e-06 9.99999701e-01 -2.52265978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.64, Y:-1.90, Z:-0.25 [[ 9.94017364e-01 1.09219450e-01 7.69018080e-04 8.86409942e+01] [-1.09219421e-01 9.94017662e-01 -7.94487375e-05 -1.89901562e+00] [-7.73094901e-04 -5.01828485e-06 9.99999701e-01 -2.52668970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.67, Y:-1.90, Z:-0.25 [[ 9.94137347e-01 1.08121898e-01 7.69003026e-04 8.86735638e+01] [-1.08121869e-01 9.94137644e-01 -7.95941846e-05 -1.90467839e+00] [-7.73100731e-04 -4.01849289e-06 9.99999701e-01 -2.53660228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.70, Y:-1.91, Z:-0.25 [[ 9.94181427e-01 1.07715827e-01 7.68987999e-04 8.87048411e+01] [-1.07715797e-01 9.94181724e-01 -7.97391052e-05 -1.91379558e+00] [-7.73102978e-04 -3.55701800e-06 9.99999701e-01 -2.52871248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.74, Y:-1.92, Z:-0.25 [[ 9.94133648e-01 1.08155896e-01 7.68974683e-04 8.87361356e+01] [-1.08155867e-01 9.94133946e-01 -7.98673113e-05 -1.91895197e+00] [-7.73101956e-04 -3.77034196e-06 9.99999701e-01 -2.50564808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.77, Y:-1.92, Z:-0.25 [[ 9.94098134e-01 1.08481836e-01 7.68962301e-04 8.87665335e+01] [-1.08481807e-01 9.94098431e-01 -7.99863433e-05 -1.92393564e+00] [-7.73101283e-04 -3.90414528e-06 9.99999701e-01 -2.49294294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.80, Y:-1.93, Z:-0.25 [[ 9.94122422e-01 1.08259035e-01 7.68949963e-04 8.87981751e+01] [-1.08259006e-01 9.94122719e-01 -8.01047846e-05 -1.92818205e+00] [-7.73102695e-04 -3.61179597e-06 9.99999701e-01 -2.50422057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.83, Y:-1.93, Z:-0.25 [[ 9.94214713e-01 1.07408162e-01 7.68936717e-04 8.88296958e+01] [-1.07408132e-01 9.94215010e-01 -8.02317330e-05 -1.93138256e+00] [-7.73105969e-04 -2.82248698e-06 9.99999701e-01 -2.52698538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.86, Y:-1.93, Z:-0.25 [[ 9.94350290e-01 1.06145695e-01 7.68923555e-04 8.88625883e+01] [-1.06145665e-01 9.94350588e-01 -8.03576768e-05 -1.93387726e+00] [-7.73109210e-04 -1.71422272e-06 9.99999701e-01 -2.53319273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.89, Y:-1.94, Z:-0.25 [[ 9.94631288e-01 1.03479515e-01 7.68908262e-04 8.88933317e+01] [-1.03479484e-01 9.94631585e-01 -8.05037412e-05 -1.93775715e+00] [-7.73110932e-04 5.05309823e-07 9.99999701e-01 -2.54827255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.93, Y:-1.95, Z:-0.25 [[ 9.94741991e-01 1.02409861e-01 7.68901001e-04 8.89257335e+01] [-1.02409830e-01 9.94742288e-01 -8.05730307e-05 -1.94516003e+00] [-7.73109814e-04 1.40635650e-06 9.99999701e-01 -2.52912347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.874203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:88.96, Y:-1.96, Z:-0.25 [[ 9.94902895e-01 1.00834703e-01 7.68885521e-04 8.89572255e+01] [-1.00834671e-01 9.94903193e-01 -8.07204885e-05 -1.95639875e+00] [-7.73106086e-04 2.77872929e-06 9.99999701e-01 -2.51308564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.99, Y:-1.96, Z:-0.25 [[ 9.94944301e-01 1.00425329e-01 7.68870018e-04 8.89883327e+01] [-1.00425297e-01 9.94944598e-01 -8.08678827e-05 -1.96188232e+00] [-7.73104255e-04 3.24503910e-06 9.99999701e-01 -2.51947202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.934203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:89.02, Y:-1.97, Z:-0.25 [[ 9.94924348e-01 1.00622813e-01 7.68862565e-04 8.90211417e+01] [-1.00622780e-01 9.94924645e-01 -8.09386839e-05 -1.96681211e+00] [-7.73104592e-04 3.16277851e-06 9.99999701e-01 -2.49708437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.05, Y:-1.97, Z:-0.25 [[ 9.94890121e-01 1.00960669e-01 7.68846913e-04 8.90517060e+01] [-1.00960637e-01 9.94890418e-01 -8.10870856e-05 -1.97260771e+00] [-7.73105033e-04 3.04946655e-06 9.99999701e-01 -2.50049064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.08, Y:-1.98, Z:-0.25 [[ 9.94664629e-01 1.03158541e-01 7.68834231e-04 8.90839085e+01] [-1.03158509e-01 9.94664926e-01 -8.12071563e-05 -1.97885649e+00] [-7.73109656e-04 1.46209336e-06 9.99999701e-01 -2.48806013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.11, Y:-1.98, Z:-0.25 [[ 9.94465869e-01 1.05057337e-01 7.68818932e-04 8.91148435e+01] [-1.05057305e-01 9.94466166e-01 -8.13517371e-05 -1.98313107e+00] [-7.73111013e-04 1.31480759e-07 9.99999701e-01 -2.52544352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.15, Y:-1.99, Z:-0.26 [[ 9.94148015e-01 1.08023758e-01 7.68806572e-04 8.91451533e+01] [-1.08023728e-01 9.94148313e-01 -8.14683777e-05 -1.99228636e+00] [-7.73108277e-04 -2.05772570e-06 9.99999701e-01 -2.57040597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.18, Y:-2.00, Z:-0.26 [[ 9.94087224e-01 1.08581771e-01 7.68774430e-04 8.91759966e+01] [-1.08581740e-01 9.94087521e-01 -8.17713221e-05 -1.99909457e+00] [-7.73107942e-04 -2.18703896e-06 9.99999701e-01 -2.55866735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.21, Y:-2.00, Z:-0.26 [[ 9.93952619e-01 1.09807102e-01 7.68790737e-04 8.92088661e+01] [-1.09807072e-01 9.93952917e-01 -8.16177155e-05 -2.00493929e+00] [-7.73104000e-04 -3.29451768e-06 9.99999701e-01 -2.55512213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.24, Y:-2.01, Z:-0.26 [[ 9.93626933e-01 1.12716135e-01 7.68775224e-04 8.92412865e+01] [-1.12716106e-01 9.93627230e-01 -8.17635739e-05 -2.00744483e+00] [-7.73092071e-04 -5.41086036e-06 9.99999701e-01 -2.56090412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.27, Y:-2.01, Z:-0.26 [[ 9.93452273e-01 1.14245309e-01 7.68759715e-04 8.92728334e+01] [-1.14245279e-01 9.93452570e-01 -8.19091414e-05 -2.01134711e+00] [-7.73084050e-04 -6.45434571e-06 9.99999701e-01 -2.57216904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.31, Y:-2.02, Z:-0.25 [[ 9.93294412e-01 1.15609772e-01 7.68745293e-04 8.93053243e+01] [-1.15609743e-01 9.93294710e-01 -8.20442670e-05 -2.01606640e+00] [-7.73075752e-04 -7.38033390e-06 9.99999701e-01 -2.53838518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.34, Y:-2.02, Z:-0.25 [[ 9.93134500e-01 1.16975526e-01 7.68729485e-04 8.93383430e+01] [-1.16975497e-01 9.93134798e-01 -8.21921227e-05 -2.02041903e+00] [-7.73066468e-04 -8.29468108e-06 9.99999701e-01 -2.52383843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.37, Y:-2.02, Z:-0.26 [[ 9.92966949e-01 1.18389388e-01 7.68713205e-04 8.93696038e+01] [-1.18389360e-01 9.92967247e-01 -8.23441033e-05 -2.02383071e+00] [-7.73055702e-04 -9.24249136e-06 9.99999701e-01 -2.55399694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.40, Y:-2.03, Z:-0.26 [[ 9.92985696e-01 1.18232047e-01 7.68700062e-04 8.94008634e+01] [-1.18232018e-01 9.92985993e-01 -8.24666092e-05 -2.02864555e+00] [-7.73058591e-04 -8.99679641e-06 9.99999701e-01 -2.56306473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.43, Y:-2.04, Z:-0.25 [[ 9.93239619e-01 1.16079574e-01 7.68684996e-04 8.94309194e+01] [-1.16079545e-01 9.93239917e-01 -8.26068044e-05 -2.03590215e+00] [-7.73077584e-04 -7.18025363e-06 9.99999701e-01 -2.53363170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.46, Y:-2.04, Z:-0.25 [[ 9.93411514e-01 1.14599186e-01 7.68683032e-04 8.94626212e+01] [-1.14599157e-01 9.93411811e-01 -8.26250811e-05 -2.03939981e+00] [-7.73087570e-04 -6.00972016e-06 9.99999701e-01 -2.49717793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.49, Y:-2.04, Z:-0.25 [[ 9.93595550e-01 1.12992439e-01 7.68669502e-04 8.94946922e+01] [-1.12992409e-01 9.93595848e-01 -8.27507586e-05 -2.04214912e+00] [-7.73097035e-04 -4.63303334e-06 9.99999701e-01 -2.48772955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.53, Y:-2.05, Z:-0.25 [[ 9.94117263e-01 1.08306399e-01 7.68656010e-04 8.95266812e+01] [-1.08306367e-01 9.94117560e-01 -8.28758942e-05 -2.04520225e+00] [-7.73110427e-04 -8.61982922e-07 9.99999701e-01 -2.50808859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.56, Y:-2.05, Z:-0.25 [[ 9.94393558e-01 1.05739592e-01 7.68641773e-04 8.95585558e+01] [-1.05739560e-01 9.94393855e-01 -8.30077226e-05 -2.05114574e+00] [-7.73109859e-04 1.26650202e-06 9.99999701e-01 -2.53164900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.59, Y:-2.06, Z:-0.25 [[ 9.94653508e-01 1.03265720e-01 7.68631614e-04 8.95889841e+01] [-1.03265687e-01 9.94653805e-01 -8.31016862e-05 -2.05907325e+00] [-7.73103915e-04 3.28411200e-06 9.99999701e-01 -2.54152151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50420382200001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:89.62, Y:-2.07, Z:-0.25 [[ 9.94893297e-01 1.00929365e-01 7.68618888e-04 8.96213018e+01] [-1.00929331e-01 9.94893594e-01 -8.32192253e-05 -2.06779382e+00] [-7.73093272e-04 5.21805950e-06 9.99999701e-01 -2.50123088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.65, Y:-2.08, Z:-0.25 [[ 9.95162528e-01 9.82392601e-02 7.68602457e-04 8.96519219e+01] [-9.82392250e-02 9.95162825e-01 -8.33707025e-05 -2.08246297e+00] [-7.73074869e-04 7.46048931e-06 9.99999701e-01 -2.51173510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.68, Y:-2.09, Z:-0.25 [[ 9.95140770e-01 9.84594188e-02 7.68588064e-04 8.96832106e+01] [-9.84593837e-02 9.95141067e-01 -8.35031834e-05 -2.08844251e+00] [-7.73075221e-04 7.42271509e-06 9.99999701e-01 -2.52236435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.71, Y:-2.09, Z:-0.26 [[ 9.94852553e-01 1.01330186e-01 7.68573612e-04 8.97145574e+01] [-1.01330151e-01 9.94852850e-01 -8.36359945e-05 -2.09225440e+00] [-7.73092499e-04 5.32580226e-06 9.99999701e-01 -2.59806031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.75, Y:-2.10, Z:-0.26 [[ 9.94641568e-01 1.03380654e-01 7.68559251e-04 8.97466771e+01] [-1.03380620e-01 9.94641865e-01 -8.37677474e-05 -2.09753443e+00] [-7.73101172e-04 3.86475162e-06 9.99999701e-01 -2.60714871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.78, Y:-2.10, Z:-0.26 [[ 9.94306207e-01 1.06557857e-01 7.68543971e-04 8.97766092e+01] [-1.06557824e-01 9.94306504e-01 -8.39077060e-05 -2.10441477e+00] [-7.73109294e-04 1.53557995e-06 9.99999701e-01 -2.61137946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.81, Y:-2.12, Z:-0.26 [[ 9.93587179e-01 1.13066030e-01 7.68776928e-04 8.98097928e+01] [-1.13066000e-01 9.93587476e-01 -8.17747668e-05 -2.11556722e+00] [-7.73093076e-04 -5.67217277e-06 9.99999701e-01 -2.59264927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.84, Y:-2.12, Z:-0.26 [[ 9.93090864e-01 1.17345413e-01 7.68523406e-04 8.98404750e+01] [-1.17345383e-01 9.93091161e-01 -8.40917319e-05 -2.12201419e+00] [-7.73081581e-04 -6.67194276e-06 9.99999701e-01 -2.60327323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.87, Y:-2.13, Z:-0.26 [[ 9.91969015e-01 1.26478785e-01 7.68515651e-04 8.98722005e+01] [-1.26478758e-01 9.91969312e-01 -8.41625459e-05 -2.12828716e+00] [-7.72988719e-04 -1.37142675e-05 9.99999701e-01 -2.57404034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.90, Y:-2.13, Z:-0.26 [[ 9.91318090e-01 1.31483284e-01 7.68501462e-04 8.99037148e+01] [-1.31483258e-01 9.91318388e-01 -8.42919086e-05 -2.13151338e+00] [-7.72912607e-04 -1.74849822e-05 9.99999701e-01 -2.58452284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.94, Y:-2.13, Z:-0.26 [[ 9.90622644e-01 1.36624253e-01 7.68486392e-04 8.99353480e+01] [-1.36624229e-01 9.90622942e-01 -8.44290764e-05 -2.13354136e+00] [-7.72815310e-04 -2.13565056e-05 9.99999701e-01 -2.57656762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.97, Y:-2.13, Z:-0.26 [[ 9.89928524e-01 1.41565978e-01 7.68478791e-04 8.99665551e+01] [-1.41565955e-01 9.89928822e-01 -8.44982091e-05 -2.13436694e+00] [-7.72701376e-04 -2.51432463e-05 9.99999701e-01 -2.57591124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.00, Y:-2.13, Z:-0.26 [[ 9.88684130e-01 1.50010337e-01 7.68465896e-04 8.99984756e+01] [-1.50010317e-01 9.88684428e-01 -8.46153201e-05 -2.13153783e+00] [-7.72463437e-04 -3.16199884e-05 9.99999701e-01 -2.56564179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.03, Y:-2.13, Z:-0.25 [[ 9.88198700e-01 1.53175519e-01 7.68453331e-04 9.00309764e+01] [-1.53175500e-01 9.88198998e-01 -8.47292810e-05 -2.13298245e+00] [-7.72363263e-04 -3.39788576e-05 9.99999701e-01 -2.53394400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.06, Y:-2.14, Z:-0.25 [[ 9.87839559e-01 1.55474807e-01 7.68439648e-04 9.00633312e+01] [-1.55474788e-01 9.87839857e-01 -8.48531887e-05 -2.13557132e+00] [-7.72287846e-04 -3.56516545e-05 9.99999701e-01 -2.51577630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:-2.13, Z:-0.25 [[ 9.87567556e-01 1.57193293e-01 7.68425938e-04 9.00951468e+01] [-1.57193275e-01 9.87567854e-01 -8.49771671e-05 -2.13311893e+00] [-7.72230596e-04 -3.68706963e-05 9.99999701e-01 -2.53766347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.13, Y:-2.13, Z:-0.25 [[ 9.87602028e-01 1.56976574e-01 7.68418132e-04 9.01275814e+01] [-1.56976555e-01 9.87602326e-01 -8.50476981e-05 -2.13233278e+00] [-7.72242031e-04 -3.66303519e-05 9.99999701e-01 -2.54965722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.014203822 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:90.16, Y:-2.13, Z:-0.25 [[ 9.88098428e-01 1.53821017e-01 7.68404370e-04 9.01601189e+01] [-1.53820997e-01 9.88098727e-01 -8.51718554e-05 -2.12740117e+00] [-7.72360601e-04 -3.40385500e-05 9.99999701e-01 -2.53791963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.19, Y:-2.13, Z:-0.26 [[ 9.88396351e-01 1.51894907e-01 7.68399351e-04 9.01919396e+01] [-1.51894887e-01 9.88396649e-01 -8.52171073e-05 -2.12765233e+00] [-7.72427389e-04 -3.24876547e-05 9.99999701e-01 -2.55163626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-2.13, Z:-0.26 [[ 9.88760469e-01 1.49506335e-01 7.68384270e-04 9.02232785e+01] [-1.49506313e-01 9.88760767e-01 -8.53528776e-05 -2.12692678e+00] [-7.72509016e-04 -3.04847481e-05 9.99999701e-01 -2.56200867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-2.12, Z:-0.26 [[ 9.89768028e-01 1.42683780e-01 7.68370465e-04 9.02566464e+01] [-1.42683756e-01 9.89768326e-01 -8.54769744e-05 -2.12008058e+00] [-7.72704926e-04 -2.50316077e-05 9.99999701e-01 -2.57656224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:-2.12, Z:-0.26 [[ 9.90360086e-01 1.38514656e-01 7.68356502e-04 9.02890418e+01] [-1.38514632e-01 9.90360384e-01 -8.56023024e-05 -2.11924014e+00] [-7.72807014e-04 -2.16515142e-05 9.99999701e-01 -2.58811976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:-2.12, Z:-0.26 [[ 9.90970990e-01 1.34074255e-01 7.68342380e-04 9.03202016e+01] [-1.34074229e-01 9.90971288e-01 -8.57288673e-05 -2.11931754e+00] [-7.72899272e-04 -1.80600915e-05 9.99999701e-01 -2.61307024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.35, Y:-2.12, Z:-0.26 [[ 9.90945796e-01 1.34260337e-01 7.68329276e-04 9.03534423e+01] [-1.34260311e-01 9.90946094e-01 -8.58461513e-05 -2.12321111e+00] [-7.72898629e-04 -1.80872449e-05 9.99999701e-01 -2.61332925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.39, Y:-2.12, Z:-0.26 [[ 9.91586954e-01 1.29440035e-01 7.68313129e-04 9.03851765e+01] [-1.29440007e-01 9.91587251e-01 -8.59904255e-05 -2.12365299e+00] [-7.72980107e-04 -1.41834729e-05 9.99999701e-01 -2.64040507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:-2.12, Z:-0.26 [[ 9.92914392e-01 1.18829374e-01 7.68299072e-04 9.04166385e+01] [-1.18829343e-01 9.92914689e-01 -8.61158372e-05 -2.11808576e+00] [-7.73088525e-04 -5.79081975e-06 9.99999701e-01 -2.63662240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:-2.12, Z:-0.26 [[ 9.93600317e-01 1.12950520e-01 7.68286318e-04 9.04477439e+01] [-1.12950487e-01 9.93600614e-01 -8.62294762e-05 -2.11779380e+00] [-7.73109421e-04 -1.10067903e-06 9.99999701e-01 -2.62209511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.48, Y:-2.12, Z:-0.26 [[ 9.94291883e-01 1.06691425e-01 7.68272623e-04 9.04794926e+01] [-1.06691390e-01 9.94292180e-01 -8.63513199e-05 -2.11914599e+00] [-7.73100406e-04 3.89034235e-06 9.99999701e-01 -2.58777994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:-2.12, Z:-0.26 [[ 9.95597553e-01 9.37279164e-02 7.68258373e-04 9.05110824e+01] [-9.37278776e-02 9.95597849e-01 -8.64779093e-05 -2.11848095e+00] [-7.72981778e-04 1.40899680e-05 9.99999701e-01 -2.56819630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.54, Y:-2.12, Z:-0.25 [[ 9.96147750e-01 8.76873477e-02 7.68245137e-04 9.05431375e+01] [-8.76873070e-02 9.96148046e-01 -8.65953347e-05 -2.11899204e+00] [-7.72879207e-04 1.88964006e-05 9.99999701e-01 -2.53223073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.58, Y:-2.12, Z:-0.25 [[ 9.97051985e-01 7.67251559e-02 7.68230392e-04 9.05764191e+01] [-7.67251118e-02 9.97052280e-01 -8.67259518e-05 -2.11922283e+00] [-7.72619926e-04 2.75277196e-05 9.99999701e-01 -2.54033308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.61, Y:-2.12, Z:-0.26 [[ 9.97423595e-01 7.17327134e-02 7.68213462e-04 9.06076967e+01] [-7.17326678e-02 9.97423890e-01 -8.68756617e-05 -2.12328488e+00] [-7.72466286e-04 3.15458338e-05 9.99999701e-01 -2.56444680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.64, Y:-2.13, Z:-0.26 [[ 9.97720856e-01 6.74722439e-02 7.68199827e-04 9.06393853e+01] [-6.74721969e-02 9.97721151e-01 -8.69960581e-05 -2.12787109e+00] [-7.72319035e-04 3.49656516e-05 9.99999701e-01 -2.58675720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:-2.13, Z:-0.26 [[ 9.98006141e-01 6.31122186e-02 7.68185219e-04 9.06713545e+01] [-6.31121702e-02 9.98006436e-01 -8.71248551e-05 -2.13240773e+00] [-7.72152436e-04 3.84693041e-05 9.99999701e-01 -2.59840728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.70, Y:-2.14, Z:-0.26 [[ 9.97995540e-01 6.32796259e-02 7.68170690e-04 9.07038974e+01] [-6.32795775e-02 9.97995835e-01 -8.72527716e-05 -2.13618223e+00] [-7.72152472e-04 3.84683603e-05 9.99999701e-01 -2.58805393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.74, Y:-2.14, Z:-0.26 [[ 9.97908077e-01 6.46442544e-02 7.68154035e-04 9.07360488e+01] [-6.46442062e-02 9.97908372e-01 -8.73991508e-05 -2.14009402e+00] [-7.72197196e-04 3.75596107e-05 9.99999701e-01 -2.61479860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.77, Y:-2.14, Z:-0.26 [[ 9.97760287e-01 6.68866224e-02 7.68138467e-04 9.07680616e+01] [-6.68865747e-02 9.97760582e-01 -8.75357598e-05 -2.14345209e+00] [-7.72273255e-04 3.59615537e-05 9.99999701e-01 -2.55725973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.80, Y:-2.15, Z:-0.26 [[ 9.97314259e-01 7.32371376e-02 7.68123012e-04 9.07990125e+01] [-7.32370918e-02 9.97314555e-01 -8.76711747e-05 -2.14551963e+00] [-7.72481045e-04 3.11806171e-05 9.99999701e-01 -2.61415038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.83, Y:-2.15, Z:-0.26 [[ 9.96994791e-01 7.74648070e-02 7.68114184e-04 9.08305187e+01] [-7.74647623e-02 9.96995087e-01 -8.77484515e-05 -2.14850163e+00] [-7.72603484e-04 2.79829664e-05 9.99999701e-01 -2.62624654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.86, Y:-2.15, Z:-0.26 [[ 9.96633521e-01 8.19819227e-02 7.68098285e-04 9.08635227e+01] [-8.19818793e-02 9.96633816e-01 -8.78874006e-05 -2.15143591e+00] [-7.72717903e-04 2.46213886e-05 9.99999701e-01 -2.60016328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.89, Y:-2.15, Z:-0.26 [[ 9.95892219e-01 9.05433471e-02 7.68080618e-04 9.08942261e+01] [-9.05433061e-02 9.95892515e-01 -8.80415308e-05 -2.15416043e+00] [-7.72897313e-04 1.81353170e-05 9.99999701e-01 -2.60314106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.93, Y:-2.16, Z:-0.26 [[ 9.95559487e-01 9.41313837e-02 7.68066333e-04 9.09258572e+01] [-9.41313437e-02 9.95559783e-01 -8.81659712e-05 -2.16000037e+00] [-7.72955137e-04 1.54753532e-05 9.99999701e-01 -2.64751461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.96, Y:-2.17, Z:-0.27 [[ 9.95309569e-01 9.67381576e-02 7.68049914e-04 9.09561473e+01] [-9.67381183e-02 9.95309866e-01 -8.83087733e-05 -2.16602493e+00] [-7.72990485e-04 1.35948637e-05 9.99999701e-01 -2.66787452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.99, Y:-2.17, Z:-0.27 [[ 9.95076471e-01 9.91071458e-02 7.68036604e-04 9.09881452e+01] [-9.91071071e-02 9.95076768e-01 -8.84243854e-05 -2.17161551e+00] [-7.73018869e-04 1.18711394e-05 9.99999701e-01 -2.67828070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.02, Y:-2.18, Z:-0.27 [[ 9.94667938e-01 1.03126638e-01 7.68021838e-04 9.10196985e+01] [-1.03126601e-01 9.94668234e-01 -8.85524519e-05 -2.17671608e+00] [-7.73059042e-04 8.87680332e-06 9.99999701e-01 -2.71316917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.05, Y:-2.18, Z:-0.27 [[ 9.94446564e-01 1.05239924e-01 7.68007117e-04 9.10516644e+01] [-1.05239886e-01 9.94446861e-01 -8.86799359e-05 -2.18199533e+00] [-7.73074936e-04 7.36247577e-06 9.99999701e-01 -2.68968225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.08, Y:-2.19, Z:-0.26 [[ 9.94176516e-01 1.07761148e-01 7.67992275e-04 9.10838113e+01] [-1.07761111e-01 9.94176813e-01 -8.88082892e-05 -2.18709718e+00] [-7.73090195e-04 5.53141479e-06 9.99999701e-01 -2.64780264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.11, Y:-2.19, Z:-0.26 [[ 9.93619762e-01 1.12779338e-01 7.67976935e-04 9.11143573e+01] [-1.12779303e-01 9.93620059e-01 -8.89407474e-05 -2.19342588e+00] [-7.73107965e-04 1.76138081e-06 9.99999701e-01 -2.63338146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.15, Y:-2.20, Z:-0.26 [[ 9.93324018e-01 1.15355126e-01 7.67962792e-04 9.11460193e+01] [-1.15355091e-01 9.93324315e-01 -8.90626967e-05 -2.19972407e+00] [-7.73109953e-04 -1.20302305e-07 9.99999701e-01 -2.63397534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.18, Y:-2.21, Z:-0.26 [[ 9.92689442e-01 1.20694168e-01 7.67946680e-04 9.11772862e+01] [-1.20694135e-01 9.92689739e-01 -8.92014075e-05 -2.20725640e+00] [-7.73098879e-04 -4.13736497e-06 9.99999701e-01 -2.56445451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.21, Y:-2.21, Z:-0.26 [[ 9.92358174e-01 1.23388269e-01 7.67942328e-04 9.12083559e+01] [-1.23388237e-01 9.92358471e-01 -8.92388584e-05 -2.21160324e+00] [-7.73085103e-04 -6.19813951e-06 9.99999701e-01 -2.55384110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.24, Y:-2.22, Z:-0.25 [[ 9.92054894e-01 1.25803405e-01 7.67928304e-04 9.12406240e+01] [-1.25803374e-01 9.92055192e-01 -8.93593750e-05 -2.21626235e+00] [-7.73068974e-04 -7.95856617e-06 9.99999701e-01 -2.53609862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.27, Y:-2.22, Z:-0.25 [[ 9.91811259e-01 1.27709975e-01 7.67913510e-04 9.12723526e+01] [-1.27709944e-01 9.91811556e-01 -8.94863257e-05 -2.22092989e+00] [-7.73053790e-04 -9.31664608e-06 9.99999701e-01 -2.54580187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.30, Y:-2.23, Z:-0.26 [[ 9.91681835e-01 1.28711108e-01 7.67897677e-04 9.13031253e+01] [-1.28711077e-01 9.91682132e-01 -8.96219886e-05 -2.22635827e+00] [-7.73045751e-04 -9.96043925e-06 9.99999701e-01 -2.55561191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.33, Y:-2.23, Z:-0.25 [[ 9.91668387e-01 1.28814674e-01 7.67889705e-04 9.13346723e+01] [-1.28814644e-01 9.91668684e-01 -8.96902391e-05 -2.23121052e+00] [-7.73045593e-04 -9.97246399e-06 9.99999701e-01 -2.54803824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.37, Y:-2.23, Z:-0.26 [[ 9.91708867e-01 1.28502660e-01 7.67874758e-04 9.13659136e+01] [-1.28502629e-01 9.91709164e-01 -8.98180292e-05 -2.23374684e+00] [-7.73050290e-04 -9.60058907e-06 9.99999701e-01 -2.60537710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.40, Y:-2.24, Z:-0.26 [[ 9.91700840e-01 1.28564595e-01 7.67872615e-04 9.13989261e+01] [-1.28564564e-01 9.91701137e-01 -8.98363439e-05 -2.23765063e+00] [-7.73049918e-04 -9.63043034e-06 9.99999701e-01 -2.61302120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.43, Y:-2.24, Z:-0.26 [[ 9.91705435e-01 1.28529145e-01 7.67855478e-04 9.14306290e+01] [-1.28529113e-01 9.91705732e-01 -8.99825819e-05 -2.24252623e+00] [-7.73052063e-04 -9.45556827e-06 9.99999701e-01 -2.59065570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.46, Y:-2.25, Z:-0.26 [[ 9.91734226e-01 1.28306804e-01 7.67840491e-04 9.14615188e+01] [-1.28306773e-01 9.91734523e-01 -9.01102889e-05 -2.24791492e+00] [-7.73055686e-04 -9.15367770e-06 9.99999701e-01 -2.61868108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.49, Y:-2.25, Z:-0.25 [[ 9.91856525e-01 1.27357940e-01 7.67832642e-04 9.14931176e+01] [-1.27357908e-01 9.91856822e-01 -9.01771177e-05 -2.25318382e+00] [-7.73064816e-04 -8.34679665e-06 9.99999701e-01 -2.53962548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.53, Y:-2.26, Z:-0.25 [[ 9.91937781e-01 1.26723518e-01 7.67817623e-04 9.15262657e+01] [-1.26723486e-01 9.91938078e-01 -9.03048209e-05 -2.25612133e+00] [-7.73071281e-04 -7.72376226e-06 9.99999701e-01 -2.54572910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.56, Y:-2.26, Z:-0.26 [[ 9.92094228e-01 1.25492844e-01 7.67800493e-04 9.15574055e+01] [-1.25492812e-01 9.92094525e-01 -9.04502308e-05 -2.25908271e+00] [-7.73081522e-04 -6.61829101e-06 9.99999701e-01 -2.56425319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.59, Y:-2.26, Z:-0.26 [[ 9.92627678e-01 1.21201090e-01 7.67786603e-04 9.15883030e+01] [-1.21201056e-01 9.92627975e-01 -9.05679765e-05 -2.26218036e+00] [-7.73103398e-04 -3.15626699e-06 9.99999701e-01 -2.62315011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.62, Y:-2.27, Z:-0.26 [[ 9.92930211e-01 1.18697122e-01 7.67778082e-04 9.16196976e+01] [-1.18697088e-01 9.92930508e-01 -9.06401571e-05 -2.26567990e+00] [-7.73109007e-04 -1.13367213e-06 9.99999701e-01 -2.64088367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.65, Y:-2.27, Z:-0.26 [[ 9.93574510e-01 1.13177306e-01 7.67764707e-04 9.16522010e+01] [-1.13177270e-01 9.93574807e-01 -9.07533103e-05 -2.27090354e+00] [-7.73102886e-04 3.27666233e-06 9.99999701e-01 -2.60442710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.68, Y:-2.28, Z:-0.26 [[ 9.93875704e-01 1.10501115e-01 7.67747142e-04 9.16845176e+01] [-1.10501078e-01 9.93876000e-01 -9.09016615e-05 -2.27711379e+00] [-7.73090193e-04 5.50806587e-06 9.99999701e-01 -2.59506122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.72, Y:-2.28, Z:-0.26 [[ 9.94125032e-01 1.08235076e-01 7.67729258e-04 9.17160902e+01] [-1.08235038e-01 9.94125328e-01 -9.10524511e-05 -2.28358371e+00] [-7.73074170e-04 7.42231550e-06 9.99999701e-01 -2.60499290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.75, Y:-2.29, Z:-0.26 [[ 9.94305800e-01 1.06561659e-01 7.67712528e-04 9.17477575e+01] [-1.06561620e-01 9.94306096e-01 -9.11932997e-05 -2.28872841e+00] [-7.73058956e-04 8.86533608e-06 9.99999701e-01 -2.60497329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.78, Y:-2.29, Z:-0.27 [[ 9.94578755e-01 1.03983222e-01 7.67697157e-04 9.17784795e+01] [-1.03983182e-01 9.94579051e-01 -9.13225074e-05 -2.29445065e+00] [-7.73031519e-04 1.09998325e-05 9.99999701e-01 -2.65820000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.81, Y:-2.30, Z:-0.27 [[ 9.94641989e-01 1.03376617e-01 7.67681806e-04 9.18106185e+01] [-1.03376577e-01 9.94642285e-01 -9.14513770e-05 -2.29972722e+00] [-7.73022719e-04 1.16010620e-05 9.99999701e-01 -2.66932608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.84, Y:-2.30, Z:-0.27 [[ 9.94591832e-01 1.03858064e-01 7.67666361e-04 9.18422088e+01] [-1.03858024e-01 9.94592129e-01 -9.15808370e-05 -2.30463920e+00] [-7.73026329e-04 1.13572408e-05 9.99999701e-01 -2.67569030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.87, Y:-2.31, Z:-0.27 [[ 9.94186967e-01 1.07664686e-01 7.67650912e-04 9.18740827e+01] [-1.07664647e-01 9.94187264e-01 -9.17101556e-05 -2.30871474e+00] [-7.73062705e-04 8.52817693e-06 9.99999701e-01 -2.66001558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.91, Y:-2.31, Z:-0.27 [[ 9.93857482e-01 1.10664882e-01 7.67635412e-04 9.19051159e+01] [-1.10664844e-01 9.93857779e-01 -9.18397098e-05 -2.31246487e+00] [-7.73083856e-04 6.32532990e-06 9.99999701e-01 -2.66854688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.94, Y:-2.32, Z:-0.27 [[ 9.93437315e-01 1.14375311e-01 7.67621060e-04 9.19357400e+01] [-1.14375274e-01 9.93437612e-01 -9.19595151e-05 -2.31624777e+00] [-7.73101530e-04 3.55914454e-06 9.99999701e-01 -2.65927821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.97, Y:-2.32, Z:-0.26 [[ 9.92340727e-01 1.23528508e-01 7.67607415e-04 9.19675368e+01] [-1.23528474e-01 9.92341024e-01 -9.20732668e-05 -2.31994684e+00] [-7.73102002e-04 -3.45332021e-06 9.99999701e-01 -2.61124534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.00, Y:-2.32, Z:-0.26 [[ 9.91735757e-01 1.28294968e-01 7.67591973e-04 9.19987308e+01] [-1.28294935e-01 9.91736054e-01 -9.22018272e-05 -2.32315950e+00] [-7.73077665e-04 -7.03831312e-06 9.99999701e-01 -2.62240849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.03, Y:-2.33, Z:-0.26 [[ 9.91161459e-01 1.32658860e-01 7.67577764e-04 9.20321151e+01] [-1.32658828e-01 9.91161756e-01 -9.23199667e-05 -2.32521443e+00] [-7.73040786e-04 -1.03219738e-05 9.99999701e-01 -2.57294331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.06, Y:-2.32, Z:-0.26 [[ 9.90404062e-01 1.38199875e-01 7.67559608e-04 9.20634160e+01] [-1.38199844e-01 9.90404359e-01 -9.24706711e-05 -2.32281251e+00] [-7.72973817e-04 -1.44932901e-05 9.99999701e-01 -2.58954748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.10, Y:-2.33, Z:-0.26 [[ 9.90257790e-01 1.39244105e-01 7.67544941e-04 9.20951684e+01] [-1.39244075e-01 9.90258087e-01 -9.25922488e-05 -2.32509631e+00] [-7.72960510e-04 -1.51858897e-05 9.99999701e-01 -2.59275759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:-2.33, Z:-0.26 [[ 9.90265513e-01 1.39189171e-01 7.67529716e-04 9.21266783e+01] [-1.39189141e-01 9.90265810e-01 -9.27182836e-05 -2.32802135e+00] [-7.72963817e-04 -1.50160832e-05 9.99999701e-01 -2.58848894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.16, Y:-2.33, Z:-0.26 [[ 9.90455318e-01 1.37832049e-01 7.67515477e-04 9.21580797e+01] [-1.37832019e-01 9.90455615e-01 -9.28360041e-05 -2.33183985e+00] [-7.72985791e-04 -1.38382935e-05 9.99999701e-01 -2.59918041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.19, Y:-2.34, Z:-0.26 [[ 9.90771019e-01 1.35544081e-01 7.67507023e-04 9.21892424e+01] [-1.35544050e-01 9.90771317e-01 -9.29058421e-05 -2.33650930e+00] [-7.73016781e-04 -1.19825942e-05 9.99999701e-01 -2.59242062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.22, Y:-2.34, Z:-0.26 [[ 9.91173082e-01 1.32571989e-01 7.67493314e-04 9.22201884e+01] [-1.32571957e-01 9.91173379e-01 -9.30189553e-05 -2.34180949e+00] [-7.73050650e-04 -9.55020612e-06 9.99999701e-01 -2.57970126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.25, Y:-2.35, Z:-0.26 [[ 9.91974081e-01 1.26439054e-01 7.67479648e-04 9.22526716e+01] [-1.26439020e-01 9.91974378e-01 -9.31315788e-05 -2.34546252e+00] [-7.73095614e-04 -4.65526207e-06 9.99999701e-01 -2.56511330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.28, Y:-2.35, Z:-0.26 [[ 9.92267983e-01 1.24111487e-01 7.67471358e-04 9.22849664e+01] [-1.24111452e-01 9.92268280e-01 -9.31998452e-05 -2.34788130e+00] [-7.73104655e-04 -2.77276204e-06 9.99999701e-01 -2.60702152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.054203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:92.32, Y:-2.35, Z:-0.26 [[ 9.92595935e-01 1.21460779e-01 7.67455852e-04 9.23173125e+01] [-1.21460743e-01 9.92596232e-01 -9.33273532e-05 -2.35055710e+00] [-7.73109399e-04 -5.79406348e-07 9.99999701e-01 -2.64187374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.35, Y:-2.36, Z:-0.27 [[ 9.92877915e-01 1.19133775e-01 7.67440278e-04 9.23491004e+01] [-1.19133738e-01 9.92878212e-01 -9.34552450e-05 -2.35587392e+00] [-7.73108407e-04 1.36161977e-06 9.99999701e-01 -2.65076121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.38, Y:-2.36, Z:-0.27 [[ 9.92854950e-01 1.19325017e-01 7.67424532e-04 9.23822966e+01] [-1.19324980e-01 9.92855246e-01 -9.35843674e-05 -2.36010914e+00] [-7.73108429e-04 1.34278526e-06 9.99999701e-01 -2.65102022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.41, Y:-2.37, Z:-0.26 [[ 9.93327076e-01 1.15328799e-01 7.67406477e-04 9.24137330e+01] [-1.15328761e-01 9.93327372e-01 -9.37321824e-05 -2.36694229e+00] [-7.73095880e-04 4.60267650e-06 9.99999701e-01 -2.57049681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.44, Y:-2.37, Z:-0.26 [[ 9.93486271e-01 1.13949287e-01 7.67401750e-04 9.24448293e+01] [-1.13949249e-01 9.93486568e-01 -9.37708681e-05 -2.37162854e+00] [-7.73088454e-04 5.71521726e-06 9.99999701e-01 -2.60570700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.48, Y:-2.38, Z:-0.26 [[ 9.93622491e-01 1.12755292e-01 7.67386428e-04 9.24769815e+01] [-1.12755253e-01 9.93622788e-01 -9.38960969e-05 -2.37624023e+00] [-7.73079923e-04 6.77042274e-06 9.99999701e-01 -2.58096786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.51, Y:-2.38, Z:-0.26 [[ 9.93900693e-01 1.10276129e-01 7.67370622e-04 9.25081958e+01] [-1.10276089e-01 9.93900989e-01 -9.40250918e-05 -2.38024249e+00] [-7.73059143e-04 8.82897296e-06 9.99999701e-01 -2.64371579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.54, Y:-2.38, Z:-0.26 [[ 9.93986205e-01 1.09502672e-01 7.67356002e-04 9.25400261e+01] [-1.09502632e-01 9.93986501e-01 -9.41442584e-05 -2.38427198e+00] [-7.73050555e-04 9.55059210e-06 9.99999701e-01 -2.59185431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.57, Y:-2.39, Z:-0.26 [[ 9.94054151e-01 1.08884138e-01 7.67339439e-04 9.25702500e+01] [-1.08884098e-01 9.94054447e-01 -9.42790601e-05 -2.38909417e+00] [-7.73042677e-04 1.01674283e-05 9.99999701e-01 -2.59677693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.60, Y:-2.40, Z:-0.25 [[ 9.94169353e-01 1.07827218e-01 7.67337079e-04 9.26021282e+01] [-1.07827178e-01 9.94169649e-01 -9.42982641e-05 -2.39707696e+00] [-7.73031154e-04 1.10086526e-05 9.99999701e-01 -2.54234798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.63, Y:-2.40, Z:-0.26 [[ 9.94185025e-01 1.07682627e-01 7.67320485e-04 9.26338032e+01] [-1.07682586e-01 9.94185321e-01 -9.44331053e-05 -2.40198377e+00] [-7.73027567e-04 1.12569251e-05 9.99999701e-01 -2.56840050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.66, Y:-2.41, Z:-0.26 [[ 9.94069818e-01 1.08741013e-01 7.67303919e-04 9.26645196e+01] [-1.08740972e-01 9.94070114e-01 -9.45675142e-05 -2.40546388e+00] [-7.73037262e-04 1.05693375e-05 9.99999701e-01 -2.64510942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.70, Y:-2.41, Z:-0.27 [[ 9.93918443e-01 1.10116032e-01 7.67301549e-04 9.26967874e+01] [-1.10115992e-01 9.93918739e-01 -9.45867452e-05 -2.40893596e+00] [-7.73050905e-04 9.51933955e-06 9.99999701e-01 -2.65640743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.73, Y:-2.41, Z:-0.26 [[ 9.93725017e-01 1.11848120e-01 7.67284455e-04 9.27289025e+01] [-1.11848080e-01 9.93725313e-01 -9.47252091e-05 -2.41298603e+00] [-7.73064821e-04 8.31151684e-06 9.99999701e-01 -2.64319176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.474203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:92.76, Y:-2.42, Z:-0.26 [[ 9.93518899e-01 1.13664457e-01 7.67268655e-04 9.27607497e+01] [-1.13664417e-01 9.93519195e-01 -9.48530144e-05 -2.41730930e+00] [-7.73077553e-04 7.02711777e-06 9.99999701e-01 -2.61441711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.79, Y:-2.43, Z:-0.26 [[ 9.93283917e-01 1.15699916e-01 7.67252627e-04 9.27915106e+01] [-1.15699877e-01 9.93284214e-01 -9.49824842e-05 -2.42732257e+00] [-7.73089388e-04 5.57353911e-06 9.99999701e-01 -2.59610612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.82, Y:-2.43, Z:-0.26 [[ 9.93298485e-01 1.15574785e-01 7.67236663e-04 9.28241200e+01] [-1.15574746e-01 9.93298781e-01 -9.51112595e-05 -2.43498103e+00] [-7.73087706e-04 5.80068753e-06 9.99999701e-01 -2.57866415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.86, Y:-2.44, Z:-0.26 [[ 9.93331631e-01 1.15289561e-01 7.67218018e-04 9.28568773e+01] [-1.15289522e-01 9.93331927e-01 -9.52614229e-05 -2.44073440e+00] [-7.73084800e-04 6.17398585e-06 9.99999701e-01 -2.57720619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.89, Y:-2.44, Z:-0.26 [[ 9.93469663e-01 1.14094000e-01 7.67199182e-04 9.28876685e+01] [-1.14093961e-01 9.93469959e-01 -9.54128824e-05 -2.44392165e+00] [-7.73075377e-04 7.25701083e-06 9.99999701e-01 -2.62843926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.92, Y:-2.45, Z:-0.26 [[ 9.93548510e-01 1.13405337e-01 7.67183924e-04 9.29195109e+01] [-1.13405297e-01 9.93548806e-01 -9.55354118e-05 -2.44923380e+00] [-7.73068897e-04 7.91634511e-06 9.99999701e-01 -2.63196565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.95, Y:-2.46, Z:-0.26 [[ 9.93586680e-01 1.13070428e-01 7.67167818e-04 9.29520102e+01] [-1.13070388e-01 9.93586976e-01 -9.56645697e-05 -2.45682474e+00] [-7.73064786e-04 8.30707951e-06 9.99999701e-01 -2.62071098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.98, Y:-2.47, Z:-0.26 [[ 9.93508238e-01 1.13757607e-01 7.67149180e-04 9.29818861e+01] [-1.13757567e-01 9.93508534e-01 -9.58137945e-05 -2.46934460e+00] [-7.73068805e-04 7.92277009e-06 9.99999701e-01 -2.60533835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.01, Y:-2.48, Z:-0.26 [[ 9.93299210e-01 1.15568557e-01 7.67140414e-04 9.30145306e+01] [-1.15568518e-01 9.93299506e-01 -9.58839299e-05 -2.47655612e+00] [-7.73081362e-04 6.58415129e-06 9.99999701e-01 -2.57796238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.744203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.05, Y:-2.48, Z:-0.25 [[ 9.92627397e-01 1.21203391e-01 7.67121817e-04 9.30465875e+01] [-1.21203353e-01 9.92627694e-01 -9.60324847e-05 -2.48266693e+00] [-7.73105823e-04 2.34673870e-06 9.99999701e-01 -2.53716233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.08, Y:-2.49, Z:-0.26 [[ 9.92208659e-01 1.24584861e-01 7.67104955e-04 9.30771946e+01] [-1.24584824e-01 9.92208956e-01 -9.61669873e-05 -2.48659193e+00] [-7.73109358e-04 -1.51918309e-07 9.99999701e-01 -2.55752613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.11, Y:-2.49, Z:-0.26 [[ 9.91796105e-01 1.27827609e-01 7.67095873e-04 9.31079909e+01] [-1.27827573e-01 9.91796402e-01 -9.62393848e-05 -2.48985938e+00] [-7.73104977e-04 -2.60615653e-06 9.99999701e-01 -2.56284406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.14, Y:-2.49, Z:-0.25 [[ 9.91471923e-01 1.30318218e-01 7.67081162e-04 9.31392892e+01] [-1.30318183e-01 9.91472219e-01 -9.63564946e-05 -2.49440833e+00] [-7.73096669e-04 -4.42986398e-06 9.99999701e-01 -2.53194394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.17, Y:-2.50, Z:-0.26 [[ 9.91035499e-01 1.33596601e-01 7.67066407e-04 9.31698768e+01] [-1.33596566e-01 9.91035796e-01 -9.64738127e-05 -2.50360599e+00] [-7.73078840e-04 -6.86846512e-06 9.99999701e-01 -2.58427341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.20, Y:-2.51, Z:-0.26 [[ 9.90951790e-01 1.34216098e-01 7.67051750e-04 9.32016235e+01] [-1.34216064e-01 9.90952087e-01 -9.65902031e-05 -2.51098639e+00] [-7.73075493e-04 -7.23443205e-06 9.99999701e-01 -2.55601080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.23, Y:-2.52, Z:-0.26 [[ 9.90933848e-01 1.34348504e-01 7.67035417e-04 9.32329104e+01] [-1.34348469e-01 9.90934145e-01 -9.67197358e-05 -2.51739769e+00] [-7.73075737e-04 -7.20717421e-06 9.99999701e-01 -2.56468258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.26, Y:-2.52, Z:-0.26 [[ 9.91006487e-01 1.33811634e-01 7.67019031e-04 9.32633307e+01] [-1.33811599e-01 9.91006784e-01 -9.68495049e-05 -2.52371851e+00] [-7.73080654e-04 -6.65755554e-06 9.99999701e-01 -2.57054502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.30, Y:-2.53, Z:-0.26 [[ 9.91064338e-01 1.33382491e-01 7.67003843e-04 9.32963562e+01] [-1.33382455e-01 9.91064635e-01 -9.69696376e-05 -2.52824518e+00] [-7.73084436e-04 -6.20170624e-06 9.99999701e-01 -2.55221594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.33, Y:-2.53, Z:-0.26 [[ 9.91256502e-01 1.31946803e-01 7.66985215e-04 9.33281410e+01] [-1.31946767e-01 9.91256799e-01 -9.71167557e-05 -2.53170529e+00] [-7.73093554e-04 -4.93360380e-06 9.99999701e-01 -2.55473603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.36, Y:-2.54, Z:-0.26 [[ 9.91337064e-01 1.31340158e-01 7.66968573e-04 9.33601432e+01] [-1.31340122e-01 9.91337361e-01 -9.72480107e-05 -2.53627653e+00] [-7.73097170e-04 -4.32818875e-06 9.99999701e-01 -2.60972811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.39, Y:-2.54, Z:-0.26 [[ 9.91416257e-01 1.30741031e-01 7.66950758e-04 9.33921994e+01] [-1.30740995e-01 9.91416554e-01 -9.73883033e-05 -2.54248258e+00] [-7.73100324e-04 -3.71955804e-06 9.99999701e-01 -2.56174365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.42, Y:-2.55, Z:-0.25 [[ 9.91610013e-01 1.29263277e-01 7.66934433e-04 9.34222272e+01] [-1.29263240e-01 9.91610309e-01 -9.75166946e-05 -2.55295732e+00] [-7.73105418e-04 -2.43789905e-06 9.99999701e-01 -2.53001538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.134203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:93.45, Y:-2.56, Z:-0.25 [[ 9.91655578e-01 1.28913251e-01 7.66925680e-04 9.34529627e+01] [-1.28913214e-01 9.91655875e-01 -9.75854812e-05 -2.55812305e+00] [-7.73106418e-04 -2.09566732e-06 9.99999701e-01 -2.52236760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.49, Y:-2.56, Z:-0.25 [[ 9.91636599e-01 1.29059163e-01 7.66910762e-04 9.34860694e+01] [-1.29059126e-01 9.91636895e-01 -9.77025812e-05 -2.56289697e+00] [-7.73106421e-04 -2.09137719e-06 9.99999701e-01 -2.50822645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.52, Y:-2.57, Z:-0.25 [[ 9.91500163e-01 1.30103188e-01 7.66891775e-04 9.35167981e+01] [-1.30103151e-01 9.91500459e-01 -9.78513920e-05 -2.56501994e+00] [-7.73104325e-04 -2.75536539e-06 9.99999701e-01 -2.52469580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.55, Y:-2.57, Z:-0.25 [[ 9.91289038e-01 1.31702144e-01 7.66876448e-04 9.35491374e+01] [-1.31702108e-01 9.91289335e-01 -9.79713601e-05 -2.56876211e+00] [-7.73099482e-04 -3.88130927e-06 9.99999701e-01 -2.51495823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.58, Y:-2.57, Z:-0.25 [[ 9.91017997e-01 1.33726365e-01 7.66860306e-04 9.35813550e+01] [-1.33726330e-01 9.91018294e-01 -9.80975486e-05 -2.57240280e+00] [-7.73090821e-04 -5.33297783e-06 9.99999701e-01 -2.52764594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.61, Y:-2.58, Z:-0.25 [[ 9.90723904e-01 1.35888034e-01 7.66843078e-04 9.36130051e+01] [-1.35887998e-01 9.90724201e-01 -9.82320359e-05 -2.57582303e+00] [-7.73078554e-04 -6.88394492e-06 9.99999701e-01 -2.53173103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.64, Y:-2.58, Z:-0.26 [[ 9.90362228e-01 1.38499351e-01 7.66826995e-04 9.36442796e+01] [-1.38499316e-01 9.90362524e-01 -9.83574307e-05 -2.57984474e+00] [-7.73059158e-04 -8.79553014e-06 9.99999701e-01 -2.57725597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.68, Y:-2.58, Z:-0.26 [[ 9.90307780e-01 1.38888128e-01 7.66824668e-04 9.36765291e+01] [-1.38888094e-01 9.90308077e-01 -9.83755665e-05 -2.58438793e+00] [-7.73055861e-04 -9.08072741e-06 9.99999701e-01 -2.58212020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.71, Y:-2.59, Z:-0.26 [[ 9.90388545e-01 1.38311034e-01 7.66808371e-04 9.37083737e+01] [-1.38310999e-01 9.90388842e-01 -9.85024300e-05 -2.58825319e+00] [-7.73062428e-04 -8.50235358e-06 9.99999701e-01 -2.56778168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.74, Y:-2.59, Z:-0.25 [[ 9.90732726e-01 1.35823700e-01 7.66792117e-04 9.37408456e+01] [-1.35823664e-01 9.90733023e-01 -9.86287966e-05 -2.59067708e+00] [-7.73082400e-04 -6.43373829e-06 9.99999701e-01 -2.53853602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.77, Y:-2.60, Z:-0.26 [[ 9.90942642e-01 1.34283623e-01 7.66775200e-04 9.37720494e+01] [-1.34283587e-01 9.90942939e-01 -9.87601412e-05 -2.59506452e+00] [-7.73092340e-04 -5.09968875e-06 9.99999701e-01 -2.57311736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.80, Y:-2.60, Z:-0.26 [[ 9.91472730e-01 1.30312081e-01 7.66759573e-04 9.38027643e+01] [-1.30312043e-01 9.91473026e-01 -9.88813164e-05 -2.60317917e+00] [-7.73106865e-04 -1.87987785e-06 9.99999701e-01 -2.58373293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.83, Y:-2.61, Z:-0.25 [[ 9.91771447e-01 1.28018781e-01 7.66747815e-04 9.38339351e+01] [-1.28018742e-01 9.91771744e-01 -9.89724123e-05 -2.60967501e+00] [-7.73109145e-04 -7.83462975e-11 9.99999701e-01 -2.53815373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.86, Y:-2.62, Z:-0.25 [[ 9.92050796e-01 1.25835728e-01 7.66730624e-04 9.38649503e+01] [-1.25835689e-01 9.92051092e-01 -9.91054066e-05 -2.61537121e+00] [-7.73106954e-04 1.83552108e-06 9.99999701e-01 -2.54825583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.554203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:93.90, Y:-2.62, Z:-0.25 [[ 9.92655005e-01 1.20977079e-01 7.66714671e-04 9.38968613e+01] [-1.20977038e-01 9.92655301e-01 -9.92286709e-05 -2.62263292e+00] [-7.73087778e-04 5.74496678e-06 9.99999701e-01 -2.54036007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.584203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:93.93, Y:-2.63, Z:-0.26 [[ 9.92939212e-01 1.18621813e-01 7.66697985e-04 9.39277608e+01] [-1.18621771e-01 9.92939507e-01 -9.93574346e-05 -2.62956527e+00] [-7.73070678e-04 7.70881985e-06 9.99999701e-01 -2.56660009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.96, Y:-2.64, Z:-0.26 [[ 9.93161400e-01 1.16746934e-01 7.66682492e-04 9.39595938e+01] [-1.16746892e-01 9.93161695e-01 -9.94768404e-05 -2.63798445e+00] [-7.73053300e-04 9.28875979e-06 9.99999701e-01 -2.55382647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.99, Y:-2.65, Z:-0.26 [[ 9.93364560e-01 1.15005488e-01 7.66662952e-04 9.39904622e+01] [-1.15005445e-01 9.93364856e-01 -9.96272019e-05 -2.64601769e+00] [-7.73033709e-04 1.07957176e-05 9.99999701e-01 -2.57929719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.02, Y:-2.66, Z:-0.26 [[ 9.93504026e-01 1.13794392e-01 7.66644751e-04 9.40205837e+01] [-1.13794348e-01 9.93504321e-01 -9.97670705e-05 -2.65689197e+00] [-7.73017806e-04 1.18791463e-05 9.99999701e-01 -2.57448985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.05, Y:-2.66, Z:-0.25 [[ 9.93428327e-01 1.14453355e-01 7.66635864e-04 9.40527496e+01] [-1.14453312e-01 9.93428623e-01 -9.98353135e-05 -2.66431521e+00] [-7.73024497e-04 1.14352149e-05 9.99999701e-01 -2.54596811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.08, Y:-2.67, Z:-0.25 [[ 9.93291992e-01 1.15630581e-01 7.66616609e-04 9.40839755e+01] [-1.15630538e-01 9.93292288e-01 -9.99829514e-05 -2.67219927e+00] [-7.73035452e-04 1.06679738e-05 9.99999701e-01 -2.53892941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.12, Y:-2.68, Z:-0.25 [[ 9.92856813e-01 1.19309516e-01 7.66598643e-04 9.41152553e+01] [-1.19309475e-01 9.92857109e-01 -1.00120511e-04 -2.68385790e+00] [-7.73068242e-04 7.94284999e-06 9.99999701e-01 -2.50543394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.15, Y:-2.69, Z:-0.25 [[ 9.92547459e-01 1.21856287e-01 7.66581640e-04 9.41469959e+01] [-1.21856246e-01 9.92547755e-01 -1.00250526e-04 -2.69180836e+00] [-7.73085042e-04 6.09064356e-06 9.99999701e-01 -2.50289878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.18, Y:-2.70, Z:-0.25 [[ 9.92253112e-01 1.24230330e-01 7.66564670e-04 9.41769242e+01] [-1.24230289e-01 9.92253408e-01 -1.00380118e-04 -2.69972892e+00] [-7.73096661e-04 4.37193364e-06 9.99999701e-01 -2.52058368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.21, Y:-2.71, Z:-0.26 [[ 9.91670722e-01 1.28796703e-01 7.66548977e-04 9.42071512e+01] [-1.28796664e-01 9.91671019e-01 -1.00499815e-04 -2.71205528e+00] [-7.73108450e-04 9.33772718e-07 9.99999701e-01 -2.56722607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.24, Y:-2.72, Z:-0.26 [[ 9.91386984e-01 1.30962820e-01 7.66532379e-04 9.42396871e+01] [-1.30962781e-01 9.91387280e-01 -1.00626252e-04 -2.71998411e+00] [-7.73108748e-04 -6.27655580e-07 9.99999701e-01 -2.56897678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.27, Y:-2.73, Z:-0.26 [[ 9.91122516e-01 1.32949502e-01 7.66513497e-04 9.42713767e+01] [-1.32949464e-01 9.91122813e-01 -1.00769884e-04 -2.72878844e+00] [-7.73106319e-04 -2.03225798e-06 9.99999701e-01 -2.58048383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.30, Y:-2.74, Z:-0.26 [[ 9.90802752e-01 1.35311936e-01 7.66496811e-04 9.43023445e+01] [-1.35311898e-01 9.90803048e-01 -1.00896639e-04 -2.74347279e+00] [-7.73099897e-04 -3.74747119e-06 9.99999701e-01 -2.59872447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.33, Y:-2.75, Z:-0.26 [[ 9.90578421e-01 1.36944532e-01 7.66490858e-04 9.43343642e+01] [-1.36944495e-01 9.90578717e-01 -1.00941847e-04 -2.75091426e+00] [-7.73092965e-04 -4.97588811e-06 9.99999701e-01 -2.57530433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.37, Y:-2.76, Z:-0.26 [[ 9.90552102e-01 1.37134774e-01 7.66471375e-04 9.43674974e+01] [-1.37134737e-01 9.90552398e-01 -1.01089568e-04 -2.75545673e+00] [-7.73092954e-04 -4.97536653e-06 9.99999701e-01 -2.57556340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.40, Y:-2.76, Z:-0.26 [[ 9.90210105e-01 1.39582811e-01 7.66451932e-04 9.43977841e+01] [-1.39582774e-01 9.90210401e-01 -1.01236768e-04 -2.76101989e+00] [-7.73079588e-04 -6.73781641e-06 9.99999701e-01 -2.60034018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.43, Y:-2.77, Z:-0.26 [[ 9.89395122e-01 1.45247046e-01 7.66436216e-04 9.44291052e+01] [-1.45247011e-01 9.89395419e-01 -1.01355608e-04 -2.76911078e+00] [-7.73030084e-04 -1.10418247e-05 9.99999701e-01 -2.60902419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.46, Y:-2.78, Z:-0.26 [[ 9.88980046e-01 1.48046888e-01 7.66419786e-04 9.44616173e+01] [-1.48046854e-01 9.88980343e-01 -1.01479700e-04 -2.77703152e+00] [-7.72997856e-04 -1.31046396e-05 9.99999701e-01 -2.60096430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.49, Y:-2.78, Z:-0.26 [[ 9.88587608e-01 1.50645128e-01 7.66400932e-04 9.44927173e+01] [-1.50645095e-01 9.88587905e-01 -1.01621888e-04 -2.78467856e+00] [-7.72963534e-04 -1.49924020e-05 9.99999701e-01 -2.56372550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.52, Y:-2.79, Z:-0.26 [[ 9.88041378e-01 1.54187052e-01 7.66384189e-04 9.45231654e+01] [-1.54187020e-01 9.88041676e-01 -1.01747998e-04 -2.79268185e+00] [-7.72907742e-04 -1.76352619e-05 9.99999701e-01 -2.55038356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.56, Y:-2.80, Z:-0.25 [[ 9.87876091e-01 1.55242527e-01 7.66375731e-04 9.45560098e+01] [-1.55242495e-01 9.87876388e-01 -1.01811663e-04 -2.79725726e+00] [-7.72889989e-04 -1.83967734e-05 9.99999701e-01 -2.52836332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.59, Y:-2.80, Z:-0.25 [[ 9.87771475e-01 1.55906784e-01 7.66356575e-04 9.45889780e+01] [-1.55906752e-01 9.87771772e-01 -1.01955651e-04 -2.80093979e+00] [-7.72880970e-04 -1.87712805e-05 9.99999701e-01 -2.53957615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.62, Y:-2.80, Z:-0.26 [[ 9.87742009e-01 1.56093359e-01 7.66337467e-04 9.46208279e+01] [-1.56093327e-01 9.87742306e-01 -1.02099074e-04 -2.80404457e+00] [-7.72880924e-04 -1.87726201e-05 9.99999701e-01 -2.56197568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.65, Y:-2.81, Z:-0.26 [[ 9.88161669e-01 1.53414236e-01 7.66319583e-04 9.46531223e+01] [-1.53414203e-01 9.88161966e-01 -1.02233131e-04 -2.80969628e+00] [-7.72931884e-04 -1.65414460e-05 9.99999701e-01 -2.55462039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.68, Y:-2.82, Z:-0.26 [[ 9.88527275e-01 1.51040519e-01 7.66300433e-04 9.46846860e+01] [-1.51040485e-01 9.88527572e-01 -1.02376466e-04 -2.81514824e+00] [-7.72972102e-04 -1.45404600e-05 9.99999701e-01 -2.55506321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.71, Y:-2.82, Z:-0.26 [[ 9.89334360e-01 1.45660346e-01 7.66283375e-04 9.47149980e+01] [-1.45660310e-01 9.89334657e-01 -1.02503992e-04 -2.82047979e+00] [-7.73041466e-04 -1.02063527e-05 9.99999701e-01 -2.60015601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.75, Y:-2.83, Z:-0.26 [[ 9.89794203e-01 1.42502099e-01 7.66267606e-04 9.47475575e+01] [-1.42502063e-01 9.89794500e-01 -1.02621733e-04 -2.82672377e+00] [-7.73071274e-04 -7.62031779e-06 9.99999701e-01 -2.60331552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.78, Y:-2.83, Z:-0.26 [[ 9.90301532e-01 1.38932679e-01 7.66248231e-04 9.47790572e+01] [-1.38932641e-01 9.90301828e-01 -1.02766196e-04 -2.83366288e+00] [-7.73094607e-04 -4.68736954e-06 9.99999701e-01 -2.60329098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.81, Y:-2.84, Z:-0.26 [[ 9.91278751e-01 1.31779553e-01 7.66230068e-04 9.48106201e+01] [-1.31779513e-01 9.91279047e-01 -1.02901442e-04 -2.84300688e+00] [-7.73108118e-04 1.03058811e-06 9.99999701e-01 -2.57148646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.84, Y:-2.85, Z:-0.26 [[ 9.91649902e-01 1.28956909e-01 7.66212534e-04 9.48410042e+01] [-1.28956868e-01 9.91650198e-01 -1.03031837e-04 -2.84873890e+00] [-7.73101479e-04 3.36314307e-06 9.99999701e-01 -2.56809221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.87, Y:-2.85, Z:-0.26 [[ 9.91926461e-01 1.26812103e-01 7.66196288e-04 9.48718487e+01] [-1.26812061e-01 9.91926757e-01 -1.03152510e-04 -2.85259736e+00] [-7.73091586e-04 5.15677389e-06 9.99999701e-01 -2.60430711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.90, Y:-2.86, Z:-0.26 [[ 9.92061730e-01 1.25749499e-01 7.66186543e-04 9.49036259e+01] [-1.25749456e-01 9.92062026e-01 -1.03224845e-04 -2.85561909e+00] [-7.73085047e-04 6.05787690e-06 9.99999701e-01 -2.60553275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.93, Y:-2.86, Z:-0.27 [[ 9.92091209e-01 1.25516713e-01 7.66169196e-04 9.49344211e+01] [-1.25516671e-01 9.92091505e-01 -1.03353441e-04 -2.85897322e+00] [-7.73082535e-04 6.36903342e-06 9.99999701e-01 -2.67480135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.97, Y:-2.86, Z:-0.26 [[ 9.92002127e-01 1.26218833e-01 7.66153169e-04 9.49661763e+01] [-1.26218791e-01 9.92002422e-01 -1.03472113e-04 -2.86470035e+00] [-7.73085929e-04 5.94162942e-06 9.99999701e-01 -2.64688370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.00, Y:-2.87, Z:-0.26 [[ 9.91733644e-01 1.28311309e-01 7.66136200e-04 9.49963660e+01] [-1.28311267e-01 9.91733940e-01 -1.03597600e-04 -2.87248046e+00] [-7.73096016e-04 4.43731863e-06 9.99999701e-01 -2.59976900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.03, Y:-2.88, Z:-0.26 [[ 9.91512149e-01 1.30011815e-01 7.66127403e-04 9.50279235e+01] [-1.30011774e-01 9.91512445e-01 -1.03662618e-04 -2.87772607e+00] [-7.73102219e-04 3.17716274e-06 9.99999701e-01 -2.55104649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.06, Y:-2.88, Z:-0.25 [[ 9.90951899e-01 1.34215298e-01 7.66110268e-04 9.50607279e+01] [-1.34215258e-01 9.90952196e-01 -1.03789100e-04 -2.87793593e+00] [-7.73108737e-04 2.63187182e-08 9.99999701e-01 -2.52874708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.09, Y:-2.88, Z:-0.26 [[ 9.90575167e-01 1.36968065e-01 7.66092794e-04 9.50922205e+01] [-1.36968026e-01 9.90575464e-01 -1.03917919e-04 -2.87871667e+00] [-7.73106161e-04 -1.99170737e-06 9.99999701e-01 -2.55800420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.12, Y:-2.88, Z:-0.26 [[ 9.90186639e-01 1.39749176e-01 7.66076723e-04 9.51235025e+01] [-1.39749137e-01 9.90186936e-01 -1.04036256e-04 -2.88082131e+00] [-7.73098144e-04 -4.04325048e-06 9.99999701e-01 -2.59392783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.16, Y:-2.88, Z:-0.26 [[ 9.89833375e-01 1.42229756e-01 7.66060803e-04 9.51552782e+01] [-1.42229718e-01 9.89833671e-01 -1.04153348e-04 -2.88457534e+00] [-7.73086482e-04 -5.86215266e-06 9.99999701e-01 -2.56342036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.19, Y:-2.89, Z:-0.25 [[ 9.89219753e-01 1.46436655e-01 7.66043507e-04 9.51867117e+01] [-1.46436618e-01 9.89220049e-01 -1.04280410e-04 -2.88810482e+00] [-7.73056070e-04 -9.02057906e-06 9.99999701e-01 -2.51754607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.22, Y:-2.89, Z:-0.25 [[ 9.88928663e-01 1.48389734e-01 7.66027234e-04 9.52178154e+01] [-1.48389697e-01 9.88928959e-01 -1.04399806e-04 -2.89087274e+00] [-7.73038375e-04 -1.04265890e-05 9.99999701e-01 -2.53209832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.25, Y:-2.89, Z:-0.26 [[ 9.88545305e-01 1.50922475e-01 7.66011011e-04 9.52497901e+01] [-1.50922439e-01 9.88545602e-01 -1.04518706e-04 -2.88957514e+00] [-7.73011037e-04 -1.22867745e-05 9.99999701e-01 -2.58340830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.874203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.28, Y:-2.89, Z:-0.26 [[ 9.88404566e-01 1.51841456e-01 7.65993766e-04 9.52817839e+01] [-1.51841421e-01 9.88404862e-01 -1.04644939e-04 -2.89003563e+00] [-7.73001403e-04 -1.28780462e-05 9.99999701e-01 -2.57051271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.31, Y:-2.89, Z:-0.26 [[ 9.88317221e-01 1.52408937e-01 7.65975987e-04 9.53126029e+01] [-1.52408901e-01 9.88317518e-01 -1.04774912e-04 -2.89119553e+00] [-7.72996119e-04 -1.31907092e-05 9.99999701e-01 -2.60006873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.35, Y:-2.89, Z:-0.26 [[ 9.88536566e-01 1.50979703e-01 7.65959560e-04 9.53450423e+01] [-1.50979667e-01 9.88536863e-01 -1.04894864e-04 -2.89040585e+00] [-7.73016256e-04 -1.19519111e-05 9.99999701e-01 -2.58066583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.38, Y:-2.89, Z:-0.26 [[ 9.88794877e-01 1.49278615e-01 7.65942083e-04 9.53762910e+01] [-1.49278579e-01 9.88795173e-01 -1.05022332e-04 -2.89267443e+00] [-7.73037423e-04 -1.04932016e-05 9.99999701e-01 -2.61954816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.41, Y:-2.90, Z:-0.26 [[ 9.89194851e-01 1.46604777e-01 7.65924726e-04 9.54083153e+01] [-1.46604739e-01 9.89195147e-01 -1.05148764e-04 -2.89548579e+00] [-7.73064333e-04 -8.27557849e-06 9.99999701e-01 -2.60830354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.44, Y:-2.90, Z:-0.26 [[ 9.90104052e-01 1.40333100e-01 7.65907034e-04 9.54405549e+01] [-1.40333061e-01 9.90104349e-01 -1.05277473e-04 -2.89678451e+00] [-7.73101799e-04 -3.24642539e-06 9.99999701e-01 -2.60657873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:-2.90, Z:-0.26 [[ 9.90506726e-01 1.37462140e-01 7.65888098e-04 9.54725731e+01] [-1.37462100e-01 9.90507022e-01 -1.05415053e-04 -2.89767524e+00] [-7.73108117e-04 -8.66266971e-07 9.99999701e-01 -2.62751576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:-2.90, Z:-0.26 [[ 9.90868490e-01 1.34829700e-01 7.65869383e-04 9.55051069e+01] [-1.34829659e-01 9.90868786e-01 -1.05550846e-04 -2.89764493e+00] [-7.73107455e-04 1.32509997e-06 9.99999701e-01 -2.63254469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:-2.90, Z:-0.27 [[ 9.91179413e-01 1.32524656e-01 7.65859871e-04 9.55369316e+01] [-1.32524614e-01 9.91179709e-01 -1.05619818e-04 -2.89867890e+00] [-7.73101994e-04 3.19290592e-06 9.99999701e-01 -2.66525343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.57, Y:-2.90, Z:-0.26 [[ 9.91728638e-01 1.28349999e-01 7.65847369e-04 9.55686081e+01] [-1.28349956e-01 9.91728934e-01 -1.05710396e-04 -2.90036609e+00] [-7.73080923e-04 6.53955128e-06 9.99999701e-01 -2.61059707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.60, Y:-2.90, Z:-0.26 [[ 9.91941511e-01 1.26694326e-01 7.65831258e-04 9.56004226e+01] [-1.26694282e-01 9.91941807e-01 -1.05826985e-04 -2.90384422e+00] [-7.73067720e-04 7.94773839e-06 9.99999701e-01 -2.56769344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.63, Y:-2.90, Z:-0.25 [[ 9.92294444e-01 1.23899760e-01 7.65813295e-04 9.56322742e+01] [-1.23899715e-01 9.92294739e-01 -1.05956810e-04 -2.90492005e+00] [-7.73040527e-04 1.02563044e-05 9.99999701e-01 -2.54268541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.66, Y:-2.91, Z:-0.26 [[ 9.92432293e-01 1.22790709e-01 7.65795372e-04 9.56641575e+01] [-1.22790664e-01 9.92432588e-01 -1.06086192e-04 -2.90663171e+00] [-7.73026681e-04 1.12508410e-05 9.99999701e-01 -2.57275948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.70, Y:-2.90, Z:-0.26 [[ 9.92640001e-01 1.21100133e-01 7.65782583e-04 9.56973382e+01] [-1.21100087e-01 9.92640296e-01 -1.06178429e-04 -2.90480206e+00] [-7.73004872e-04 1.26606186e-05 9.99999701e-01 -2.57657679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.73, Y:-2.91, Z:-0.26 [[ 9.92697582e-01 1.20627210e-01 7.65776232e-04 9.57306011e+01] [-1.20627164e-01 9.92697878e-01 -1.06224214e-04 -2.90776506e+00] [-7.72997970e-04 1.30751061e-05 9.99999701e-01 -2.58389324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:-2.91, Z:-0.26 [[ 9.92735255e-01 1.20316780e-01 7.65755884e-04 9.57622020e+01] [-1.20316734e-01 9.92735550e-01 -1.06370694e-04 -2.91226382e+00] [-7.72991268e-04 1.34646913e-05 9.99999701e-01 -2.58208749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.79, Y:-2.92, Z:-0.26 [[ 9.92756860e-01 1.20138382e-01 7.65736845e-04 9.57948120e+01] [-1.20138336e-01 9.92757155e-01 -1.06507577e-04 -2.91793399e+00] [-7.72986380e-04 1.37417769e-05 9.99999701e-01 -2.56034541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:-2.92, Z:-0.26 [[ 9.92668385e-01 1.20867242e-01 7.65715989e-04 9.58270282e+01] [-1.20867195e-01 9.92668681e-01 -1.06657306e-04 -2.92189936e+00] [-7.72993655e-04 1.33253917e-05 9.99999701e-01 -2.56583854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.86, Y:-2.92, Z:-0.26 [[ 9.92545343e-01 1.21873524e-01 7.65695245e-04 9.58599595e+01] [-1.21873478e-01 9.92545638e-01 -1.06806022e-04 -2.92367327e+00] [-7.73004302e-04 1.26918775e-05 9.99999701e-01 -2.56757401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.89, Y:-2.92, Z:-0.26 [[ 9.92360396e-01 1.23370414e-01 7.65675023e-04 9.58932641e+01] [-1.23370368e-01 9.92360691e-01 -1.06950792e-04 -2.92394497e+00] [-7.73020358e-04 1.16721211e-05 9.99999701e-01 -2.57905505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.93, Y:-2.92, Z:-0.26 [[ 9.91962316e-01 1.26531329e-01 7.65654731e-04 9.59269196e+01] [-1.26531284e-01 9.91962612e-01 -1.07095868e-04 -2.92056839e+00] [-7.73051849e-04 9.35578856e-06 9.99999701e-01 -2.59107407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.96, Y:-2.92, Z:-0.26 [[ 9.91740444e-01 1.28258746e-01 7.65634172e-04 9.59588775e+01] [-1.28258701e-01 9.91740739e-01 -1.07242642e-04 -2.92446807e+00] [-7.73065407e-04 8.15762041e-06 9.99999701e-01 -2.57097914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.99, Y:-2.93, Z:-0.25 [[ 9.91386589e-01 1.30965812e-01 7.65616358e-04 9.59913117e+01] [-1.30965768e-01 9.91386885e-01 -1.07369671e-04 -2.92987624e+00] [-7.73083772e-04 6.17531734e-06 9.99999701e-01 -2.53166703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.02, Y:-2.93, Z:-0.26 [[ 9.91217446e-01 1.32239893e-01 7.65595227e-04 9.60228047e+01] [-1.32239849e-01 9.91217741e-01 -1.07520131e-04 -2.93324168e+00] [-7.73090022e-04 5.33363180e-06 9.99999701e-01 -2.56567115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.05, Y:-2.94, Z:-0.26 [[ 9.91098258e-01 1.33130224e-01 7.65576870e-04 9.60542587e+01] [-1.33130181e-01 9.91098554e-01 -1.07650680e-04 -2.93520451e+00] [-7.73093688e-04 4.77101428e-06 9.99999701e-01 -2.59106759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.09, Y:-2.93, Z:-0.26 [[ 9.90867377e-01 1.34837888e-01 7.65560338e-04 9.60861427e+01] [-1.34837845e-01 9.90867672e-01 -1.07768117e-04 -2.93362756e+00] [-7.73100216e-04 3.55740561e-06 9.99999701e-01 -2.64633182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.654203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:96.12, Y:-2.94, Z:-0.27 [[ 9.90769541e-01 1.35554896e-01 7.65543939e-04 9.61188028e+01] [-1.35554853e-01 9.90769837e-01 -1.07884486e-04 -2.93610304e+00] [-7.73102114e-04 3.11546702e-06 9.99999701e-01 -2.66017965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.15, Y:-2.94, Z:-0.26 [[ 9.90691044e-01 1.36127404e-01 7.65537613e-04 9.61508668e+01] [-1.36127361e-01 9.90691339e-01 -1.07929355e-04 -2.94114984e+00] [-7.73103626e-04 2.71403061e-06 9.99999701e-01 -2.64132259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.18, Y:-2.95, Z:-0.26 [[ 9.90652052e-01 1.36410870e-01 7.65519169e-04 9.61836152e+01] [-1.36410827e-01 9.90652348e-01 -1.08060017e-04 -2.94692455e+00] [-7.73103923e-04 2.62477418e-06 9.99999701e-01 -2.62557719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.21, Y:-2.95, Z:-0.26 [[ 9.90576064e-01 1.36961586e-01 7.65497870e-04 9.62148865e+01] [-1.36961543e-01 9.90576359e-01 -1.08210688e-04 -2.95008091e+00] [-7.73104801e-04 2.34714785e-06 9.99999701e-01 -2.63793327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.25, Y:-2.95, Z:-0.26 [[ 9.90574414e-01 1.36973519e-01 7.65480662e-04 9.62474087e+01] [-1.36973476e-01 9.90574710e-01 -1.08332278e-04 -2.95234218e+00] [-7.73104438e-04 2.46063586e-06 9.99999701e-01 -2.61403541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.28, Y:-2.95, Z:-0.26 [[ 9.90692872e-01 1.36114095e-01 7.65462494e-04 9.62784905e+01] [-1.36114052e-01 9.90693168e-01 -1.08460501e-04 -2.95480341e+00] [-7.73101466e-04 3.26084417e-06 9.99999701e-01 -2.63901452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.31, Y:-2.96, Z:-0.26 [[ 9.90832572e-01 1.35093406e-01 7.65445722e-04 9.63100166e+01] [-1.35093362e-01 9.90832868e-01 -1.08578741e-04 -2.95900447e+00] [-7.73097052e-04 4.17671654e-06 9.99999701e-01 -2.59312777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:-2.96, Z:-0.26 [[ 9.90976252e-01 1.34035380e-01 7.65427672e-04 9.63431573e+01] [-1.34035336e-01 9.90976547e-01 -1.08705835e-04 -2.96289329e+00] [-7.73091299e-04 5.13054556e-06 9.99999701e-01 -2.57058527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.37, Y:-2.97, Z:-0.26 [[ 9.91437695e-01 1.30578369e-01 7.65406182e-04 9.63736374e+01] [-1.30578324e-01 9.91437991e-01 -1.08856940e-04 -2.96705343e+00] [-7.73067129e-04 7.97941757e-06 9.99999701e-01 -2.59705383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.41, Y:-2.97, Z:-0.26 [[ 9.91412703e-01 1.30767985e-01 7.65395595e-04 9.64067350e+01] [-1.30767940e-01 9.91412999e-01 -1.08931324e-04 -2.97195086e+00] [-7.73067872e-04 7.90669347e-06 9.99999701e-01 -2.59731270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.44, Y:-2.98, Z:-0.26 [[ 9.91706203e-01 1.28523230e-01 7.65374734e-04 9.64371709e+01] [-1.28523184e-01 9.91706499e-01 -1.09077707e-04 -2.97801960e+00] [-7.73046116e-04 9.80464044e-06 9.99999701e-01 -2.58669861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.47, Y:-2.98, Z:-0.26 [[ 9.91988389e-01 1.26326761e-01 7.65364756e-04 9.64692019e+01] [-1.26326715e-01 9.91988684e-01 -1.09147671e-04 -2.98412395e+00] [-7.73021449e-04 1.15872073e-05 9.99999701e-01 -2.55763330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.014203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:96.50, Y:-2.99, Z:-0.26 [[ 9.92422513e-01 1.22869726e-01 7.65346476e-04 9.65020907e+01] [-1.22869678e-01 9.92422808e-01 -1.09275699e-04 -2.98954146e+00] [-7.72973974e-04 1.44097884e-05 9.99999701e-01 -2.56682104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.53, Y:-3.00, Z:-0.26 [[ 9.92496309e-01 1.22272197e-01 7.65325576e-04 9.65332029e+01] [-1.22272148e-01 9.92496604e-01 -1.09421878e-04 -2.99507965e+00] [-7.72962289e-04 1.50228080e-05 9.99999701e-01 -2.60541440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.56, Y:-3.00, Z:-0.26 [[ 9.92524368e-01 1.22044230e-01 7.65308609e-04 9.65644880e+01] [-1.22044181e-01 9.92524663e-01 -1.09540419e-04 -2.99995911e+00] [-7.72956445e-04 1.53200727e-05 9.99999701e-01 -2.59217285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.60, Y:-3.01, Z:-0.26 [[ 9.92383627e-01 1.23183408e-01 7.65290029e-04 9.65952780e+01] [-1.23183360e-01 9.92383922e-01 -1.09670075e-04 -3.00621084e+00] [-7.72971054e-04 1.45637896e-05 9.99999701e-01 -2.58140465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.63, Y:-3.01, Z:-0.26 [[ 9.92230786e-01 1.24408529e-01 7.65280095e-04 9.66253246e+01] [-1.24408481e-01 9.92231081e-01 -1.09739350e-04 -3.01271488e+00] [-7.72987207e-04 1.36794277e-05 9.99999701e-01 -2.57631041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.66, Y:-3.02, Z:-0.26 [[ 9.91839363e-01 1.27491538e-01 7.65265730e-04 9.66563445e+01] [-1.27491491e-01 9.91839658e-01 -1.09839433e-04 -3.01977799e+00] [-7.73024498e-04 1.13782043e-05 9.99999701e-01 -2.57641015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.69, Y:-3.03, Z:-0.26 [[ 9.91565949e-01 1.29600862e-01 7.65247335e-04 9.66879539e+01] [-1.29600816e-01 9.91566244e-01 -1.09967444e-04 -3.02594192e+00] [-7.73045301e-04 9.86329463e-06 9.99999701e-01 -2.61626886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.72, Y:-3.03, Z:-0.26 [[ 9.91218841e-01 1.32229437e-01 7.65229087e-04 9.67197788e+01] [-1.32229391e-01 9.91219136e-01 -1.10094276e-04 -3.03249558e+00] [-7.73067419e-04 7.94174414e-06 9.99999701e-01 -2.64884593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.75, Y:-3.04, Z:-0.27 [[ 9.90737454e-01 1.35789221e-01 7.65210658e-04 9.67513667e+01] [-1.35789177e-01 9.90737749e-01 -1.10222223e-04 -3.03881151e+00] [-7.73090074e-04 5.29395920e-06 9.99999701e-01 -2.65928289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.78, Y:-3.04, Z:-0.27 [[ 9.89615887e-01 1.43735209e-01 7.65191993e-04 9.67826927e+01] [-1.43735167e-01 9.89616183e-01 -1.10351643e-04 -3.04074112e+00] [-7.73107796e-04 -7.79260029e-07 9.99999701e-01 -2.66922427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.82, Y:-3.04, Z:-0.27 [[ 9.88969571e-01 1.48116850e-01 7.65174768e-04 9.68158035e+01] [-1.48116809e-01 9.88969867e-01 -1.10470957e-04 -3.04371726e+00] [-7.73097399e-04 -4.08282993e-06 9.99999701e-01 -2.66643936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.85, Y:-3.05, Z:-0.27 [[ 9.88330674e-01 1.52321676e-01 7.65154025e-04 9.68463993e+01] [-1.52321636e-01 9.88330970e-01 -1.10614438e-04 -3.04746987e+00] [-7.73074397e-04 -7.22587102e-06 9.99999701e-01 -2.65974245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.88, Y:-3.05, Z:-0.26 [[ 9.87181095e-01 1.59602319e-01 7.65137243e-04 9.68781338e+01] [-1.59602281e-01 9.87181391e-01 -1.10730403e-04 -3.05177040e+00] [-7.73002077e-04 -1.28066895e-05 9.99999701e-01 -2.61201918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.91, Y:-3.06, Z:-0.26 [[ 9.86765437e-01 1.62152356e-01 7.65118891e-04 9.69086024e+01] [-1.62152318e-01 9.86765734e-01 -1.10857063e-04 -3.05600820e+00] [-7.72968838e-04 -1.46758839e-05 9.99999701e-01 -2.63921238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.94, Y:-3.06, Z:-0.26 [[ 9.86403704e-01 1.64338513e-01 7.65102052e-04 9.69407577e+01] [-1.64338476e-01 9.86404001e-01 -1.10973158e-04 -3.06153048e+00] [-7.72936889e-04 -1.62713714e-05 9.99999701e-01 -2.63280327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.97, Y:-3.07, Z:-0.27 [[ 9.86327371e-01 1.64796033e-01 7.65095417e-04 9.69717317e+01] [-1.64795997e-01 9.86327667e-01 -1.11018886e-04 -3.06554190e+00] [-7.72930250e-04 -1.65836960e-05 9.99999701e-01 -2.66989005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.00, Y:-3.07, Z:-0.26 [[ 9.86336289e-01 1.64742646e-01 7.65078260e-04 9.70035771e+01] [-1.64742609e-01 9.86336586e-01 -1.11136994e-04 -3.06886494e+00] [-7.72933682e-04 -1.64225381e-05 9.99999701e-01 -2.64349491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.04, Y:-3.07, Z:-0.26 [[ 9.86823558e-01 1.61798268e-01 7.65060784e-04 9.70352297e+01] [-1.61798230e-01 9.86823855e-01 -1.11257167e-04 -3.07284869e+00] [-7.72981449e-04 -1.39942868e-05 9.99999701e-01 -2.59784972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.07, Y:-3.08, Z:-0.26 [[ 9.87121270e-01 1.59971912e-01 7.65042649e-04 9.70656803e+01] [-1.59971874e-01 9.87121567e-01 -1.11381733e-04 -3.07821983e+00] [-7.73008047e-04 -1.24380280e-05 9.99999701e-01 -2.62583213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.10, Y:-3.08, Z:-0.26 [[ 9.87345570e-01 1.58581654e-01 7.65025789e-04 9.70973015e+01] [-1.58581615e-01 9.87345866e-01 -1.11497420e-04 -3.08408755e+00] [-7.73026495e-04 -1.12325417e-05 9.99999701e-01 -2.61928984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.13, Y:-3.09, Z:-0.26 [[ 9.87542010e-01 1.57353722e-01 7.65007678e-04 9.71298613e+01] [-1.57353683e-01 9.87542306e-01 -1.11621538e-04 -3.09012860e+00] [-7.73041511e-04 -1.01458175e-05 9.99999701e-01 -2.61220291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.16, Y:-3.10, Z:-0.26 [[ 9.87713830e-01 1.56271575e-01 7.64986409e-04 9.71602190e+01] [-1.56271535e-01 9.87714126e-01 -1.11767119e-04 -3.09630608e+00] [-7.73053906e-04 -9.15167171e-06 9.99999701e-01 -2.58924816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.19, Y:-3.10, Z:-0.26 [[ 9.87760900e-01 1.55973780e-01 7.64976977e-04 9.71906848e+01] [-1.55973740e-01 9.87761196e-01 -1.11831635e-04 -3.10056838e+00] [-7.73057376e-04 -8.85340413e-06 9.99999701e-01 -2.57591316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:-3.10, Z:-0.25 [[ 9.87832562e-01 1.55519274e-01 7.64960096e-04 9.72222344e+01] [-1.55519234e-01 9.87832858e-01 -1.11946988e-04 -3.10452110e+00] [-7.73062632e-04 -8.38112816e-06 9.99999701e-01 -2.54294125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.25, Y:-3.11, Z:-0.26 [[ 9.87979868e-01 1.54580705e-01 7.64941562e-04 9.72533727e+01] [-1.54580665e-01 9.87980165e-01 -1.12073486e-04 -3.10667272e+00] [-7.73071489e-04 -7.51882756e-06 9.99999701e-01 -2.57193594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.29, Y:-3.11, Z:-0.26 [[ 9.88029893e-01 1.54260641e-01 7.64924432e-04 9.72852776e+01] [-1.54260600e-01 9.88030189e-01 -1.12190283e-04 -3.11022970e+00] [-7.73074976e-04 -7.15034899e-06 9.99999701e-01 -2.57795624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.32, Y:-3.12, Z:-0.26 [[ 9.87997403e-01 1.54468594e-01 7.64905864e-04 9.73165896e+01] [-1.54468554e-01 9.87997699e-01 -1.12316736e-04 -3.11797144e+00] [-7.73074642e-04 -7.18525899e-06 9.99999701e-01 -2.58610994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:-3.13, Z:-0.26 [[ 9.87986440e-01 1.54538696e-01 7.64887193e-04 9.73492682e+01] [-1.54538656e-01 9.87986736e-01 -1.12443740e-04 -3.12509647e+00] [-7.73075311e-04 -7.11174779e-06 9.99999701e-01 -2.58044321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.38, Y:-3.13, Z:-0.26 [[ 9.87904450e-01 1.55061963e-01 7.64865802e-04 9.73810986e+01] [-1.55061922e-01 9.87904746e-01 -1.12589061e-04 -3.13029235e+00] [-7.73072837e-04 -7.37432700e-06 9.99999701e-01 -2.58317460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:-3.13, Z:-0.26 [[ 9.87877697e-01 1.55232310e-01 7.64846551e-04 9.74118820e+01] [-1.55232269e-01 9.87877993e-01 -1.12719689e-04 -3.13400141e+00] [-7.73072813e-04 -7.37559886e-06 9.99999701e-01 -2.60539037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:-3.14, Z:-0.26 [[ 9.87913265e-01 1.55005793e-01 7.64835718e-04 9.74447266e+01] [-1.55005752e-01 9.87913561e-01 -1.12793144e-04 -3.13812546e+00] [-7.73075168e-04 -7.12409266e-06 9.99999701e-01 -2.61053242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.48, Y:-3.14, Z:-0.26 [[ 9.87977767e-01 1.54594138e-01 7.64814177e-04 9.74769124e+01] [-1.54594097e-01 9.87978063e-01 -1.12939020e-04 -3.14256822e+00] [-7.73079339e-04 -6.65451644e-06 9.99999701e-01 -2.61342437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:-3.15, Z:-0.26 [[ 9.88291839e-01 1.52573447e-01 7.64792365e-04 9.75076153e+01] [-1.52573406e-01 9.88292135e-01 -1.13086528e-04 -3.14868771e+00] [-7.73092281e-04 -4.92448326e-06 9.99999701e-01 -2.64028665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:-3.16, Z:-0.26 [[ 9.88458557e-01 1.51489588e-01 7.64774769e-04 9.75398317e+01] [-1.51489546e-01 9.88458853e-01 -1.13205402e-04 -3.15552390e+00] [-7.73097831e-04 -3.95653422e-06 9.99999701e-01 -2.62952755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.57, Y:-3.16, Z:-0.26 [[ 9.88621127e-01 1.50425006e-01 7.64753169e-04 9.75706860e+01] [-1.50424964e-01 9.88621423e-01 -1.13351133e-04 -3.16225884e+00] [-7.73102211e-04 -2.97664252e-06 9.99999701e-01 -2.62058597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:-3.17, Z:-0.26 [[ 9.88929999e-01 1.48380838e-01 7.64735673e-04 9.76028346e+01] [-1.48380794e-01 9.88930294e-01 -1.13469049e-04 -3.16749704e+00] [-7.73106907e-04 -1.25914033e-06 9.99999701e-01 -2.62512102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.64, Y:-3.17, Z:-0.26 [[ 9.88958227e-01 1.48192577e-01 7.64714214e-04 9.76352353e+01] [-1.48192533e-01 9.88958523e-01 -1.13613482e-04 -3.17094579e+00] [-7.73107315e-04 -9.65948780e-07 9.99999701e-01 -2.64287355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.124203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:97.67, Y:-3.17, Z:-0.26 [[ 9.88885196e-01 1.48679131e-01 7.64695504e-04 9.76668784e+01] [-1.48679087e-01 9.88885492e-01 -1.13739277e-04 -3.17395353e+00] [-7.73106946e-04 -1.21914207e-06 9.99999701e-01 -2.62338249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.70, Y:-3.18, Z:-0.26 [[ 9.88755846e-01 1.49536924e-01 7.64675771e-04 9.76990083e+01] [-1.49536880e-01 9.88756142e-01 -1.13871790e-04 -3.17961608e+00] [-7.73105902e-04 -1.75583150e-06 9.99999701e-01 -2.61008020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.73, Y:-3.18, Z:-0.27 [[ 9.88592301e-01 1.50614332e-01 7.64653046e-04 9.77296601e+01] [-1.50614289e-01 9.88592597e-01 -1.14024183e-04 -3.18472912e+00] [-7.73104017e-04 -2.44424506e-06 9.99999701e-01 -2.65908564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:-3.19, Z:-0.26 [[ 9.88457865e-01 1.51494105e-01 7.64634727e-04 9.77613865e+01] [-1.51494063e-01 9.88458161e-01 -1.14146899e-04 -3.18960193e+00] [-7.73102018e-04 -3.00822097e-06 9.99999701e-01 -2.64888888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:-3.19, Z:-0.27 [[ 9.88270503e-01 1.52711585e-01 7.64616165e-04 9.77925600e+01] [-1.52711543e-01 9.88270799e-01 -1.14271101e-04 -3.19396767e+00] [-7.73098349e-04 -3.83495522e-06 9.99999701e-01 -2.66142256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.82, Y:-3.20, Z:-0.26 [[ 9.88245809e-01 1.52871309e-01 7.64599057e-04 9.78240103e+01] [-1.52871266e-01 9.88246104e-01 -1.14385456e-04 -3.19854230e+00] [-7.73098294e-04 -3.84427787e-06 9.99999701e-01 -2.62252921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.86, Y:-3.20, Z:-0.26 [[ 9.88306174e-01 1.52480565e-01 7.64580245e-04 9.78568999e+01] [-1.52480522e-01 9.88306469e-01 -1.14511063e-04 -3.20269496e+00] [-7.73100314e-04 -3.41160441e-06 9.99999701e-01 -2.61635029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.89, Y:-3.20, Z:-0.26 [[ 9.88719476e-01 1.49777210e-01 7.64558742e-04 9.78888043e+01] [-1.49777167e-01 9.88719772e-01 -1.14654456e-04 -3.20358753e+00] [-7.73106969e-04 -1.15234808e-06 9.99999701e-01 -2.56760238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.92, Y:-3.21, Z:-0.26 [[ 9.89008814e-01 1.47854592e-01 7.64540326e-04 9.79200057e+01] [-1.47854548e-01 9.89009110e-01 -1.14777121e-04 -3.20822186e+00] [-7.73107672e-04 4.74820543e-07 9.99999701e-01 -2.59947852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:-3.22, Z:-0.26 [[ 9.89680440e-01 1.43290062e-01 7.64526191e-04 9.79507809e+01] [-1.43290016e-01 9.89680736e-01 -1.14871198e-04 -3.21733814e+00] [-7.73096744e-04 4.13680796e-06 9.99999701e-01 -2.62608753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:-3.22, Z:-0.26 [[ 9.89953353e-01 1.41392272e-01 7.64507203e-04 9.79824759e+01] [-1.41392225e-01 9.89953648e-01 -1.14997434e-04 -3.22348213e+00] [-7.73086443e-04 5.74672094e-06 9.99999701e-01 -2.61867856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.01, Y:-3.23, Z:-0.26 [[ 9.90129283e-01 1.40154983e-01 7.64487865e-04 9.80135176e+01] [-1.40154936e-01 9.90129578e-01 -1.15125846e-04 -3.22901846e+00] [-7.73077508e-04 6.84272347e-06 9.99999701e-01 -2.63301958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:-3.24, Z:-0.26 [[ 9.90349000e-01 1.38593918e-01 7.64467198e-04 9.80460441e+01] [-1.38593870e-01 9.90349295e-01 -1.15262920e-04 -3.23631785e+00] [-7.73064290e-04 8.20004974e-06 9.99999701e-01 -2.62794888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.514203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:98.08, Y:-3.24, Z:-0.26 [[ 9.90394349e-01 1.38269478e-01 7.64445097e-04 9.80783231e+01] [-1.38269430e-01 9.90394644e-01 -1.15409307e-04 -3.24149178e+00] [-7.73059915e-04 8.60133721e-06 9.99999701e-01 -2.60318944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:-3.25, Z:-0.26 [[ 9.90291394e-01 1.39004930e-01 7.64422258e-04 9.81105514e+01] [-1.39004882e-01 9.90291689e-01 -1.15560387e-04 -3.24704272e+00] [-7.73064472e-04 8.18003091e-06 9.99999701e-01 -2.60054591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:-3.25, Z:-0.26 [[ 9.89855058e-01 1.42078780e-01 7.64399493e-04 9.81414487e+01] [-1.42078733e-01 9.89855353e-01 -1.15710778e-04 -3.25264270e+00] [-7.73084976e-04 5.93198822e-06 9.99999701e-01 -2.62491550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.17, Y:-3.26, Z:-0.26 [[ 9.89517736e-01 1.44409367e-01 7.64381067e-04 9.81734100e+01] [-1.44409321e-01 9.89518031e-01 -1.15832368e-04 -3.25803775e+00] [-7.73096128e-04 4.23443218e-06 9.99999701e-01 -2.60316835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.21, Y:-3.26, Z:-0.26 [[ 9.88544811e-01 1.50925720e-01 7.64362023e-04 9.82060152e+01] [-1.50925676e-01 9.88545106e-01 -1.15957902e-04 -3.26063570e+00] [-7.73107367e-04 -7.32272750e-07 9.99999701e-01 -2.61691327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:-3.26, Z:-0.26 [[ 9.87983403e-01 1.54558118e-01 7.64355146e-04 9.82381207e+01] [-1.54558074e-01 9.87983698e-01 -1.16003216e-04 -3.26428770e+00] [-7.73099663e-04 -3.52800691e-06 9.99999701e-01 -2.62395973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.27, Y:-3.27, Z:-0.26 [[ 9.87465106e-01 1.57835610e-01 7.64335781e-04 9.82701848e+01] [-1.57835568e-01 9.87465402e-01 -1.16130668e-04 -3.26831855e+00] [-7.73084694e-04 -5.96438921e-06 9.99999701e-01 -2.61763993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.30, Y:-3.27, Z:-0.26 [[ 9.86707710e-01 1.62503267e-01 7.64316268e-04 9.83013833e+01] [-1.62503225e-01 9.86708006e-01 -1.16258953e-04 -3.27040613e+00] [-7.73049440e-04 -9.49025306e-06 9.99999701e-01 -2.59572437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.33, Y:-3.27, Z:-0.26 [[ 9.86497588e-01 1.63774002e-01 7.64298324e-04 9.83336224e+01] [-1.63773961e-01 9.86497884e-01 -1.16376801e-04 -3.27338219e+00] [-7.73038174e-04 -1.03667302e-05 9.99999701e-01 -2.58890125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.37, Y:-3.28, Z:-0.26 [[ 9.86466493e-01 1.63961197e-01 7.64278979e-04 9.83666691e+01] [-1.63961156e-01 9.86466789e-01 -1.16503705e-04 -3.27859602e+00] [-7.73037917e-04 -1.03850638e-05 9.99999701e-01 -2.58916027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:-3.28, Z:-0.26 [[ 9.86428578e-01 1.64189148e-01 7.64256844e-04 9.83991160e+01] [-1.64189107e-01 9.86428874e-01 -1.16648730e-04 -3.28197319e+00] [-7.73037473e-04 -1.04170081e-05 9.99999701e-01 -2.58178923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.43, Y:-3.29, Z:-0.26 [[ 9.86580647e-01 1.63272907e-01 7.64234560e-04 9.84309564e+01] [-1.63272866e-01 9.86580943e-01 -1.16794544e-04 -3.28620022e+00] [-7.73048637e-04 -9.55153023e-06 9.99999701e-01 -2.59979029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:-3.29, Z:-0.26 [[ 9.87258809e-01 1.59120897e-01 7.64213768e-04 9.84637873e+01] [-1.59120854e-01 9.87259105e-01 -1.16930433e-04 -3.28974700e+00] [-7.73083075e-04 -6.16174744e-06 9.99999701e-01 -2.60227605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.904203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.50, Y:-3.29, Z:-0.26 [[ 9.87670950e-01 1.56542361e-01 7.64191842e-04 9.84951763e+01] [-1.56542317e-01 9.87671245e-01 -1.17073548e-04 -3.29371134e+00] [-7.73097278e-04 -3.99821919e-06 9.99999701e-01 -2.56923432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:-3.30, Z:-0.26 [[ 9.88472639e-01 1.51397682e-01 7.64173069e-04 9.85259986e+01] [-1.51397637e-01 9.88472934e-01 -1.17195959e-04 -3.29951864e+00] [-7.73107593e-04 1.51002347e-07 9.99999701e-01 -2.58610744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:-3.30, Z:-0.26 [[ 9.88817111e-01 1.49131273e-01 7.64161945e-04 9.85576443e+01] [-1.49131227e-01 9.88817406e-01 -1.17268451e-04 -3.30428752e+00] [-7.73105026e-04 1.99664187e-06 9.99999701e-01 -2.60209599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:-3.31, Z:-0.26 [[ 9.89098958e-01 1.47250359e-01 7.64142549e-04 9.85900161e+01] [-1.47250312e-01 9.89099253e-01 -1.17394702e-04 -3.30849372e+00] [-7.73099236e-04 3.59474874e-06 9.99999701e-01 -2.58879660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.62, Y:-3.31, Z:-0.26 [[ 9.89455152e-01 1.44837558e-01 7.64135233e-04 9.86220309e+01] [-1.44837510e-01 9.89455447e-01 -1.17442303e-04 -3.31293509e+00] [-7.73087825e-04 5.52844705e-06 9.99999701e-01 -2.63435923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.65, Y:-3.32, Z:-0.26 [[ 9.89516429e-01 1.44418324e-01 7.64120660e-04 9.86539805e+01] [-1.44418276e-01 9.89516724e-01 -1.17537042e-04 -3.31802600e+00] [-7.73084675e-04 5.95184548e-06 9.99999701e-01 -2.60453446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.69, Y:-3.32, Z:-0.26 [[ 9.89509185e-01 1.44467952e-01 7.64100336e-04 9.86855037e+01] [-1.44467904e-01 9.89509480e-01 -1.17669018e-04 -3.32279347e+00] [-7.73083928e-04 6.04660017e-06 9.99999701e-01 -2.61251783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11420382200001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:98.72, Y:-3.33, Z:-0.26 [[ 9.89493379e-01 1.44576172e-01 7.64079828e-04 9.87165163e+01] [-1.44576124e-01 9.89493674e-01 -1.17802036e-04 -3.32597971e+00] [-7.73083524e-04 6.09663418e-06 9.99999701e-01 -2.64660869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.75, Y:-3.33, Z:-0.26 [[ 9.89455704e-01 1.44833786e-01 7.64060887e-04 9.87485672e+01] [-1.44833738e-01 9.89455999e-01 -1.17924757e-04 -3.33160054e+00] [-7.73084118e-04 6.01952949e-06 9.99999701e-01 -2.64396718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.78, Y:-3.34, Z:-0.26 [[ 9.89374102e-01 1.45390176e-01 7.64041018e-04 9.87797981e+01] [-1.45390129e-01 9.89374397e-01 -1.18053350e-04 -3.33680338e+00] [-7.73086419e-04 5.71490472e-06 9.99999701e-01 -2.63559739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.204203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:98.81, Y:-3.34, Z:-0.26 [[ 9.89374808e-01 1.45385370e-01 7.64019813e-04 9.88108091e+01] [-1.45385322e-01 9.89375103e-01 -1.18190424e-04 -3.34107645e+00] [-7.73085340e-04 5.85736144e-06 9.99999701e-01 -2.62774435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:-3.35, Z:-0.26 [[ 9.89353744e-01 1.45528640e-01 7.64001623e-04 9.88424345e+01] [-1.45528592e-01 9.89354039e-01 -1.18307891e-04 -3.34628023e+00] [-7.73085279e-04 5.86427389e-06 9.99999701e-01 -2.59763692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.264203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:98.88, Y:-3.35, Z:-0.26 [[ 9.89299269e-01 1.45898502e-01 7.63981370e-04 9.88751795e+01] [-1.45898454e-01 9.89299564e-01 -1.18438533e-04 -3.34889785e+00] [-7.73086441e-04 5.70745313e-06 9.99999701e-01 -2.58814188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.294203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.91, Y:-3.35, Z:-0.26 [[ 9.89236290e-01 1.46324909e-01 7.63957807e-04 9.89064704e+01] [-1.46324861e-01 9.89236585e-01 -1.18590328e-04 -3.35271424e+00] [-7.73087731e-04 5.52783606e-06 9.99999701e-01 -2.62933724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.94, Y:-3.36, Z:-0.26 [[ 9.89211913e-01 1.46489618e-01 7.63935822e-04 9.89376927e+01] [-1.46489570e-01 9.89212208e-01 -1.18731782e-04 -3.35775747e+00] [-7.73087614e-04 5.54226313e-06 9.99999701e-01 -2.63658934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:-3.36, Z:-0.26 [[ 9.89216661e-01 1.46457550e-01 7.63914984e-04 9.89693310e+01] [-1.46457501e-01 9.89216956e-01 -1.18865699e-04 -3.36350260e+00] [-7.73086434e-04 5.70285010e-06 9.99999701e-01 -2.60769075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:-3.37, Z:-0.26 [[ 9.89191290e-01 1.46628808e-01 7.63895061e-04 9.90000339e+01] [-1.46628760e-01 9.89191585e-01 -1.18993601e-04 -3.37100058e+00] [-7.73086456e-04 5.69844809e-06 9.99999701e-01 -2.59953799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.414203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.03, Y:-3.38, Z:-0.26 [[ 9.89092605e-01 1.47293022e-01 7.63873758e-04 9.90325135e+01] [-1.47292974e-01 9.89092900e-01 -1.19130194e-04 -3.37606566e+00] [-7.73089157e-04 5.31755586e-06 9.99999701e-01 -2.59367121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:-3.38, Z:-0.26 [[ 9.88893437e-01 1.48624317e-01 7.63851271e-04 9.90649034e+01] [-1.48624269e-01 9.88893732e-01 -1.19274205e-04 -3.38003304e+00] [-7.73094781e-04 4.42264124e-06 9.99999701e-01 -2.57190346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.10, Y:-3.38, Z:-0.26 [[ 9.88299151e-01 1.52526080e-01 7.63827968e-04 9.90963404e+01] [-1.52526034e-01 9.88299446e-01 -1.19423250e-04 -3.38273769e+00] [-7.73105918e-04 1.52224574e-06 9.99999701e-01 -2.58474221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:-3.39, Z:-0.26 [[ 9.87936663e-01 1.54856599e-01 7.63809155e-04 9.91285354e+01] [-1.54856553e-01 9.87936958e-01 -1.19543452e-04 -3.38721030e+00] [-7.73107386e-04 -1.79493761e-07 9.99999701e-01 -2.58569575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.16, Y:-3.39, Z:-0.26 [[ 9.87350437e-01 1.58551352e-01 7.63789201e-04 9.91596210e+01] [-1.58551306e-01 9.87350732e-01 -1.19670813e-04 -3.39191348e+00] [-7.73101796e-04 -2.94274612e-06 9.99999701e-01 -2.61230009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.19, Y:-3.40, Z:-0.25 [[ 9.87184079e-01 1.59583866e-01 7.63770778e-04 9.91910312e+01] [-1.59583821e-01 9.87184375e-01 -1.19788277e-04 -3.39776747e+00] [-7.73098854e-04 -3.63237920e-06 9.99999701e-01 -2.54994162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.22, Y:-3.40, Z:-0.26 [[ 9.87090304e-01 1.60162881e-01 7.63750427e-04 9.92222569e+01] [-1.60162836e-01 9.87090599e-01 -1.19917892e-04 -3.40391008e+00] [-7.73097262e-04 -3.95464638e-06 9.99999701e-01 -2.58067396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.25, Y:-3.41, Z:-0.26 [[ 9.87049368e-01 1.60414971e-01 7.63735932e-04 9.92539302e+01] [-1.60414926e-01 9.87049663e-01 -1.20010137e-04 -3.40945255e+00] [-7.73096717e-04 -4.05871333e-06 9.99999701e-01 -2.58364616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.29, Y:-3.41, Z:-0.26 [[ 9.87059681e-01 1.60351501e-01 7.63716160e-04 9.92862873e+01] [-1.60351456e-01 9.87059976e-01 -1.20135827e-04 -3.41197194e+00] [-7.73097615e-04 -3.88176764e-06 9.99999701e-01 -2.63237505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.32, Y:-3.42, Z:-0.26 [[ 9.87071413e-01 1.60279262e-01 7.63696356e-04 9.93191354e+01] [-1.60279217e-01 9.87071709e-01 -1.20261589e-04 -3.41625590e+00] [-7.73098506e-04 -3.69787787e-06 9.99999701e-01 -2.63901686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.35, Y:-3.42, Z:-0.26 [[ 9.87040635e-01 1.60468692e-01 7.63673635e-04 9.93515299e+01] [-1.60468647e-01 9.87040931e-01 -1.20405696e-04 -3.42117605e+00] [-7.73098480e-04 -3.70036046e-06 9.99999701e-01 -2.63199233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.38, Y:-3.43, Z:-0.26 [[ 9.86936353e-01 1.61108823e-01 7.63650932e-04 9.93845660e+01] [-1.61108778e-01 9.86936648e-01 -1.20549516e-04 -3.42634301e+00] [-7.73096681e-04 -4.05616909e-06 9.99999701e-01 -2.61865410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.42, Y:-3.43, Z:-0.26 [[ 9.86803178e-01 1.61922526e-01 7.63627678e-04 9.94175035e+01] [-1.61922481e-01 9.86803474e-01 -1.20696639e-04 -3.43152491e+00] [-7.73093950e-04 -4.54466161e-06 9.99999701e-01 -2.62162504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.45, Y:-3.44, Z:-0.26 [[ 9.86492418e-01 1.63805145e-01 7.63604495e-04 9.94498245e+01] [-1.63805100e-01 9.86492714e-01 -1.20843133e-04 -3.43630391e+00] [-7.73084997e-04 -5.87147629e-06 9.99999701e-01 -2.61821382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.48, Y:-3.44, Z:-0.26 [[ 9.86376416e-01 1.64502227e-01 7.63581202e-04 9.94816361e+01] [-1.64502183e-01 9.86376712e-01 -1.20990137e-04 -3.44063226e+00] [-7.73081862e-04 -6.26895679e-06 9.99999701e-01 -2.59492150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.51, Y:-3.44, Z:-0.26 [[ 9.86398248e-01 1.64371264e-01 7.63560442e-04 9.95126685e+01] [-1.64371220e-01 9.86398544e-01 -1.21121012e-04 -3.44269558e+00] [-7.73083722e-04 -6.03380678e-06 9.99999701e-01 -2.57370624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.54, Y:-3.45, Z:-0.25 [[ 9.86601145e-01 1.63149003e-01 7.63541359e-04 9.95440800e+01] [-1.63148958e-01 9.86601441e-01 -1.21241188e-04 -3.44673887e+00] [-7.73091384e-04 -4.95428225e-06 9.99999701e-01 -2.53866919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.57, Y:-3.45, Z:-0.26 [[ 9.86909345e-01 1.61274184e-01 7.63522675e-04 9.95748115e+01] [-1.61274139e-01 9.86909640e-01 -1.21358736e-04 -3.45126297e+00] [-7.73099920e-04 -3.36639133e-06 9.99999701e-01 -2.55341924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.954203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:99.61, Y:-3.46, Z:-0.26 [[ 9.87274509e-01 1.59023458e-01 7.63504024e-04 9.96066541e+01] [-1.59023412e-01 9.87274805e-01 -1.21475963e-04 -3.45554962e+00] [-7.73105814e-04 -1.48489262e-06 9.99999701e-01 -2.56814668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:-3.46, Z:-0.26 [[ 9.88019308e-01 1.54328431e-01 7.63483811e-04 9.96384179e+01] [-1.54328383e-01 9.88019603e-01 -1.21602869e-04 -3.46081668e+00] [-7.73103752e-04 2.31876002e-06 9.99999701e-01 -2.58632532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.67, Y:-3.47, Z:-0.26 [[ 9.88373397e-01 1.52044221e-01 7.63463470e-04 9.96705201e+01] [-1.52044173e-01 9.88373692e-01 -1.21730446e-04 -3.46622713e+00] [-7.73095619e-04 4.23496263e-06 9.99999701e-01 -2.57799503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.70, Y:-3.47, Z:-0.26 [[ 9.89000311e-01 1.47911464e-01 7.63442938e-04 9.97017140e+01] [-1.47911414e-01 9.89000606e-01 -1.21859075e-04 -3.47194280e+00] [-7.73069883e-04 7.59673852e-06 9.99999701e-01 -2.59435131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.73, Y:-3.48, Z:-0.26 [[ 9.89286617e-01 1.45984270e-01 7.63421047e-04 9.97330675e+01] [-1.45984219e-01 9.89286911e-01 -1.21996064e-04 -3.47694053e+00] [-7.73051956e-04 9.24164836e-06 9.99999701e-01 -2.56384366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.76, Y:-3.48, Z:-0.26 [[ 9.89813343e-01 1.42369111e-01 7.63413596e-04 9.97647395e+01] [-1.42369060e-01 9.89813637e-01 -1.22042674e-04 -3.48201728e+00] [-7.73012295e-04 1.21129918e-05 9.99999701e-01 -2.59779361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.80, Y:-3.49, Z:-0.26 [[ 9.90020046e-01 1.40924537e-01 7.63391208e-04 9.97972593e+01] [-1.40924485e-01 9.90020340e-01 -1.22182554e-04 -3.48786108e+00] [-7.72991343e-04 1.33826648e-05 9.99999701e-01 -2.56340770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.83, Y:-3.49, Z:-0.26 [[ 9.90264431e-01 1.39196891e-01 7.63367780e-04 9.98281814e+01] [-1.39196838e-01 9.90264725e-01 -1.22328753e-04 -3.49295352e+00] [-7.72963966e-04 1.48794319e-05 9.99999701e-01 -2.56569145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.86, Y:-3.50, Z:-0.26 [[ 9.90516177e-01 1.37394031e-01 7.63356459e-04 9.98608917e+01] [-1.37393977e-01 9.90516471e-01 -1.22399357e-04 -3.49765890e+00] [-7.72934087e-04 1.63579637e-05 9.99999701e-01 -2.56975458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:-3.50, Z:-0.26 [[ 9.91134011e-01 1.32863800e-01 7.63332984e-04 9.98932069e+01] [-1.32863745e-01 9.91134305e-01 -1.22545581e-04 -3.50227222e+00] [-7.72847378e-04 2.00398139e-05 9.99999701e-01 -2.58326550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.93, Y:-3.51, Z:-0.26 [[ 9.91460305e-01 1.30406601e-01 7.63309403e-04 9.99255344e+01] [-1.30406545e-01 9.91460598e-01 -1.22692287e-04 -3.50971633e+00] [-7.72791081e-04 2.21039902e-05 9.99999701e-01 -2.57945959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:-3.52, Z:-0.26 [[ 9.91732690e-01 1.28318697e-01 7.63285858e-04 9.99560587e+01] [-1.28318641e-01 9.91732984e-01 -1.22838586e-04 -3.51732118e+00] [-7.72738249e-04 2.38792380e-05 9.99999701e-01 -2.57072874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.99, Y:-3.53, Z:-0.26 [[ 9.92040476e-01 1.25917085e-01 7.63266764e-04 9.99879188e+01] [-1.25917028e-01 9.92040769e-01 -1.22957118e-04 -3.52506550e+00] [-7.72674149e-04 2.58701556e-05 9.99999701e-01 -2.57219035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.02, Y:-3.53, Z:-0.26 [[ 9.92030766e-01 1.25993556e-01 7.63243379e-04 1.00019198e+02] [-1.25993498e-01 9.92031060e-01 -1.23102106e-04 -3.53168039e+00] [-7.72671210e-04 2.59573738e-05 9.99999701e-01 -2.58136420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:-3.54, Z:-0.26 [[ 9.91679867e-01 1.28726291e-01 7.63222575e-04 1.00048863e+02] [-1.28726234e-01 9.91680161e-01 -1.23230955e-04 -3.54106568e+00] [-7.72735749e-04 2.39588893e-05 9.99999701e-01 -2.59907539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.08, Y:-3.55, Z:-0.26 [[ 9.91342180e-01 1.31301563e-01 7.63210785e-04 1.00080761e+02] [-1.31301507e-01 9.91342473e-01 -1.23303926e-04 -3.54667324e+00] [-7.72793266e-04 2.20256565e-05 9.99999701e-01 -2.58643350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.11, Y:-3.55, Z:-0.26 [[ 9.90940690e-01 1.34298052e-01 7.63190641e-04 1.00113077e+02] [-1.34297997e-01 9.90940984e-01 -1.23428486e-04 -3.55066858e+00] [-7.72853089e-04 1.98153344e-05 9.99999701e-01 -2.58887235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.14, Y:-3.55, Z:-0.26 [[ 9.90560699e-01 1.37072679e-01 7.63167678e-04 1.00144761e+02] [-1.37072624e-01 9.90560993e-01 -1.23570301e-04 -3.55497068e+00] [-7.72902245e-04 1.77944878e-05 9.99999701e-01 -2.58176763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.18, Y:-3.56, Z:-0.26 [[ 9.90042072e-01 1.40769715e-01 7.63146821e-04 1.00175838e+02] [-1.40769661e-01 9.90042366e-01 -1.23698980e-04 -3.56072553e+00] [-7.72960754e-04 1.50392746e-05 9.99999701e-01 -2.62121510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.21, Y:-3.57, Z:-0.26 [[ 9.89810846e-01 1.42386467e-01 7.63127575e-04 1.00207409e+02] [-1.42386414e-01 9.89811140e-01 -1.23817598e-04 -3.56756575e+00] [-7.72982126e-04 1.38970025e-05 9.99999701e-01 -2.59740063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.24, Y:-3.58, Z:-0.26 [[ 9.89510070e-01 1.44461893e-01 7.63107010e-04 1.00238329e+02] [-1.44461841e-01 9.89510364e-01 -1.23944211e-04 -3.57686604e+00] [-7.73007511e-04 1.24042014e-05 9.99999701e-01 -2.59752169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.27, Y:-3.58, Z:-0.26 [[ 9.89424344e-01 1.45047869e-01 7.63085043e-04 1.00269527e+02] [-1.45047816e-01 9.89424639e-01 -1.24079309e-04 -3.58456772e+00] [-7.73012582e-04 1.20832700e-05 9.99999701e-01 -2.59399129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:-3.59, Z:-0.26 [[ 9.89343946e-01 1.45595241e-01 7.63064209e-04 1.00300360e+02] [-1.45595189e-01 9.89344240e-01 -1.24207306e-04 -3.59104358e+00] [-7.73017172e-04 1.17852686e-05 9.99999701e-01 -2.61602756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.33, Y:-3.60, Z:-0.26 [[ 9.89097138e-01 1.47262586e-01 7.63052393e-04 1.00331822e+02] [-1.47262534e-01 9.89097432e-01 -1.24279851e-04 -3.59537032e+00] [-7.73034935e-04 1.05558158e-05 9.99999701e-01 -2.61051342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.36, Y:-3.60, Z:-0.26 [[ 9.88896336e-01 1.48605031e-01 7.63031601e-04 1.00363814e+02] [-1.48604979e-01 9.88896630e-01 -1.24407375e-04 -3.60050304e+00] [-7.73046941e-04 9.63570185e-06 9.99999701e-01 -2.61907965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.40, Y:-3.61, Z:-0.26 [[ 9.88868292e-01 1.48791529e-01 7.63009402e-04 1.00396803e+02] [-1.48791478e-01 9.88868586e-01 -1.24543377e-04 -3.60608284e+00] [-7.73047028e-04 9.62769976e-06 9.99999701e-01 -2.61933871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.43, Y:-3.61, Z:-0.26 [[ 9.88641396e-01 1.50291746e-01 7.62985887e-04 1.00428482e+02] [-1.50291694e-01 9.88641690e-01 -1.24687272e-04 -3.61258158e+00] [-7.73059124e-04 8.60055679e-06 9.99999701e-01 -2.62880925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.764203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:100.46, Y:-3.62, Z:-0.26 [[ 9.88150145e-01 1.53488465e-01 7.62965237e-04 1.00459571e+02] [-1.53488415e-01 9.88150439e-01 -1.24813500e-04 -3.62124063e+00] [-7.73081867e-04 6.22815304e-06 9.99999701e-01 -2.62973492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:-3.63, Z:-0.26 [[ 9.87801728e-01 1.55715008e-01 7.62943977e-04 1.00490437e+02] [-1.55714958e-01 9.87802023e-01 -1.24943318e-04 -3.62783531e+00] [-7.73093154e-04 4.61743608e-06 9.99999701e-01 -2.63458000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.52, Y:-3.63, Z:-0.26 [[ 9.86852052e-01 1.61624398e-01 7.62932384e-04 1.00522516e+02] [-1.61624349e-01 9.86852347e-01 -1.25014069e-04 -3.63305981e+00] [-7.73106937e-04 6.19398172e-08 9.99999701e-01 -2.59418395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.55, Y:-3.64, Z:-0.26 [[ 9.86282443e-01 1.65064718e-01 7.62911558e-04 1.00554806e+02] [-1.65064670e-01 9.86282738e-01 -1.25141033e-04 -3.63789152e+00] [-7.73102869e-04 -2.50534134e-06 9.99999701e-01 -2.59892216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.59, Y:-3.64, Z:-0.26 [[ 9.85664988e-01 1.68712625e-01 7.62887920e-04 1.00587469e+02] [-1.68712578e-01 9.85665283e-01 -1.25284968e-04 -3.64286400e+00] [-7.73089294e-04 -5.21978160e-06 9.99999701e-01 -2.59006255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.62, Y:-3.65, Z:-0.26 [[ 9.84391160e-01 1.75992788e-01 7.62864105e-04 1.00619326e+02] [-1.75992743e-01 9.84391456e-01 -1.25429812e-04 -3.64598809e+00] [-7.73031649e-04 -1.07865486e-05 9.99999701e-01 -2.55965338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:-3.65, Z:-0.26 [[ 9.83757884e-01 1.79498867e-01 7.62842377e-04 1.00650585e+02] [-1.79498823e-01 9.83758180e-01 -1.25561820e-04 -3.65016666e+00] [-7.72990633e-04 -1.34068789e-05 9.99999701e-01 -2.58255668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:-3.65, Z:-0.26 [[ 9.83289772e-01 1.82045717e-01 7.62822320e-04 1.00681303e+02] [-1.82045674e-01 9.83290067e-01 -1.25683556e-04 -3.65475696e+00] [-7.72955763e-04 -1.52851487e-05 9.99999701e-01 -2.63188680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:-3.66, Z:-0.26 [[ 9.82978764e-01 1.83717630e-01 7.62810334e-04 1.00714561e+02] [-1.83717587e-01 9.82979060e-01 -1.25756259e-04 -3.65679560e+00] [-7.72930227e-04 -1.65259417e-05 9.99999701e-01 -2.62766723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:-3.66, Z:-0.26 [[ 9.83210369e-01 1.82474076e-01 7.62787503e-04 1.00747677e+02] [-1.82474034e-01 9.83210665e-01 -1.25894590e-04 -3.65963064e+00] [-7.72953307e-04 -1.54080458e-05 9.99999701e-01 -2.62670050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:-3.66, Z:-0.26 [[ 9.84307600e-01 1.76459534e-01 7.62764124e-04 1.00779809e+02] [-1.76459489e-01 9.84307895e-01 -1.26036080e-04 -3.66240717e+00] [-7.73035017e-04 -1.05386961e-05 9.99999701e-01 -2.63280110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.81, Y:-3.67, Z:-0.27 [[ 9.84959538e-01 1.72783466e-01 7.62742576e-04 1.00811817e+02] [-1.72783420e-01 9.84959834e-01 -1.26166348e-04 -3.66763296e+00] [-7.73070260e-04 -7.52052251e-06 9.99999701e-01 -2.65460021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.84, Y:-3.67, Z:-0.27 [[ 9.85608223e-01 1.69043929e-01 7.62727213e-04 1.00842794e+02] [-1.69043882e-01 9.85608518e-01 -1.26259157e-04 -3.67311813e+00] [-7.73093781e-04 -4.49230588e-06 9.99999701e-01 -2.67633833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:-3.68, Z:-0.27 [[ 9.86220202e-01 1.65436183e-01 7.62707724e-04 1.00874462e+02] [-1.65436135e-01 9.86220497e-01 -1.26376776e-04 -3.67905005e+00] [-7.73105282e-04 -1.54408841e-06 9.99999701e-01 -2.65278593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.91, Y:-3.68, Z:-0.26 [[ 9.87258701e-01 1.59121573e-01 7.62686960e-04 1.00906456e+02] [-1.59121523e-01 9.87258996e-01 -1.26501959e-04 -3.68343043e+00] [-7.73098754e-04 3.53024907e-06 9.99999701e-01 -2.64855072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.94, Y:-3.69, Z:-0.26 [[ 9.87590161e-01 1.57051238e-01 7.62666167e-04 1.00938947e+02] [-1.57051187e-01 9.87590456e-01 -1.26627195e-04 -3.68609342e+00] [-7.73088786e-04 5.27814510e-06 9.99999701e-01 -2.64950069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.97, Y:-3.69, Z:-0.26 [[ 9.88029525e-01 1.54263011e-01 7.62642387e-04 1.00971605e+02] [-1.54262959e-01 9.88029819e-01 -1.26770253e-04 -3.68644765e+00] [-7.73069381e-04 7.60528119e-06 9.99999701e-01 -2.64013204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.00, Y:-3.69, Z:-0.26 [[ 9.88233917e-01 1.52948176e-01 7.62621491e-04 1.01003585e+02] [-1.52948123e-01 9.88234211e-01 -1.26895838e-04 -3.69196740e+00] [-7.73057134e-04 8.76124513e-06 9.99999701e-01 -2.64967330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.04, Y:-3.70, Z:-0.26 [[ 9.88438140e-01 1.51622760e-01 7.62599142e-04 1.01035530e+02] [-1.51622707e-01 9.88438434e-01 -1.27030003e-04 -3.69833002e+00] [-7.73042942e-04 9.93395411e-06 9.99999701e-01 -2.60894445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.334203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:101.07, Y:-3.70, Z:-0.26 [[ 9.88800787e-01 1.49239477e-01 7.62573896e-04 1.01066505e+02] [-1.49239423e-01 9.88801081e-01 -1.27181380e-04 -3.70190302e+00] [-7.73014375e-04 1.19509603e-05 9.99999701e-01 -2.61171545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36420382200001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:101.10, Y:-3.71, Z:-0.26 [[ 9.89046608e-01 1.47601581e-01 7.62553455e-04 1.01098532e+02] [-1.47601527e-01 9.89046901e-01 -1.27303824e-04 -3.70569169e+00] [-7.72991377e-04 1.33553610e-05 9.99999701e-01 -2.60903060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.13, Y:-3.71, Z:-0.26 [[ 9.89320918e-01 1.45751636e-01 7.62531547e-04 1.01130553e+02] [-1.45751581e-01 9.89321212e-01 -1.27434911e-04 -3.71027561e+00] [-7.72962481e-04 1.49338444e-05 9.99999701e-01 -2.62043076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.16, Y:-3.71, Z:-0.26 [[ 9.90021520e-01 1.40914187e-01 7.62508098e-04 1.01161621e+02] [-1.40914130e-01 9.90021814e-01 -1.27575067e-04 -3.71361966e+00] [-7.72876787e-04 1.88538964e-05 9.99999701e-01 -2.63500498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.19, Y:-3.72, Z:-0.27 [[ 9.90304449e-01 1.38911902e-01 7.62488223e-04 1.01193220e+02] [-1.38911844e-01 9.90304743e-01 -1.27693745e-04 -3.71947195e+00] [-7.72833884e-04 2.05370380e-05 9.99999701e-01 -2.65865221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.484203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:101.22, Y:-3.73, Z:-0.27 [[ 9.90597851e-01 1.36803933e-01 7.62466805e-04 1.01224513e+02] [-1.36803875e-01 9.90598144e-01 -1.27821505e-04 -3.72625835e+00] [-7.72784686e-04 2.23112940e-05 9.99999701e-01 -2.65802104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.25, Y:-3.74, Z:-0.27 [[ 9.91076348e-01 1.33293253e-01 7.62444419e-04 1.01253798e+02] [-1.33293194e-01 9.91076641e-01 -1.27954892e-04 -3.73813229e+00] [-7.72696378e-04 2.51844151e-05 9.99999701e-01 -2.68686165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.29, Y:-3.75, Z:-0.27 [[ 9.91176059e-01 1.32549759e-01 7.62423675e-04 1.01286172e+02] [-1.32549699e-01 9.91176352e-01 -1.28078382e-04 -3.74547107e+00] [-7.72673075e-04 2.58891967e-05 9.99999701e-01 -2.67860086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:-3.75, Z:-0.27 [[ 9.91008933e-01 1.33793546e-01 7.62398939e-04 1.01317946e+02] [-1.33793487e-01 9.91009226e-01 -1.28225453e-04 -3.74995854e+00] [-7.72700121e-04 2.50685566e-05 9.99999701e-01 -2.65259932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.35, Y:-3.76, Z:-0.26 [[ 9.90784250e-01 1.35447364e-01 7.62377373e-04 1.01349521e+02] [-1.35447306e-01 9.90784543e-01 -1.28353549e-04 -3.75601243e+00] [-7.72736867e-04 2.39087143e-05 9.99999701e-01 -2.63473970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.38, Y:-3.76, Z:-0.26 [[ 9.90469207e-01 1.37732235e-01 7.62355371e-04 1.01380638e+02] [-1.37732177e-01 9.90469500e-01 -1.28484096e-04 -3.76376122e+00] [-7.72786145e-04 2.22586759e-05 9.99999701e-01 -2.63870578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:-3.77, Z:-0.26 [[ 9.89668137e-01 1.43375022e-01 7.62339682e-04 1.01411853e+02] [-1.43374965e-01 9.89668431e-01 -1.28577117e-04 -3.77405391e+00] [-7.72898264e-04 1.79482504e-05 9.99999701e-01 -2.60627871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:-3.78, Z:-0.26 [[ 9.89139208e-01 1.46979749e-01 7.62313845e-04 1.01442672e+02] [-1.46979693e-01 9.89139501e-01 -1.28730117e-04 -3.78036176e+00] [-7.72955457e-04 1.52873508e-05 9.99999701e-01 -2.61712893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.47, Y:-3.79, Z:-0.26 [[ 9.88604683e-01 1.50533051e-01 7.62293031e-04 1.01474625e+02] [-1.50532996e-01 9.88604977e-01 -1.28853252e-04 -3.78695806e+00] [-7.73003358e-04 1.26346745e-05 9.99999701e-01 -2.62050253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75420382200001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:101.51, Y:-3.79, Z:-0.26 [[ 9.87709614e-01 1.56298233e-01 7.62268292e-04 1.01505837e+02] [-1.56298180e-01 9.87709908e-01 -1.28999441e-04 -3.79297310e+00] [-7.73062329e-04 8.27284130e-06 9.99999701e-01 -2.64618868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.784203822 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:101.54, Y:-3.80, Z:-0.26 [[ 9.87257453e-01 1.59129321e-01 7.62246455e-04 1.01538331e+02] [-1.59129269e-01 9.87257747e-01 -1.29128343e-04 -3.79838860e+00] [-7.73081823e-04 6.18719741e-06 9.99999701e-01 -2.62640588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.57, Y:-3.80, Z:-0.26 [[ 9.86435551e-01 1.64147260e-01 7.62220542e-04 1.01568920e+02] [-1.64147209e-01 9.86435845e-01 -1.29281124e-04 -3.80408873e+00] [-7.73102807e-04 2.41112173e-06 9.99999701e-01 -2.63339938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.60, Y:-3.81, Z:-0.27 [[ 9.86017772e-01 1.66638449e-01 7.62199619e-04 1.01599619e+02] [-1.66638399e-01 9.86018066e-01 -1.29404361e-04 -3.81073960e+00] [-7.73106336e-04 5.83275727e-07 9.99999701e-01 -2.66966837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:-3.82, Z:-0.27 [[ 9.85615765e-01 1.68999948e-01 7.62179165e-04 1.01630896e+02] [-1.68999898e-01 9.85616060e-01 -1.29524718e-04 -3.81830098e+00] [-7.73105696e-04 -1.14659766e-06 9.99999701e-01 -2.68040791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:-3.83, Z:-0.27 [[ 9.85075541e-01 1.72120880e-01 7.62157715e-04 1.01661190e+02] [-1.72120831e-01 9.85075836e-01 -1.29650812e-04 -3.82669094e+00] [-7.73098761e-04 -3.46737572e-06 9.99999701e-01 -2.66219191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.69, Y:-3.83, Z:-0.26 [[ 9.84911502e-01 1.73057078e-01 7.62146300e-04 1.01692915e+02] [-1.73057029e-01 9.84911797e-01 -1.29717883e-04 -3.83349900e+00] [-7.73095480e-04 -4.13413974e-06 9.99999701e-01 -2.63296402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.72, Y:-3.84, Z:-0.26 [[ 9.84804373e-01 1.73665671e-01 7.62125068e-04 1.01724311e+02] [-1.73665622e-01 9.84804668e-01 -1.29842509e-04 -3.83987205e+00] [-7.73093511e-04 -4.48545367e-06 9.99999701e-01 -2.63089298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.75, Y:-3.85, Z:-0.27 [[ 9.84616968e-01 1.74725057e-01 7.62103379e-04 1.01754559e+02] [-1.74725009e-01 9.84617263e-01 -1.29969685e-04 -3.84642693e+00] [-7.73089104e-04 -5.18816279e-06 9.99999701e-01 -2.70999248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.79, Y:-3.85, Z:-0.27 [[ 9.84534824e-01 1.75187328e-01 7.62083333e-04 1.01785482e+02] [-1.75187280e-01 9.84535119e-01 -1.30087118e-04 -3.85327059e+00] [-7.73087419e-04 -5.43200850e-06 9.99999701e-01 -2.69010902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:-3.86, Z:-0.27 [[ 9.84140683e-01 1.77388093e-01 7.62071534e-04 1.01816497e+02] [-1.77388045e-01 9.84140978e-01 -1.30156201e-04 -3.86270428e+00] [-7.73073985e-04 -7.09036682e-06 9.99999701e-01 -2.65195393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.85, Y:-3.87, Z:-0.26 [[ 9.83750342e-01 1.79540200e-01 7.62050057e-04 1.01848304e+02] [-1.79540153e-01 9.83750637e-01 -1.30281824e-04 -3.86899212e+00] [-7.73058054e-04 -8.65379532e-06 9.99999701e-01 -2.60843640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:-3.87, Z:-0.26 [[ 9.83237824e-01 1.82326085e-01 7.62028345e-04 1.01879233e+02] [-1.82326038e-01 9.83238119e-01 -1.30408698e-04 -3.87398859e+00] [-7.73032224e-04 -1.07148445e-05 9.99999701e-01 -2.58297171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.91, Y:-3.88, Z:-0.26 [[ 9.82676186e-01 1.85329254e-01 7.62008364e-04 1.01910074e+02] [-1.85329209e-01 9.82676482e-01 -1.30525348e-04 -3.87837888e+00] [-7.72997863e-04 -1.29582564e-05 9.99999701e-01 -2.56737071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:-3.88, Z:-0.26 [[ 9.81572923e-01 1.91086411e-01 7.61988488e-04 1.01942362e+02] [-1.91086368e-01 9.81573218e-01 -1.30641280e-04 -3.88049076e+00] [-7.72911266e-04 -1.73716692e-05 9.99999701e-01 -2.58086454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:-3.88, Z:-0.26 [[ 9.81126921e-01 1.93363346e-01 7.61967218e-04 1.01972928e+02] [-1.93363303e-01 9.81127217e-01 -1.30765217e-04 -3.88405347e+00] [-7.72871976e-04 -1.90392236e-05 9.99999701e-01 -2.60142977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.01, Y:-3.89, Z:-0.26 [[ 9.80791028e-01 1.95059935e-01 7.61947569e-04 1.02005831e+02] [-1.95059892e-01 9.80791324e-01 -1.30879608e-04 -3.88801342e+00] [-7.72840933e-04 -2.02598652e-05 9.99999701e-01 -2.60645275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.04, Y:-3.89, Z:-0.26 [[ 9.80512983e-01 1.96452820e-01 7.61923361e-04 1.02037650e+02] [-1.96452778e-01 9.80513278e-01 -1.31020387e-04 -3.88985021e+00] [-7.72815297e-04 -2.12147697e-05 9.99999701e-01 -2.57326830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.294203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.07, Y:-3.89, Z:-0.26 [[ 9.80626685e-01 1.95884464e-01 7.61902751e-04 1.02069121e+02] [-1.95884422e-01 9.80626981e-01 -1.31140128e-04 -3.89333649e+00] [-7.72830708e-04 -2.06453708e-05 9.99999701e-01 -2.60024223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.10, Y:-3.90, Z:-0.26 [[ 9.80838525e-01 1.94820963e-01 7.61878985e-04 1.02100307e+02] [-1.94820920e-01 9.80838821e-01 -1.31278057e-04 -3.89772265e+00] [-7.72856202e-04 -1.96673893e-05 9.99999701e-01 -2.62270003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.13, Y:-3.90, Z:-0.26 [[ 9.81651336e-01 1.90683175e-01 7.61856016e-04 1.02131859e+02] [-1.90683131e-01 9.81651632e-01 -1.31411214e-04 -3.89843443e+00] [-7.72935109e-04 -1.62730961e-05 9.99999701e-01 -2.61731503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.16, Y:-3.90, Z:-0.26 [[ 9.82091435e-01 1.88403376e-01 7.61836813e-04 1.02163770e+02] [-1.88403331e-01 9.82091731e-01 -1.31522449e-04 -3.90157030e+00] [-7.72972908e-04 -1.43655221e-05 9.99999701e-01 -2.62893179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.20, Y:-3.91, Z:-0.27 [[ 9.83319442e-01 1.81885387e-01 7.61816173e-04 1.02195375e+02] [-1.81885339e-01 9.83319737e-01 -1.31641891e-04 -3.90543613e+00] [-7.73052616e-04 -9.11716278e-06 9.99999701e-01 -2.66572856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.23, Y:-3.91, Z:-0.27 [[ 9.84053271e-01 1.77872367e-01 7.61795397e-04 1.02226763e+02] [-1.77872318e-01 9.84053566e-01 -1.31762014e-04 -3.91111567e+00] [-7.73084298e-04 -5.84147182e-06 9.99999701e-01 -2.66742650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.26, Y:-3.92, Z:-0.27 [[ 9.84842546e-01 1.73449069e-01 7.61773092e-04 1.02258120e+02] [-1.73449019e-01 9.84842841e-01 -1.31890840e-04 -3.91691270e+00] [-7.73103119e-04 -2.23708490e-06 9.99999701e-01 -2.65655093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.29, Y:-3.92, Z:-0.26 [[ 9.86505606e-01 1.63725716e-01 7.61752454e-04 1.02290627e+02] [-1.63725663e-01 9.86505900e-01 -1.32009932e-04 -3.92480036e+00] [-7.73086710e-04 5.51011249e-06 9.99999701e-01 -2.61399071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:-3.93, Z:-0.26 [[ 9.87221602e-01 1.59351590e-01 7.61727049e-04 1.02322322e+02] [-1.59351535e-01 9.87221895e-01 -1.32156359e-04 -3.93164377e+00] [-7.73052947e-04 9.08523738e-06 9.99999701e-01 -2.64201917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.36, Y:-3.94, Z:-0.26 [[ 9.87846777e-01 1.55428968e-01 7.61703275e-04 1.02355061e+02] [-1.55428912e-01 9.87847071e-01 -1.32293246e-04 -3.93825297e+00] [-7.73008552e-04 1.22947457e-05 9.99999701e-01 -2.61502040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.39, Y:-3.94, Z:-0.26 [[ 9.87816909e-01 1.55618685e-01 7.61677899e-04 1.02387992e+02] [-1.55618629e-01 9.87817202e-01 -1.32439188e-04 -3.94416944e+00] [-7.73008543e-04 1.22943991e-05 9.99999701e-01 -2.61527948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.624203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:102.42, Y:-3.95, Z:-0.26 [[ 9.88350707e-01 1.52191653e-01 7.61652435e-04 1.02419845e+02] [-1.52191596e-01 9.88351001e-01 -1.32585466e-04 -3.95066386e+00] [-7.72958348e-04 1.51238402e-05 9.99999701e-01 -2.61558837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.45, Y:-3.96, Z:-0.26 [[ 9.89053199e-01 1.47557408e-01 7.61626511e-04 1.02450889e+02] [-1.47557350e-01 9.89053492e-01 -1.32734220e-04 -3.96188921e+00] [-7.72875278e-04 1.88976160e-05 9.99999701e-01 -2.61114385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.48, Y:-3.97, Z:-0.26 [[ 9.89161401e-01 1.46830318e-01 7.61603409e-04 1.02482181e+02] [-1.46830259e-01 9.89161694e-01 -1.32866639e-04 -3.96908303e+00] [-7.72857769e-04 1.96001247e-05 9.99999701e-01 -2.63117158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.51, Y:-3.97, Z:-0.26 [[ 9.88828101e-01 1.49058402e-01 7.61578609e-04 1.02513510e+02] [-1.49058344e-01 9.88828394e-01 -1.33008641e-04 -3.97469102e+00] [-7.72896608e-04 1.80030359e-05 9.99999701e-01 -2.62713222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.744203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.55, Y:-3.98, Z:-0.26 [[ 9.88402958e-01 1.51851943e-01 7.61555778e-04 1.02545292e+02] [-1.51851885e-01 9.88403251e-01 -1.33139234e-04 -3.97956821e+00] [-7.72941658e-04 1.59515320e-05 9.99999701e-01 -2.63496015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.58, Y:-3.98, Z:-0.26 [[ 9.87826207e-01 1.55559649e-01 7.61531470e-04 1.02577342e+02] [-1.55559592e-01 9.87826501e-01 -1.33278125e-04 -3.98491211e+00] [-7.72993666e-04 1.31920993e-05 9.99999701e-01 -2.61708647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.61, Y:-3.99, Z:-0.26 [[ 9.86395485e-01 1.64387856e-01 7.61505009e-04 1.02608469e+02] [-1.64387802e-01 9.86395779e-01 -1.33429146e-04 -3.98893246e+00] [-7.73079457e-04 6.43177190e-06 9.99999701e-01 -2.62277554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.834203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:102.64, Y:-3.99, Z:-0.26 [[ 9.85715084e-01 1.68419693e-01 7.61483635e-04 1.02638775e+02] [-1.68419640e-01 9.85715378e-01 -1.33551011e-04 -3.99398963e+00] [-7.73098750e-04 3.39444641e-06 9.99999701e-01 -2.62833992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.67, Y:-4.00, Z:-0.26 [[ 9.85040694e-01 1.72320198e-01 7.61470892e-04 1.02669775e+02] [-1.72320146e-01 9.85040989e-01 -1.33623629e-04 -4.00011894e+00] [-7.73106091e-04 4.07937161e-07 9.99999701e-01 -2.61820915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89420382200001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:102.70, Y:-4.00, Z:-0.26 [[ 9.84108043e-01 1.77569087e-01 7.61450348e-04 1.02702028e+02] [-1.77569037e-01 9.84108337e-01 -1.33740598e-04 -4.00160514e+00] [-7.73097832e-04 -3.59480745e-06 9.99999701e-01 -2.60375191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.73, Y:-4.01, Z:-0.26 [[ 9.83759440e-01 1.79490345e-01 7.61428343e-04 1.02734657e+02] [-1.79490295e-01 9.83759735e-01 -1.33865761e-04 -4.00586250e+00] [-7.73090157e-04 -4.97729194e-06 9.99999701e-01 -2.59908892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.77, Y:-4.01, Z:-0.26 [[ 9.83709844e-01 1.79761962e-01 7.61403210e-04 1.02766577e+02] [-1.79761912e-01 9.83710139e-01 -1.34008563e-04 -4.00785538e+00] [-7.73089699e-04 -5.04575423e-06 9.99999701e-01 -2.58682417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.80, Y:-4.01, Z:-0.26 [[ 9.83845591e-01 1.79017524e-01 7.61380978e-04 1.02799708e+02] [-1.79017473e-01 9.83845885e-01 -1.34134756e-04 -4.01180321e+00] [-7.73094014e-04 -4.33261052e-06 9.99999701e-01 -2.59667975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.83, Y:-4.02, Z:-0.26 [[ 9.84102618e-01 1.77599147e-01 7.61355566e-04 1.02831683e+02] [-1.77599096e-01 9.84102913e-01 -1.34278839e-04 -4.01632850e+00] [-7.73100038e-04 -3.07190347e-06 9.99999701e-01 -2.62713587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.86, Y:-4.02, Z:-0.26 [[ 9.84890451e-01 1.73176845e-01 7.61331876e-04 1.02863918e+02] [-1.73176792e-01 9.84890745e-01 -1.34413022e-04 -4.02442854e+00] [-7.73105942e-04 5.37089771e-07 9.99999701e-01 -2.58175893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.89, Y:-4.03, Z:-0.26 [[ 9.85365499e-01 1.70453081e-01 7.61305577e-04 1.02894037e+02] [-1.70453028e-01 9.85365794e-01 -1.34561814e-04 -4.03101049e+00] [-7.73100950e-04 2.82572776e-06 9.99999701e-01 -2.60154823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.92, Y:-4.04, Z:-0.26 [[ 9.85794142e-01 1.67956331e-01 7.61292638e-04 1.02924731e+02] [-1.67956277e-01 9.85794436e-01 -1.34634977e-04 -4.03658976e+00] [-7.73090844e-04 4.85849440e-06 9.99999701e-01 -2.61312176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.96, Y:-4.04, Z:-0.26 [[ 9.86549008e-01 1.63463990e-01 7.61272140e-04 1.02956643e+02] [-1.63463935e-01 9.86549301e-01 -1.34750784e-04 -4.04098732e+00] [-7.73059398e-04 8.49771285e-06 9.99999701e-01 -2.62299914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.99, Y:-4.05, Z:-0.27 [[ 9.86830203e-01 1.61757756e-01 7.61259515e-04 1.02988377e+02] [-1.61757700e-01 9.86830496e-01 -1.34822067e-04 -4.04699143e+00] [-7.73042620e-04 9.90689974e-06 9.99999701e-01 -2.67645016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.02, Y:-4.06, Z:-0.26 [[ 9.87155916e-01 1.59757996e-01 7.61242803e-04 1.03019709e+02] [-1.59757940e-01 9.87156210e-01 -1.34916360e-04 -4.05629827e+00] [-7.73019528e-04 1.15689015e-05 9.99999701e-01 -2.62382053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.05, Y:-4.06, Z:-0.26 [[ 9.87235174e-01 1.59267482e-01 7.61220282e-04 1.03050225e+02] [-1.59267425e-01 9.87235468e-01 -1.35043312e-04 -4.06475037e+00] [-7.73011669e-04 1.20819131e-05 9.99999701e-01 -2.60225372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.08, Y:-4.07, Z:-0.26 [[ 9.87269081e-01 1.59057166e-01 7.61208367e-04 1.03081036e+02] [-1.59057109e-01 9.87269374e-01 -1.35110439e-04 -4.07281226e+00] [-7.73007992e-04 1.23147565e-05 9.99999701e-01 -2.57142985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.284203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:103.11, Y:-4.08, Z:-0.26 [[ 9.87249042e-01 1.59181502e-01 7.61185571e-04 1.03111476e+02] [-1.59181445e-01 9.87249335e-01 -1.35238747e-04 -4.07930071e+00] [-7.73007455e-04 1.23477045e-05 9.99999701e-01 -2.58215676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.14, Y:-4.09, Z:-0.26 [[ 9.87078564e-01 1.60235232e-01 7.61164490e-04 1.03142124e+02] [-1.60235175e-01 9.87078857e-01 -1.35357294e-04 -4.08587026e+00] [-7.73018382e-04 1.16429579e-05 9.99999701e-01 -2.60059335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.17, Y:-4.09, Z:-0.26 [[ 9.86976703e-01 1.60861455e-01 7.61143544e-04 1.03173999e+02] [-1.60861398e-01 9.86976997e-01 -1.35474975e-04 -4.09268412e+00] [-7.73023870e-04 1.12720296e-05 9.99999701e-01 -2.59970159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.374203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.20, Y:-4.10, Z:-0.27 [[ 9.86694892e-01 1.62581089e-01 7.61117458e-04 1.03204118e+02] [-1.62581033e-01 9.86695186e-01 -1.35621370e-04 -4.10366763e+00] [-7.73040401e-04 1.00736508e-05 9.99999701e-01 -2.65005331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:-4.11, Z:-0.26 [[ 9.86492504e-01 1.63804638e-01 7.61094753e-04 1.03234485e+02] [-1.63804582e-01 9.86492798e-01 -1.35748667e-04 -4.11379313e+00] [-7.73050754e-04 9.24423511e-06 9.99999701e-01 -2.64716905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.434203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:103.27, Y:-4.12, Z:-0.26 [[ 9.86216201e-01 1.65460043e-01 7.61071975e-04 1.03266512e+02] [-1.65459987e-01 9.86216495e-01 -1.35876252e-04 -4.12324739e+00] [-7.73063826e-04 8.07640205e-06 9.99999701e-01 -2.64732426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.30, Y:-4.14, Z:-0.26 [[ 9.85447538e-01 1.69978147e-01 7.61046046e-04 1.03298172e+02] [-1.69978093e-01 9.85447832e-01 -1.36021325e-04 -4.13529372e+00] [-7.73091829e-04 4.68072484e-06 9.99999701e-01 -2.62467014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.33, Y:-4.14, Z:-0.26 [[ 9.84865850e-01 1.73316700e-01 7.61020235e-04 1.03329949e+02] [-1.73316647e-01 9.84866144e-01 -1.36165582e-04 -4.14203432e+00] [-7.73102834e-04 2.20735629e-06 9.99999701e-01 -2.60317238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.36, Y:-4.15, Z:-0.26 [[ 9.84238817e-01 1.76842790e-01 7.60996489e-04 1.03361437e+02] [-1.76842737e-01 9.84239111e-01 -1.36298167e-04 -4.14823358e+00] [-7.73105856e-04 -4.26755026e-07 9.99999701e-01 -2.61934529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.39, Y:-4.15, Z:-0.26 [[ 9.83569205e-01 1.80529887e-01 7.60971177e-04 1.03392197e+02] [-1.80529835e-01 9.83569499e-01 -1.36439339e-04 -4.15445249e+00] [-7.73099418e-04 -3.18046869e-06 9.99999701e-01 -2.63475084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.42, Y:-4.16, Z:-0.27 [[ 9.82388775e-01 1.86846769e-01 7.60949755e-04 1.03422173e+02] [-1.86846720e-01 9.82389070e-01 -1.36558709e-04 -4.16289826e+00] [-7.73064276e-04 -8.02722225e-06 9.99999701e-01 -2.65704359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.45, Y:-4.17, Z:-0.27 [[ 9.81792614e-01 1.89954425e-01 7.60928559e-04 1.03454040e+02] [-1.89954376e-01 9.81792909e-01 -1.36676712e-04 -4.17019965e+00] [-7.73036610e-04 -1.03535231e-05 9.99999701e-01 -2.65875457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.49, Y:-4.18, Z:-0.26 [[ 9.80695758e-01 1.95538362e-01 7.60920624e-04 1.03485891e+02] [-1.95538315e-01 9.80696053e-01 -1.36720876e-04 -4.17716162e+00] [-7.72966029e-04 -1.47075536e-05 9.99999701e-01 -2.64641107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.52, Y:-4.18, Z:-0.26 [[ 9.80154552e-01 1.98233388e-01 7.60894878e-04 1.03516870e+02] [-1.98233341e-01 9.80154847e-01 -1.36864014e-04 -4.18301620e+00] [-7.72925819e-04 -1.66868482e-05 9.99999701e-01 -2.64008157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.55, Y:-4.19, Z:-0.26 [[ 9.79710853e-01 2.00414734e-01 7.60874127e-04 1.03547886e+02] [-2.00414688e-01 9.79711148e-01 -1.36979277e-04 -4.18935747e+00] [-7.72889530e-04 -1.82902666e-05 9.99999701e-01 -2.59705747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.58, Y:-4.20, Z:-0.26 [[ 9.78906564e-01 2.04307024e-01 7.60852836e-04 1.03580150e+02] [-2.04306979e-01 9.78906860e-01 -1.37097434e-04 -4.19601720e+00] [-7.72814029e-04 -2.12419664e-05 9.99999701e-01 -2.58416868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.61, Y:-4.20, Z:-0.26 [[ 9.78569863e-01 2.05913683e-01 7.60826666e-04 1.03610535e+02] [-2.05913639e-01 9.78570158e-01 -1.37242514e-04 -4.20106936e+00] [-7.72782382e-04 -2.23631994e-05 9.99999701e-01 -2.61954756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.64, Y:-4.21, Z:-0.26 [[ 9.78315013e-01 2.07121117e-01 7.60805509e-04 1.03642752e+02] [-2.07121073e-01 9.78315308e-01 -1.37359700e-04 -4.20629491e+00] [-7.72757770e-04 -2.31977960e-05 9.99999701e-01 -2.60731789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.67, Y:-4.21, Z:-0.26 [[ 9.78266273e-01 2.07351199e-01 7.60779953e-04 1.03673701e+02] [-2.07351155e-01 9.78266569e-01 -1.37501096e-04 -4.21007874e+00] [-7.72756611e-04 -2.32359174e-05 9.99999701e-01 -2.63119408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.70, Y:-4.22, Z:-0.27 [[ 9.78428763e-01 2.06583099e-01 7.60759293e-04 1.03704691e+02] [-2.06583054e-01 9.78429059e-01 -1.37615309e-04 -4.21520647e+00] [-7.72777996e-04 -2.25132014e-05 9.99999701e-01 -2.67123764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:-4.22, Z:-0.26 [[ 9.78770150e-01 2.04959546e-01 7.60738784e-04 1.03737327e+02] [-2.04959501e-01 9.78770445e-01 -1.37728589e-04 -4.22075734e+00] [-7.72817427e-04 -2.11160100e-05 9.99999701e-01 -2.61474687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.914203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:103.77, Y:-4.23, Z:-0.26 [[ 9.79797014e-01 1.99993081e-01 7.60712216e-04 1.03768733e+02] [-1.99993035e-01 9.79797309e-01 -1.37875175e-04 -4.22739492e+00] [-7.72917863e-04 -1.70474596e-05 9.99999701e-01 -2.58325943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:-4.24, Z:-0.26 [[ 9.80251210e-01 1.97754865e-01 7.60688701e-04 1.03799632e+02] [-1.97754817e-01 9.80251505e-01 -1.38004790e-04 -4.23516359e+00] [-7.72957363e-04 -1.51504921e-05 9.99999701e-01 -2.62305317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:-4.24, Z:-0.26 [[ 9.80686465e-01 1.95584966e-01 7.60663479e-04 1.03830706e+02] [-1.95584917e-01 9.80686760e-01 -1.38143674e-04 -4.24243100e+00] [-7.72991428e-04 -1.32986721e-05 9.99999701e-01 -2.61194922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.86, Y:-4.25, Z:-0.26 [[ 9.81059772e-01 1.93703758e-01 7.60640986e-04 1.03862324e+02] [-1.93703709e-01 9.81060066e-01 -1.38267413e-04 -4.24884274e+00] [-7.73017413e-04 -1.16903837e-05 9.99999701e-01 -2.58549239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.89, Y:-4.25, Z:-0.26 [[ 9.81518420e-01 1.91366176e-01 7.60617279e-04 1.03893432e+02] [-1.91366126e-01 9.81518714e-01 -1.38397703e-04 -4.25378685e+00] [-7.73044733e-04 -9.71648717e-06 9.99999701e-01 -2.63090259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.92, Y:-4.26, Z:-0.27 [[ 9.81654168e-01 1.90668601e-01 7.60591984e-04 1.03924780e+02] [-1.90668551e-01 9.81654463e-01 -1.38536574e-04 -4.25912182e+00] [-7.73053091e-04 -9.02596623e-06 9.99999701e-01 -2.65199535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.96, Y:-4.26, Z:-0.26 [[ 9.81687294e-01 1.90497973e-01 7.60569136e-04 1.03956136e+02] [-1.90497923e-01 9.81687589e-01 -1.38661896e-04 -4.26444103e+00] [-7.73056092e-04 -8.76421900e-06 9.99999701e-01 -2.64007249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.99, Y:-4.27, Z:-0.26 [[ 9.81445552e-01 1.91739537e-01 7.60545224e-04 1.03986670e+02] [-1.91739487e-01 9.81445847e-01 -1.38792929e-04 -4.26871456e+00] [-7.73046043e-04 -9.60884830e-06 9.99999701e-01 -2.64466235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.02, Y:-4.27, Z:-0.26 [[ 9.81153372e-01 1.93229091e-01 7.60523124e-04 1.04017060e+02] [-1.93229042e-01 9.81153667e-01 -1.38913922e-04 -4.27319116e+00] [-7.73032263e-04 -1.06592910e-05 9.99999701e-01 -2.64398272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:-4.28, Z:-0.26 [[ 9.80729581e-01 1.95368652e-01 7.60502050e-04 1.04048802e+02] [-1.95368603e-01 9.80729876e-01 -1.39029200e-04 -4.27753993e+00] [-7.73009028e-04 -1.22281735e-05 9.99999701e-01 -2.62290824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:-4.28, Z:-0.27 [[ 9.79826636e-01 1.99847904e-01 7.60478902e-04 1.04080844e+02] [-1.99847856e-01 9.79826931e-01 -1.39155702e-04 -4.27847783e+00] [-7.72947684e-04 -1.56316152e-05 9.99999701e-01 -2.66978595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.11, Y:-4.28, Z:-0.27 [[ 9.79457742e-01 2.01648091e-01 7.60455941e-04 1.04112099e+02] [-2.01648043e-01 9.79458038e-01 -1.39281065e-04 -4.28219287e+00] [-7.72920444e-04 -1.69245345e-05 9.99999701e-01 -2.70402799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.14, Y:-4.29, Z:-0.27 [[ 9.79209395e-01 2.02850641e-01 7.60434770e-04 1.04144836e+02] [-2.02850593e-01 9.79209690e-01 -1.39396555e-04 -4.28671878e+00] [-7.72901776e-04 -1.77562283e-05 9.99999701e-01 -2.69635345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.18, Y:-4.29, Z:-0.27 [[ 9.79331439e-01 2.02260611e-01 7.60409057e-04 1.04177200e+02] [-2.02260563e-01 9.79331734e-01 -1.39536683e-04 -4.28929545e+00] [-7.72915495e-04 -1.71481034e-05 9.99999701e-01 -2.65639957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:-4.29, Z:-0.27 [[ 9.79774447e-01 2.00103610e-01 7.60386229e-04 1.04208002e+02] [-2.00103561e-01 9.79774742e-01 -1.39660970e-04 -4.29295164e+00] [-7.72953885e-04 -1.53197432e-05 9.99999701e-01 -2.65094748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.24, Y:-4.30, Z:-0.27 [[ 9.81656436e-01 1.90656926e-01 7.60365019e-04 1.04238750e+02] [-1.90656875e-01 9.81656731e-01 -1.39776345e-04 -4.29561140e+00] [-7.73066767e-04 -7.75646905e-06 9.99999701e-01 -2.66666657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.27, Y:-4.30, Z:-0.27 [[ 9.82732268e-01 1.85031648e-01 7.60344438e-04 1.04270279e+02] [-1.85031595e-01 9.82732562e-01 -1.39888211e-04 -4.30131512e+00] [-7.73098984e-04 -3.21508523e-06 9.99999701e-01 -2.68287768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.30, Y:-4.31, Z:-0.27 [[ 9.83814216e-01 1.79189872e-01 7.60321994e-04 1.04301994e+02] [-1.79189817e-01 9.83814510e-01 -1.40010095e-04 -4.30687496e+00] [-7.73104201e-04 1.50196314e-06 9.99999701e-01 -2.68312220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:-4.31, Z:-0.26 [[ 9.84792231e-01 1.73734521e-01 7.60313721e-04 1.04333071e+02] [-1.73734464e-01 9.84792524e-01 -1.40055005e-04 -4.31288279e+00] [-7.73083658e-04 5.83238340e-06 9.99999701e-01 -2.64820293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:-4.32, Z:-0.27 [[ 9.86433367e-01 1.64160393e-01 7.60290905e-04 1.04362820e+02] [-1.64160333e-01 9.86433660e-01 -1.40178756e-04 -4.32121005e+00] [-7.72988339e-04 1.34673941e-05 9.99999701e-01 -2.65069810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.40, Y:-4.33, Z:-0.27 [[ 9.86401122e-01 1.64354035e-01 7.60277355e-04 1.04395684e+02] [-1.64353976e-01 9.86401415e-01 -1.40252208e-04 -4.32746063e+00] [-7.72989674e-04 1.33903298e-05 9.99999701e-01 -2.65095695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.43, Y:-4.33, Z:-0.27 [[ 9.86947206e-01 1.61042338e-01 7.60249793e-04 1.04425924e+02] [-1.61042278e-01 9.86947499e-01 -1.40401452e-04 -4.33417394e+00] [-7.72937209e-04 1.61364624e-05 9.99999701e-01 -2.67909170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.46, Y:-4.34, Z:-0.27 [[ 9.87195300e-01 1.59514454e-01 7.60227523e-04 1.04458147e+02] [-1.59514393e-01 9.87195593e-01 -1.40521930e-04 -4.34048350e+00] [-7.72908539e-04 1.74553571e-05 9.99999701e-01 -2.66884139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.49, Y:-4.35, Z:-0.26 [[ 9.87020757e-01 1.60590934e-01 7.60200684e-04 1.04490339e+02] [-1.60590873e-01 9.87021049e-01 -1.40666974e-04 -4.34645388e+00] [-7.72923918e-04 1.67599320e-05 9.99999701e-01 -2.63809012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.634203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.52, Y:-4.35, Z:-0.27 [[ 9.86642661e-01 1.62897765e-01 7.60172698e-04 1.04521869e+02] [-1.62897705e-01 9.86642954e-01 -1.40818051e-04 -4.35242803e+00] [-7.72957982e-04 1.51067086e-05 9.99999701e-01 -2.65600551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.55, Y:-4.36, Z:-0.26 [[ 9.85552580e-01 1.69368044e-01 7.60146593e-04 1.04553383e+02] [-1.69367986e-01 9.85552873e-01 -1.40958827e-04 -4.35979084e+00] [-7.73038580e-04 1.01778382e-05 9.99999701e-01 -2.61041513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.694203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:104.58, Y:-4.36, Z:-0.26 [[ 9.84978751e-01 1.72673919e-01 7.60122019e-04 1.04583675e+02] [-1.72673861e-01 9.84979044e-01 -1.41091218e-04 -4.36450257e+00] [-7.73067033e-04 7.71864776e-06 9.99999701e-01 -2.60725032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.61, Y:-4.37, Z:-0.26 [[ 9.84375910e-01 1.76078079e-01 7.60109818e-04 1.04614544e+02] [-1.76078023e-01 9.84376203e-01 -1.41156918e-04 -4.36979749e+00] [-7.73088656e-04 5.11283530e-06 9.99999701e-01 -2.60735176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.65, Y:-4.37, Z:-0.26 [[ 9.83253631e-01 1.82240826e-01 7.60087772e-04 1.04645906e+02] [-1.82240772e-01 9.83253925e-01 -1.41275530e-04 -4.37441464e+00] [-7.73105455e-04 3.90696030e-07 9.99999701e-01 -2.61256998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.68, Y:-4.38, Z:-0.26 [[ 9.82804839e-01 1.84645798e-01 7.60064111e-04 1.04676661e+02] [-1.84645744e-01 9.82805133e-01 -1.41402714e-04 -4.38136594e+00] [-7.73104326e-04 -1.37133182e-06 9.99999701e-01 -2.61245600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.71, Y:-4.39, Z:-0.26 [[ 9.82503251e-01 1.86243883e-01 7.60039015e-04 1.04708376e+02] [-1.86243829e-01 9.82503545e-01 -1.41537473e-04 -4.38783984e+00] [-7.73101516e-04 -2.49154873e-06 9.99999701e-01 -2.59855963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.74, Y:-4.39, Z:-0.26 [[ 9.82211809e-01 1.87774822e-01 7.60015511e-04 1.04740690e+02] [-1.87774768e-01 9.82212104e-01 -1.41663573e-04 -4.39329830e+00] [-7.73097286e-04 -3.56810176e-06 9.99999701e-01 -2.58312433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.77, Y:-4.40, Z:-0.26 [[ 9.81824539e-01 1.89789351e-01 7.59987615e-04 1.04771827e+02] [-1.89789298e-01 9.81824833e-01 -1.41813071e-04 -4.39805183e+00] [-7.73089323e-04 -5.00196264e-06 9.99999701e-01 -2.61509345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.80, Y:-4.40, Z:-0.26 [[ 9.81614161e-01 1.90874466e-01 7.59965118e-04 1.04802408e+02] [-1.90874414e-01 9.81614455e-01 -1.41933526e-04 -4.40387510e+00] [-7.73084231e-04 -5.73393766e-06 9.99999701e-01 -2.61153661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.83, Y:-4.41, Z:-0.26 [[ 9.81362958e-01 1.92161825e-01 7.59942752e-04 1.04832901e+02] [-1.92161772e-01 9.81363252e-01 -1.42053179e-04 -4.40809245e+00] [-7.73077089e-04 -6.62621779e-06 9.99999701e-01 -2.60905771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:-4.41, Z:-0.26 [[ 9.80790623e-01 1.95061980e-01 7.59920670e-04 1.04866108e+02] [-1.95061928e-01 9.80790918e-01 -1.42171208e-04 -4.41133455e+00] [-7.73055489e-04 -8.79140362e-06 9.99999701e-01 -2.59624924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:-4.42, Z:-0.26 [[ 9.80604909e-01 1.95993456e-01 7.59893347e-04 1.04896718e+02] [-1.95993405e-01 9.80605203e-01 -1.42317099e-04 -4.41786215e+00] [-7.73048590e-04 -9.37723836e-06 9.99999701e-01 -2.60289841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:-4.42, Z:-0.26 [[ 9.80829801e-01 1.94864887e-01 7.59871308e-04 1.04928624e+02] [-1.94864835e-01 9.80830095e-01 -1.42434674e-04 -4.42250730e+00] [-7.73060164e-04 -8.36802404e-06 9.99999701e-01 -2.61268215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.96, Y:-4.43, Z:-0.26 [[ 9.81177825e-01 1.93104891e-01 7.59847835e-04 1.04960937e+02] [-1.93104838e-01 9.81178119e-01 -1.42559784e-04 -4.42554250e+00] [-7.73075061e-04 -6.85379446e-06 9.99999701e-01 -2.62084556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.99, Y:-4.43, Z:-0.27 [[ 9.81565298e-01 1.91125582e-01 7.59823526e-04 1.04991663e+02] [-1.91125529e-01 9.81565592e-01 -1.42689232e-04 -4.42896124e+00] [-7.73088192e-04 -5.16287497e-06 9.99999701e-01 -2.66702693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.02, Y:-4.43, Z:-0.27 [[ 9.81995699e-01 1.88901745e-01 7.59801058e-04 1.05024552e+02] [-1.88901691e-01 9.81995993e-01 -1.42808769e-04 -4.43421944e+00] [-7.73098421e-04 -3.29010722e-06 9.99999701e-01 -2.67015951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.06, Y:-4.44, Z:-0.27 [[ 9.82795908e-01 1.84693328e-01 7.59773583e-04 1.05055106e+02] [-1.84693272e-01 9.82796202e-01 -1.42954796e-04 -4.44029530e+00] [-7.73105388e-04 1.70319563e-07 9.99999701e-01 -2.65945949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.09, Y:-4.45, Z:-0.26 [[ 9.83042291e-01 1.83377417e-01 7.59760771e-04 1.05086996e+02] [-1.83377361e-01 9.83042584e-01 -1.43022853e-04 -4.44610871e+00] [-7.73104353e-04 1.27458758e-06 9.99999701e-01 -2.62056172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.12, Y:-4.45, Z:-0.25 [[ 9.83451608e-01 1.81169419e-01 7.59737446e-04 1.05118761e+02] [-1.81169362e-01 9.83451901e-01 -1.43146647e-04 -4.45299129e+00] [-7.73099031e-04 3.13665103e-06 9.99999701e-01 -2.53832721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.15, Y:-4.46, Z:-0.26 [[ 9.83584466e-01 1.80446725e-01 7.59712827e-04 1.05149933e+02] [-1.80446668e-01 9.83584760e-01 -1.43277188e-04 -4.45977819e+00] [-7.73095858e-04 3.83756822e-06 9.99999701e-01 -2.56052972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.18, Y:-4.47, Z:-0.25 [[ 9.83695765e-01 1.79838996e-01 7.59686470e-04 1.05181994e+02] [-1.79838939e-01 9.83696058e-01 -1.43416802e-04 -4.46576848e+00] [-7.73092520e-04 4.45729204e-06 9.99999701e-01 -2.54320887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.21, Y:-4.47, Z:-0.26 [[ 9.83839665e-01 1.79050093e-01 7.59658760e-04 1.05212631e+02] [-1.79050035e-01 9.83839959e-01 -1.43563430e-04 -4.46962626e+00] [-7.73087688e-04 5.22646960e-06 9.99999701e-01 -2.58827161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.324203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.24, Y:-4.47, Z:-0.26 [[ 9.83986691e-01 1.78240332e-01 7.59645029e-04 1.05244889e+02] [-1.78240274e-01 9.83986984e-01 -1.43636046e-04 -4.47180135e+00] [-7.73082558e-04 5.93661983e-06 9.99999701e-01 -2.57841967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.28, Y:-4.48, Z:-0.26 [[ 9.83957923e-01 1.78399070e-01 7.59619925e-04 1.05275992e+02] [-1.78399012e-01 9.83958217e-01 -1.43768686e-04 -4.47817194e+00] [-7.73082467e-04 5.94689383e-06 9.99999701e-01 -2.60036430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.31, Y:-4.49, Z:-0.26 [[ 9.83967039e-01 1.78348783e-01 7.59593041e-04 1.05307530e+02] [-1.78348725e-01 9.83967333e-01 -1.43910588e-04 -4.48523673e+00] [-7.73081017e-04 6.13082459e-06 9.99999701e-01 -2.59331109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.34, Y:-4.49, Z:-0.26 [[ 9.83974067e-01 1.78310005e-01 7.59567965e-04 1.05338586e+02] [-1.78309947e-01 9.83974361e-01 -1.44042820e-04 -4.49142557e+00] [-7.73079678e-04 6.29587586e-06 9.99999701e-01 -2.60952811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.37, Y:-4.50, Z:-0.26 [[ 9.84056411e-01 1.77855005e-01 7.59541258e-04 1.05369510e+02] [-1.77854947e-01 9.84056704e-01 -1.44183507e-04 -4.49805808e+00] [-7.73075426e-04 6.79653425e-06 9.99999701e-01 -2.62304589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.40, Y:-4.51, Z:-0.26 [[ 9.84302336e-01 1.76488905e-01 7.59517007e-04 1.05400570e+02] [-1.76488846e-01 9.84302629e-01 -1.44311142e-04 -4.50722513e+00] [-7.73063903e-04 7.99951388e-06 9.99999701e-01 -2.64738304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.43, Y:-4.51, Z:-0.27 [[ 9.84473669e-01 1.75530674e-01 7.59492566e-04 1.05430756e+02] [-1.75530615e-01 9.84473962e-01 -1.44439657e-04 -4.51309854e+00] [-7.73054246e-04 8.88284225e-06 9.99999701e-01 -2.67352566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.46, Y:-4.52, Z:-0.27 [[ 9.84643659e-01 1.74574591e-01 7.59470011e-04 1.05463221e+02] [-1.74574531e-01 9.84643952e-01 -1.44558157e-04 -4.51889184e+00] [-7.73043734e-04 9.75415131e-06 9.99999701e-01 -2.67827476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.50, Y:-4.53, Z:-0.27 [[ 9.84837883e-01 1.73475551e-01 7.59442518e-04 1.05495103e+02] [-1.73475491e-01 9.84838176e-01 -1.44702447e-04 -4.52506694e+00] [-7.73030321e-04 1.07637882e-05 9.99999701e-01 -2.67230086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.53, Y:-4.53, Z:-0.27 [[ 9.85204443e-01 1.71381530e-01 7.59418168e-04 1.05526641e+02] [-1.71381470e-01 9.85204736e-01 -1.44830125e-04 -4.53192680e+00] [-7.73003584e-04 1.25370807e-05 9.99999701e-01 -2.68300367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.56, Y:-4.54, Z:-0.27 [[ 9.85269503e-01 1.71007107e-01 7.59393864e-04 1.05557043e+02] [-1.71007046e-01 9.85269795e-01 -1.44957448e-04 -4.53865056e+00] [-7.72996591e-04 1.29604507e-05 9.99999701e-01 -2.67626658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.59, Y:-4.55, Z:-0.26 [[ 9.85190727e-01 1.71460361e-01 7.59371410e-04 1.05588632e+02] [-1.71460300e-01 9.85191019e-01 -1.45074979e-04 -4.54652703e+00] [-7.73000502e-04 1.27244738e-05 9.99999701e-01 -2.63443977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.62, Y:-4.56, Z:-0.26 [[ 9.84581592e-01 1.74924304e-01 7.59347301e-04 1.05618946e+02] [-1.74924244e-01 9.84581885e-01 -1.45201063e-04 -4.55697461e+00] [-7.73038792e-04 1.01340410e-05 9.99999701e-01 -2.57202401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.714203822 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:105.65, Y:-4.56, Z:-0.26 [[ 9.83970809e-01 1.78327984e-01 7.59324435e-04 1.05650429e+02] [-1.78327925e-01 9.83971102e-01 -1.45320543e-04 -4.56306999e+00] [-7.73068020e-04 7.58242120e-06 9.99999701e-01 -2.59522193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.68, Y:-4.57, Z:-0.26 [[ 9.83225284e-01 1.82393705e-01 7.59298210e-04 1.05682494e+02] [-1.82393647e-01 9.83225577e-01 -1.45457440e-04 -4.56836620e+00] [-7.73091942e-04 4.52626255e-06 9.99999701e-01 -2.57186539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:-4.57, Z:-0.26 [[ 9.81573204e-01 1.91084978e-01 7.59273016e-04 1.05714509e+02] [-1.91084922e-01 9.81573498e-01 -1.45588830e-04 -4.56957091e+00] [-7.73102108e-04 -2.17953117e-06 9.99999701e-01 -2.64398736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.75, Y:-4.57, Z:-0.26 [[ 9.80896618e-01 1.94528273e-01 7.59247965e-04 1.05746110e+02] [-1.94528218e-01 9.80896912e-01 -1.45719353e-04 -4.57373626e+00] [-7.73090518e-04 -4.75953365e-06 9.99999701e-01 -2.64265195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.78, Y:-4.58, Z:-0.26 [[ 9.80368433e-01 1.97172916e-01 7.59223991e-04 1.05777941e+02] [-1.97172862e-01 9.80368727e-01 -1.45844154e-04 -4.57912131e+00] [-7.73075975e-04 -6.71736267e-06 9.99999701e-01 -2.61715509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:-4.58, Z:-0.26 [[ 9.79706784e-01 2.00434628e-01 7.59199699e-04 1.05810013e+02] [-2.00434575e-01 9.79707079e-01 -1.45970500e-04 -4.58448091e+00] [-7.73050862e-04 -9.16157937e-06 9.99999701e-01 -2.59317280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:-4.59, Z:-0.26 [[ 9.79485112e-01 2.01515109e-01 7.59175326e-04 1.05841716e+02] [-2.01515057e-01 9.79485406e-01 -1.46097149e-04 -4.58962377e+00] [-7.73041936e-04 -9.88527635e-06 9.99999701e-01 -2.59317782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.87, Y:-4.59, Z:-0.26 [[ 9.79541586e-01 2.01240416e-01 7.59150716e-04 1.05872455e+02] [-2.01240363e-01 9.79541880e-01 -1.46224918e-04 -4.59344786e+00] [-7.73046283e-04 -9.53837718e-06 9.99999701e-01 -2.64080391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.90, Y:-4.60, Z:-0.26 [[ 9.79774393e-01 2.00103880e-01 7.59128001e-04 1.05904338e+02] [-2.00103827e-01 9.79774687e-01 -1.46342750e-04 -4.59997703e+00] [-7.73058151e-04 -8.52153907e-06 9.99999701e-01 -2.62195990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.93, Y:-4.61, Z:-0.26 [[ 9.80109013e-01 1.98458423e-01 7.59099799e-04 1.05934518e+02] [-1.98458369e-01 9.80109307e-01 -1.46488891e-04 -4.60624275e+00] [-7.73072732e-04 -7.07462582e-06 9.99999701e-01 -2.64927371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.97, Y:-4.61, Z:-0.27 [[ 9.80522037e-01 1.96407634e-01 7.59076945e-04 1.05966525e+02] [-1.96407580e-01 9.80522331e-01 -1.46607220e-04 -4.61276488e+00] [-7.73086672e-04 -5.33685512e-06 9.99999701e-01 -2.65537248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.00, Y:-4.62, Z:-0.27 [[ 9.81176563e-01 1.93111303e-01 7.59068203e-04 1.05997547e+02] [-1.93111247e-01 9.81176857e-01 -1.46652468e-04 -4.61904816e+00] [-7.73100403e-04 -2.69264330e-06 9.99999701e-01 -2.66211462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.03, Y:-4.62, Z:-0.27 [[ 9.81351188e-01 1.92221929e-01 7.59041991e-04 1.06027981e+02] [-1.92221873e-01 9.81351481e-01 -1.46788008e-04 -4.62446705e+00] [-7.73102857e-04 -1.85388686e-06 9.99999701e-01 -2.69662706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.06, Y:-4.63, Z:-0.27 [[ 9.81672405e-01 1.90574693e-01 7.59028408e-04 1.06060088e+02] [-1.90574636e-01 9.81672698e-01 -1.46858212e-04 -4.62925159e+00] [-7.73104924e-04 -4.84909061e-07 9.99999701e-01 -2.67658684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.09, Y:-4.64, Z:-0.27 [[ 9.81737610e-01 1.90238506e-01 7.59003943e-04 1.06091884e+02] [-1.90238450e-01 9.81737903e-01 -1.46984545e-04 -4.63645101e+00] [-7.73105060e-04 -9.14778445e-08 9.99999701e-01 -2.65988086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.12, Y:-4.64, Z:-0.27 [[ 9.81735047e-01 1.90251730e-01 7.58979304e-04 1.06122292e+02] [-1.90251673e-01 9.81735341e-01 -1.47111662e-04 -4.64377961e+00] [-7.73105054e-04 2.75927379e-08 9.99999701e-01 -2.67075312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.15, Y:-4.65, Z:-0.26 [[ 9.81705911e-01 1.90402018e-01 7.58956544e-04 1.06153657e+02] [-1.90401961e-01 9.81706204e-01 -1.47228989e-04 -4.65015499e+00] [-7.73105045e-04 2.87548273e-08 9.99999701e-01 -2.63499729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.19, Y:-4.65, Z:-0.27 [[ 9.81701482e-01 1.90424855e-01 7.58932358e-04 1.06185590e+02] [-1.90424798e-01 9.81701775e-01 -1.47353556e-04 -4.65378751e+00] [-7.73105023e-04 1.37663857e-07 9.99999701e-01 -2.67175810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.22, Y:-4.66, Z:-0.27 [[ 9.81711850e-01 1.90371393e-01 7.58906469e-04 1.06218069e+02] [-1.90371336e-01 9.81712143e-01 -1.47486771e-04 -4.65928387e+00] [-7.73104959e-04 3.15471932e-07 9.99999701e-01 -2.65455151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.25, Y:-4.66, Z:-0.26 [[ 9.81702924e-01 1.90417419e-01 7.58879451e-04 1.06251051e+02] [-1.90417362e-01 9.81703217e-01 -1.47625662e-04 -4.66426534e+00] [-7.73104895e-04 4.20721044e-07 9.99999701e-01 -2.64344125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.28, Y:-4.67, Z:-0.26 [[ 9.81609800e-01 1.90896898e-01 7.58851727e-04 1.06283131e+02] [-1.90896841e-01 9.81610093e-01 -1.47768032e-04 -4.66610835e+00] [-7.73104973e-04 1.88150564e-07 9.99999701e-01 -2.64871416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.31, Y:-4.67, Z:-0.27 [[ 9.81615019e-01 1.90870057e-01 7.58827036e-04 1.06313534e+02] [-1.90870000e-01 9.81615312e-01 -1.47894718e-04 -4.67144698e+00] [-7.73104912e-04 3.38360656e-07 9.99999701e-01 -2.66182384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.35, Y:-4.68, Z:-0.26 [[ 9.81664118e-01 1.90617375e-01 7.58813105e-04 1.06345357e+02] [-1.90617318e-01 9.81664411e-01 -1.47966160e-04 -4.67736933e+00] [-7.73104741e-04 6.10151173e-07 9.99999701e-01 -2.64537067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.38, Y:-4.68, Z:-0.26 [[ 9.81627531e-01 1.90805700e-01 7.58788272e-04 1.06378165e+02] [-1.90805642e-01 9.81627824e-01 -1.48093401e-04 -4.68395456e+00] [-7.73104745e-04 5.91475808e-07 9.99999701e-01 -2.64562971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.41, Y:-4.69, Z:-0.26 [[ 9.81735528e-01 1.90249251e-01 7.58759833e-04 1.06409660e+02] [-1.90249193e-01 9.81735821e-01 -1.48238966e-04 -4.68921737e+00] [-7.73104060e-04 1.17801308e-06 9.99999701e-01 -2.64544123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.44, Y:-4.69, Z:-0.26 [[ 9.82480457e-01 1.86364096e-01 7.58733285e-04 1.06440747e+02] [-1.86364037e-01 9.82480750e-01 -1.48374720e-04 -4.69291240e+00] [-7.73092567e-04 4.37466413e-06 9.99999701e-01 -2.61298890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.47, Y:-4.70, Z:-0.26 [[ 9.82969592e-01 1.83766715e-01 7.58720583e-04 1.06471402e+02] [-1.83766655e-01 9.82969885e-01 -1.48439644e-04 -4.69759558e+00] [-7.73077750e-04 6.48411252e-06 9.99999701e-01 -2.60712895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.50, Y:-4.70, Z:-0.26 [[ 9.83449232e-01 1.81182319e-01 7.58697795e-04 1.06503835e+02] [-1.81182258e-01 9.83449525e-01 -1.48556029e-04 -4.70270528e+00] [-7.73056711e-04 8.63473246e-06 9.99999701e-01 -2.60887965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.53, Y:-4.71, Z:-0.26 [[ 9.83882860e-01 1.78812591e-01 7.58669465e-04 1.06534132e+02] [-1.78812530e-01 9.83883152e-01 -1.48700565e-04 -4.70868260e+00] [-7.73031638e-04 1.06443314e-05 9.99999701e-01 -2.63162705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.57, Y:-4.72, Z:-0.27 [[ 9.84645030e-01 1.74566865e-01 7.58646563e-04 1.06565414e+02] [-1.74566802e-01 9.84645322e-01 -1.48817314e-04 -4.71730781e+00] [-7.72976361e-04 1.40977243e-05 9.99999701e-01 -2.65482976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.60, Y:-4.72, Z:-0.27 [[ 9.84952387e-01 1.72824247e-01 7.58621449e-04 1.06596066e+02] [-1.72824183e-01 9.84952679e-01 -1.48945229e-04 -4.72437884e+00] [-7.72947575e-04 1.55958266e-05 9.99999701e-01 -2.67393893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.63, Y:-4.73, Z:-0.27 [[ 9.85186852e-01 1.71482629e-01 7.58607299e-04 1.06627816e+02] [-1.71482565e-01 9.85187143e-01 -1.49017264e-04 -4.73093763e+00] [-7.72924030e-04 1.67219237e-05 9.99999701e-01 -2.68651580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.674203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:106.66, Y:-4.74, Z:-0.27 [[ 9.85337102e-01 1.70617175e-01 7.58582587e-04 1.06659884e+02] [-1.70617110e-01 9.85337394e-01 -1.49142956e-04 -4.73713264e+00] [-7.72906139e-04 1.75289189e-05 9.99999701e-01 -2.65779957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.69, Y:-4.74, Z:-0.27 [[ 9.85262427e-01 1.71047873e-01 7.58552680e-04 1.06691064e+02] [-1.71047809e-01 9.85262719e-01 -1.49294910e-04 -4.74350220e+00] [-7.72910253e-04 1.73458912e-05 9.99999701e-01 -2.68534396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.734203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:106.72, Y:-4.75, Z:-0.27 [[ 9.85118529e-01 1.71874688e-01 7.58524790e-04 1.06722507e+02] [-1.71874624e-01 9.85118821e-01 -1.49436477e-04 -4.74928456e+00] [-7.72921395e-04 1.68414794e-05 9.99999701e-01 -2.68854868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.75, Y:-4.76, Z:-0.27 [[ 9.84812525e-01 1.73619453e-01 7.58499824e-04 1.06753428e+02] [-1.73619389e-01 9.84812817e-01 -1.49563090e-04 -4.75972110e+00] [-7.72947411e-04 1.56013284e-05 9.99999701e-01 -2.70305994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.78, Y:-4.77, Z:-0.27 [[ 9.84577367e-01 1.74948089e-01 7.58474537e-04 1.06784528e+02] [-1.74948026e-01 9.84577659e-01 -1.49691216e-04 -4.76721888e+00] [-7.72965276e-04 1.46889605e-05 9.99999701e-01 -2.71389531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.82, Y:-4.77, Z:-0.27 [[ 9.84278693e-01 1.76620722e-01 7.58447553e-04 1.06815808e+02] [-1.76620659e-01 9.84278985e-01 -1.49827812e-04 -4.77286631e+00] [-7.72986684e-04 1.35148166e-05 9.99999701e-01 -2.67717263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.85, Y:-4.77, Z:-0.27 [[ 9.83522879e-01 1.80782108e-01 7.58421005e-04 1.06847489e+02] [-1.80782046e-01 9.83523172e-01 -1.49962077e-04 -4.77497471e+00] [-7.73035093e-04 1.03822322e-05 9.99999701e-01 -2.67659246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.88, Y:-4.78, Z:-0.27 [[ 9.83099480e-01 1.83070583e-01 7.58396442e-04 1.06879254e+02] [-1.83070521e-01 9.83099772e-01 -1.50086196e-04 -4.77952184e+00] [-7.73055737e-04 8.70962882e-06 9.99999701e-01 -2.66803918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.91, Y:-4.78, Z:-0.27 [[ 9.82739749e-01 1.84991919e-01 7.58370279e-04 1.06909576e+02] [-1.84991858e-01 9.82740042e-01 -1.50218282e-04 -4.78460984e+00] [-7.73070008e-04 7.33314990e-06 9.99999701e-01 -2.69113912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.94, Y:-4.79, Z:-0.27 [[ 9.82218728e-01 1.87738635e-01 7.58346154e-04 1.06941763e+02] [-1.87738575e-01 9.82219021e-01 -1.50339971e-04 -4.79214455e+00] [-7.73086638e-04 5.29590904e-06 9.99999701e-01 -2.66851375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.97, Y:-4.80, Z:-0.26 [[ 9.81922752e-01 1.89280570e-01 7.58317354e-04 1.06973771e+02] [-1.89280510e-01 9.81923045e-01 -1.50485101e-04 -4.79774950e+00] [-7.73093190e-04 4.23004904e-06 9.99999701e-01 -2.64091253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:-4.80, Z:-0.26 [[ 9.81592310e-01 1.90986810e-01 7.58289585e-04 1.07004475e+02] [-1.90986751e-01 9.81592603e-01 -1.50624897e-04 -4.80208922e+00] [-7.73098816e-04 3.02897653e-06 9.99999701e-01 -2.63876108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.04, Y:-4.81, Z:-0.26 [[ 9.80726603e-01 1.95383610e-01 7.58265666e-04 1.07035378e+02] [-1.95383552e-01 9.80726896e-01 -1.50745211e-04 -4.80599148e+00] [-7.73104677e-04 -3.12800268e-07 9.99999701e-01 -2.61759264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.07, Y:-4.81, Z:-0.26 [[ 9.80250310e-01 1.97759338e-01 7.58242185e-04 1.07067451e+02] [-1.97759280e-01 9.80250603e-01 -1.50863228e-04 -4.81157287e+00] [-7.73101971e-04 -2.06570284e-06 9.99999701e-01 -2.61625504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.10, Y:-4.82, Z:-0.26 [[ 9.79821679e-01 1.99872213e-01 7.58216988e-04 1.07098982e+02] [-1.99872156e-01 9.79821973e-01 -1.50989756e-04 -4.81633244e+00] [-7.73096322e-04 -3.60342820e-06 9.99999701e-01 -2.62373885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.13, Y:-4.82, Z:-0.27 [[ 9.79343876e-01 2.02200391e-01 7.58191663e-04 1.07130819e+02] [-2.02200335e-01 9.79344169e-01 -1.51116819e-04 -4.81821243e+00] [-7.73086464e-04 -5.31127706e-06 9.99999701e-01 -2.69786124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.16, Y:-4.82, Z:-0.27 [[ 9.79254830e-01 2.02631200e-01 7.58177247e-04 1.07162679e+02] [-2.02631144e-01 9.79255123e-01 -1.51189113e-04 -4.82276269e+00] [-7.73084585e-04 -5.57765359e-06 9.99999701e-01 -2.66652884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.19, Y:-4.83, Z:-0.27 [[ 9.79420876e-01 2.01827087e-01 7.58151740e-04 1.07193849e+02] [-2.01827030e-01 9.79421169e-01 -1.51316910e-04 -4.82592159e+00] [-7.73089715e-04 -4.81257338e-06 9.99999701e-01 -2.73502771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.23, Y:-4.83, Z:-0.27 [[ 9.79659839e-01 2.00663961e-01 7.58137194e-04 1.07225328e+02] [-2.00663904e-01 9.79660132e-01 -1.51389754e-04 -4.83186618e+00] [-7.73095252e-04 -3.82030700e-06 9.99999701e-01 -2.70021149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.26, Y:-4.84, Z:-0.27 [[ 9.79958446e-01 1.99200576e-01 7.58111556e-04 1.07256221e+02] [-1.99200518e-01 9.79958739e-01 -1.51518036e-04 -4.83839623e+00] [-7.73100524e-04 -2.53483591e-06 9.99999701e-01 -2.71663366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:-4.85, Z:-0.27 [[ 9.80241197e-01 1.97804504e-01 7.58087784e-04 1.07287946e+02] [-1.97804446e-01 9.80241490e-01 -1.51636881e-04 -4.84522327e+00] [-7.73103556e-04 -1.31241606e-06 9.99999701e-01 -2.70528102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.32, Y:-4.85, Z:-0.27 [[ 9.80561094e-01 1.96212552e-01 7.58062000e-04 1.07317895e+02] [-1.96212493e-01 9.80561387e-01 -1.51765670e-04 -4.85170950e+00] [-7.73104656e-04 7.42759579e-08 9.99999701e-01 -2.68984172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.35, Y:-4.86, Z:-0.27 [[ 9.80600038e-01 1.96017832e-01 7.58049155e-04 1.07350398e+02] [-1.96017774e-01 9.80600331e-01 -1.51829799e-04 -4.85743940e+00] [-7.73104601e-04 2.93199479e-07 9.99999701e-01 -2.68491454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.38, Y:-4.86, Z:-0.27 [[ 9.80637787e-01 1.95828897e-01 7.58020142e-04 1.07381260e+02] [-1.95828838e-01 9.80638080e-01 -1.51974511e-04 -4.86191577e+00] [-7.73104417e-04 5.89744165e-07 9.99999701e-01 -2.69934987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.41, Y:-4.86, Z:-0.27 [[ 9.80598115e-01 1.96027451e-01 7.58005854e-04 1.07411918e+02] [-1.96027392e-01 9.80598408e-01 -1.52045743e-04 -4.86485180e+00] [-7.73104473e-04 5.05857860e-07 9.99999701e-01 -2.69783955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.44, Y:-4.87, Z:-0.27 [[ 9.80587597e-01 1.96080060e-01 7.57993320e-04 1.07443986e+02] [-1.96080001e-01 9.80587890e-01 -1.52108205e-04 -4.87074353e+00] [-7.73104456e-04 5.28087650e-07 9.99999701e-01 -2.67643241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.48, Y:-4.87, Z:-0.27 [[ 9.80681708e-01 1.95608825e-01 7.57968115e-04 1.07476250e+02] [-1.95608766e-01 9.80682001e-01 -1.52233700e-04 -4.87469473e+00] [-7.73103943e-04 1.02759767e-06 9.99999701e-01 -2.65184278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:-4.88, Z:-0.27 [[ 9.80802697e-01 1.95001272e-01 7.57942678e-04 1.07507851e+02] [-1.95001212e-01 9.80802989e-01 -1.52360239e-04 -4.87918717e+00] [-7.73102885e-04 1.63559255e-06 9.99999701e-01 -2.65934951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.54, Y:-4.88, Z:-0.27 [[ 9.81040725e-01 1.93800210e-01 7.57917029e-04 1.07539040e+02] [-1.93800150e-01 9.81041018e-01 -1.52487723e-04 -4.88497728e+00] [-7.73099846e-04 2.71223185e-06 9.99999701e-01 -2.67093590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.57, Y:-4.89, Z:-0.27 [[ 9.81313321e-01 1.92415156e-01 7.57907789e-04 1.07570016e+02] [-1.92415095e-01 9.81313613e-01 -1.52533638e-04 -4.89227493e+00] [-7.73095014e-04 3.85039109e-06 9.99999701e-01 -2.68664748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.60, Y:-4.90, Z:-0.27 [[ 9.81902151e-01 1.89387410e-01 7.57881901e-04 1.07600950e+02] [-1.89387348e-01 9.81902444e-01 -1.52662157e-04 -4.89909492e+00] [-7.73078381e-04 6.36605713e-06 9.99999701e-01 -2.68334621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.63, Y:-4.90, Z:-0.27 [[ 9.82195604e-01 1.87859576e-01 7.57854213e-04 1.07632049e+02] [-1.87859514e-01 9.82195897e-01 -1.52799484e-04 -4.90436723e+00] [-7.73066144e-04 7.70885728e-06 9.99999701e-01 -2.69321452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.66, Y:-4.91, Z:-0.27 [[ 9.82951328e-01 1.83864385e-01 7.57830390e-04 1.07661657e+02] [-1.83864322e-01 9.82951620e-01 -1.52917545e-04 -4.91316020e+00] [-7.73026700e-04 1.09725331e-05 9.99999701e-01 -2.69161966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.69, Y:-4.92, Z:-0.27 [[ 9.83268878e-01 1.82158555e-01 7.57807374e-04 1.07692591e+02] [-1.82158491e-01 9.83269170e-01 -1.53031516e-04 -4.92193552e+00] [-7.73004628e-04 1.24300789e-05 9.99999701e-01 -2.66771234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.72, Y:-4.93, Z:-0.27 [[ 9.83533047e-01 1.80726785e-01 7.57781808e-04 1.07724221e+02] [-1.80726720e-01 9.83533339e-01 -1.53158009e-04 -4.92978314e+00] [-7.72983427e-04 1.36845427e-05 9.99999701e-01 -2.66603304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.75, Y:-4.94, Z:-0.27 [[ 9.84083352e-01 1.77705886e-01 7.57752015e-04 1.07754893e+02] [-1.77705821e-01 9.84083644e-01 -1.53305269e-04 -4.93699647e+00] [-7.72934613e-04 1.62082193e-05 9.99999701e-01 -2.69489779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.79, Y:-4.94, Z:-0.27 [[ 9.84244636e-01 1.76810416e-01 7.57724134e-04 1.07786880e+02] [-1.76810350e-01 9.84244927e-01 -1.53442954e-04 -4.94446272e+00] [-7.72916447e-04 1.70519349e-05 9.99999701e-01 -2.66736755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.82, Y:-4.95, Z:-0.27 [[ 9.84148932e-01 1.77342337e-01 7.57693897e-04 1.07818177e+02] [-1.77342271e-01 9.84149224e-01 -1.53592115e-04 -4.95099066e+00] [-7.72922246e-04 1.67863592e-05 9.99999701e-01 -2.69706062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.85, Y:-4.96, Z:-0.27 [[ 9.83953011e-01 1.78426170e-01 7.57665697e-04 1.07849579e+02] [-1.78426104e-01 9.83953303e-01 -1.53731098e-04 -4.95848804e+00] [-7.72937316e-04 1.60768376e-05 9.99999701e-01 -2.68872731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.88, Y:-4.97, Z:-0.27 [[ 9.83745967e-01 1.79564193e-01 7.57639691e-04 1.07880994e+02] [-1.79564128e-01 9.83746258e-01 -1.53859162e-04 -4.96748050e+00] [-7.72952807e-04 1.53134197e-05 9.99999701e-01 -2.68383182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.91, Y:-4.98, Z:-0.27 [[ 9.83496053e-01 1.80927995e-01 7.57609855e-04 1.07910739e+02] [-1.80927930e-01 9.83496345e-01 -1.54005936e-04 -4.97677036e+00] [-7.72970508e-04 1.43914468e-05 9.99999701e-01 -2.67102878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.94, Y:-4.99, Z:-0.26 [[ 9.82983996e-01 1.83689656e-01 7.57585847e-04 1.07941382e+02] [-1.83689591e-01 9.82984288e-01 -1.54123941e-04 -4.98763443e+00] [-7.73005958e-04 1.23407331e-05 9.99999701e-01 -2.62759483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.97, Y:-4.99, Z:-0.26 [[ 9.82710015e-01 1.85149813e-01 7.57559930e-04 1.07971693e+02] [-1.85149750e-01 9.82710306e-01 -1.54251228e-04 -4.99458829e+00] [-7.73021537e-04 1.13221957e-05 9.99999701e-01 -2.63571522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.00, Y:-5.00, Z:-0.27 [[ 9.82142022e-01 1.88139511e-01 7.57536063e-04 1.08002929e+02] [-1.88139448e-01 9.82142314e-01 -1.54368352e-04 -5.00070953e+00] [-7.73051008e-04 9.08922891e-06 9.99999701e-01 -2.66369041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.03, Y:-5.01, Z:-0.27 [[ 9.81830922e-01 1.89756336e-01 7.57510667e-04 1.08033631e+02] [-1.89756273e-01 9.81831214e-01 -1.54492872e-04 -5.00873056e+00] [-7.73063619e-04 7.94347772e-06 9.99999701e-01 -2.67104385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.06, Y:-5.02, Z:-0.27 [[ 9.81518291e-01 1.91366847e-01 7.57483488e-04 1.08064504e+02] [-1.91366785e-01 9.81518583e-01 -1.54626018e-04 -5.01831212e+00] [-7.73074414e-04 6.81108530e-06 9.99999701e-01 -2.67273968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.10, Y:-5.03, Z:-0.27 [[ 9.80765898e-01 1.95186269e-01 7.57456439e-04 1.08095056e+02] [-1.95186207e-01 9.80766191e-01 -1.54758407e-04 -5.03105917e+00] [-7.73094382e-04 3.93671822e-06 9.99999701e-01 -2.68402321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.13, Y:-5.04, Z:-0.27 [[ 9.80283603e-01 1.97594238e-01 7.57431362e-04 1.08125573e+02] [-1.97594178e-01 9.80283896e-01 -1.54881043e-04 -5.03946015e+00] [-7.73101368e-04 2.16332008e-06 9.99999701e-01 -2.70010704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.16, Y:-5.05, Z:-0.27 [[ 9.79739209e-01 2.00276083e-01 7.57408296e-04 1.08156724e+02] [-2.00276023e-01 9.79739501e-01 -1.54993759e-04 -5.04753265e+00] [-7.73104369e-04 1.62741209e-07 9.99999701e-01 -2.71221996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.19, Y:-5.06, Z:-0.27 [[ 9.78567630e-01 2.05924308e-01 7.57383467e-04 1.08188228e+02] [-2.05924250e-01 9.78567923e-01 -1.55114995e-04 -5.05597760e+00] [-7.73093114e-04 -4.17310882e-06 9.99999701e-01 -2.66433912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.22, Y:-5.06, Z:-0.27 [[ 9.77940041e-01 2.08884423e-01 7.57352522e-04 1.08218871e+02] [-2.08884365e-01 9.77940334e-01 -1.55265934e-04 -5.06364143e+00] [-7.73078214e-04 -6.35832745e-06 9.99999701e-01 -2.71195052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:-5.07, Z:-0.27 [[ 9.77278501e-01 2.11957917e-01 7.57337751e-04 1.08251002e+02] [-2.11957860e-01 9.77278794e-01 -1.55337951e-04 -5.07314631e+00] [-7.73055233e-04 -8.71524939e-06 9.99999701e-01 -2.71054678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:-5.08, Z:-0.27 [[ 9.75942485e-01 2.18026816e-01 7.57309741e-04 1.08281306e+02] [-2.18026761e-01 9.75942779e-01 -1.55474387e-04 -5.08477724e+00] [-7.72988558e-04 -1.33797306e-05 9.99999701e-01 -2.67592382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:-5.09, Z:-0.27 [[ 9.75135617e-01 2.21607660e-01 7.57283572e-04 1.08312221e+02] [-2.21607606e-01 9.75135911e-01 -1.55601744e-04 -5.09216901e+00] [-7.72936945e-04 -1.60869966e-05 9.99999701e-01 -2.71217298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.34, Y:-5.10, Z:-0.27 [[ 9.73511233e-01 2.28637936e-01 7.57255734e-04 1.08344246e+02] [-2.28637884e-01 9.73511527e-01 -1.55737104e-04 -5.09784735e+00] [-7.72804596e-04 -2.15255286e-05 9.99999701e-01 -2.69598744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.38, Y:-5.10, Z:-0.27 [[ 9.73469157e-01 2.28817016e-01 7.57230543e-04 1.08376984e+02] [-2.28816964e-01 9.73469451e-01 -1.55859492e-04 -5.10476381e+00] [-7.72804105e-04 -2.15427859e-05 9.99999701e-01 -2.69624646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.41, Y:-5.11, Z:-0.27 [[ 9.72674670e-01 2.32171087e-01 7.57201846e-04 1.08408207e+02] [-2.32171036e-01 9.72674964e-01 -1.55998784e-04 -5.10969837e+00] [-7.72729686e-04 -2.40642717e-05 9.99999701e-01 -2.74238530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.44, Y:-5.11, Z:-0.28 [[ 9.72044950e-01 2.34793616e-01 7.57178655e-04 1.08439198e+02] [-2.34793565e-01 9.72045244e-01 -1.56111269e-04 -5.11426341e+00] [-7.72665840e-04 -2.60335057e-05 9.99999701e-01 -2.76579418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.47, Y:-5.12, Z:-0.27 [[ 9.71513048e-01 2.36984860e-01 7.57156461e-04 1.08471192e+02] [-2.36984810e-01 9.71513343e-01 -1.56218838e-04 -5.12018864e+00] [-7.72609104e-04 -2.76659410e-05 9.99999701e-01 -2.74036671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.50, Y:-5.13, Z:-0.27 [[ 9.71121609e-01 2.38583835e-01 7.57128325e-04 1.08501826e+02] [-2.38583786e-01 9.71121904e-01 -1.56355081e-04 -5.12775617e+00] [-7.72567696e-04 -2.87987448e-05 9.99999701e-01 -2.73528525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.53, Y:-5.13, Z:-0.27 [[ 9.71336713e-01 2.37706576e-01 7.57105597e-04 1.08532935e+02] [-2.37706526e-01 9.71337008e-01 -1.56465058e-04 -5.13482232e+00] [-7.72597459e-04 -2.79886857e-05 9.99999701e-01 -2.67319262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.57, Y:-5.14, Z:-0.27 [[ 9.72557195e-01 2.32662694e-01 7.57080473e-04 1.08565593e+02] [-2.32662643e-01 9.72557489e-01 -1.56586529e-04 -5.13814544e+00] [-7.72736128e-04 -2.38549884e-05 9.99999701e-01 -2.67269775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53420382200001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.60, Y:-5.14, Z:-0.27 [[ 9.73438606e-01 2.28946954e-01 7.57051220e-04 1.08597369e+02] [-2.28946901e-01 9.73438900e-01 -1.56727835e-04 -5.14319221e+00] [-7.72825467e-04 -2.07596055e-05 9.99999701e-01 -2.69442904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.63, Y:-5.15, Z:-0.27 [[ 9.74451820e-01 2.24595366e-01 7.57025643e-04 1.08628588e+02] [-2.24595311e-01 9.74452113e-01 -1.56851278e-04 -5.14903198e+00] [-7.72913308e-04 -1.71803963e-05 9.99999701e-01 -2.69524342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.66, Y:-5.16, Z:-0.28 [[ 9.76466672e-01 2.15667026e-01 7.56998944e-04 1.08659381e+02] [-2.15666969e-01 9.76466965e-01 -1.56980026e-04 -5.15657996e+00] [-7.73039877e-04 -9.97390459e-06 9.99999701e-01 -2.77589466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.69, Y:-5.16, Z:-0.28 [[ 9.77455212e-01 2.11141506e-01 7.56972315e-04 1.08691201e+02] [-2.11141448e-01 9.77455505e-01 -1.57108332e-04 -5.16378395e+00] [-7.73078846e-04 -6.26187297e-06 9.99999701e-01 -2.76013353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.72, Y:-5.17, Z:-0.28 [[ 9.78309770e-01 2.07145894e-01 7.56963024e-04 1.08721438e+02] [-2.07145834e-01 9.78310063e-01 -1.57153084e-04 -5.17019241e+00] [-7.73098159e-04 -3.05733970e-06 9.99999701e-01 -2.77628369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.75, Y:-5.18, Z:-0.28 [[ 9.79751332e-01 2.00216769e-01 7.56948214e-04 1.08753105e+02] [-2.00216707e-01 9.79751624e-01 -1.57224385e-04 -5.17588250e+00] [-7.73100200e-04 2.48712135e-06 9.99999701e-01 -2.76350906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.79, Y:-5.18, Z:-0.28 [[ 9.80237582e-01 1.97822421e-01 7.56933725e-04 1.08785103e+02] [-1.97822359e-01 9.80237874e-01 -1.57294107e-04 -5.18351618e+00] [-7.73091407e-04 4.44718014e-06 9.99999701e-01 -2.75807494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.82, Y:-5.19, Z:-0.28 [[ 9.80654577e-01 1.95744801e-01 7.56902627e-04 1.08815779e+02] [-1.95744738e-01 9.80654869e-01 -1.57443611e-04 -5.19121165e+00] [-7.73079015e-04 6.23809212e-06 9.99999701e-01 -2.78674731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.85, Y:-5.20, Z:-0.27 [[ 9.81474269e-01 1.91592501e-01 7.56877560e-04 1.08846926e+02] [-1.91592437e-01 9.81474561e-01 -1.57564025e-04 -5.19826891e+00] [-7.73044156e-04 9.63302043e-06 9.99999701e-01 -2.73350629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.88, Y:-5.20, Z:-0.27 [[ 9.81697282e-01 1.90446510e-01 7.56870074e-04 1.08878378e+02] [-1.90446445e-01 9.81697574e-01 -1.57599975e-04 -5.20479483e+00] [-7.73031880e-04 1.05722528e-05 9.99999701e-01 -2.69935591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.91, Y:-5.21, Z:-0.27 [[ 9.81937941e-01 1.89201762e-01 7.56843005e-04 1.08909429e+02] [-1.89201696e-01 9.81938233e-01 -1.57729861e-04 -5.21113150e+00] [-7.73015850e-04 1.16849550e-05 9.99999701e-01 -2.71521297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.94, Y:-5.22, Z:-0.27 [[ 9.81905810e-01 1.89368441e-01 7.56816048e-04 1.08939750e+02] [-1.89368376e-01 9.81906102e-01 -1.57859097e-04 -5.21872258e+00] [-7.73015827e-04 1.16857391e-05 9.99999701e-01 -2.72562546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89420382200001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:108.97, Y:-5.23, Z:-0.27 [[ 9.81759706e-01 1.90124452e-01 7.56791055e-04 1.08970355e+02] [-1.90124386e-01 9.81759998e-01 -1.57978826e-04 -5.22620371e+00] [-7.73022822e-04 1.12128105e-05 9.99999701e-01 -2.71839762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.00, Y:-5.23, Z:-0.27 [[ 9.81409232e-01 1.91925368e-01 7.56773830e-04 1.09002534e+02] [-1.91925303e-01 9.81409524e-01 -1.58061297e-04 -5.23401862e+00] [-7.73041017e-04 9.87876948e-06 9.99999701e-01 -2.70310570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.03, Y:-5.24, Z:-0.27 [[ 9.80256040e-01 1.97730937e-01 7.56743385e-04 1.09034196e+02] [-1.97730874e-01 9.80256332e-01 -1.58206924e-04 -5.23597379e+00] [-7.73084898e-04 5.45176202e-06 9.99999701e-01 -2.68836391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.07, Y:-5.24, Z:-0.27 [[ 9.79570124e-01 2.01101468e-01 7.56718817e-04 1.09066752e+02] [-2.01101406e-01 9.79570416e-01 -1.58324348e-04 -5.23947270e+00] [-7.73098625e-04 2.91258351e-06 9.99999701e-01 -2.68332384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.10, Y:-5.24, Z:-0.27 [[ 9.78301310e-01 2.07185847e-01 7.56692787e-04 1.09098492e+02] [-2.07185786e-01 9.78301602e-01 -1.58448659e-04 -5.24352773e+00] [-7.73102085e-04 -1.76545946e-06 9.99999701e-01 -2.65874641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.13, Y:-5.25, Z:-0.27 [[ 9.77864126e-01 2.09239525e-01 7.56666603e-04 1.09129481e+02] [-2.09239465e-01 9.77864419e-01 -1.58573600e-04 -5.24933350e+00] [-7.73097213e-04 -3.26108031e-06 9.99999701e-01 -2.66102718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.16, Y:-5.26, Z:-0.26 [[ 9.77549383e-01 2.10705079e-01 7.56638819e-04 1.09161918e+02] [-2.10705020e-01 9.77549676e-01 -1.58706061e-04 -5.25503216e+00] [-7.73092206e-04 -4.28458494e-06 9.99999701e-01 -2.63585874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.19, Y:-5.26, Z:-0.26 [[ 9.77177816e-01 2.12421617e-01 7.56608181e-04 1.09194152e+02] [-2.12421557e-01 9.77178109e-01 -1.58851991e-04 -5.25945599e+00] [-7.73084548e-04 -5.49324652e-06 9.99999701e-01 -2.64996294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.22, Y:-5.26, Z:-0.27 [[ 9.77003728e-01 2.13220880e-01 7.56589124e-04 1.09224600e+02] [-2.13220821e-01 9.77004021e-01 -1.58942703e-04 -5.26471023e+00] [-7.73080519e-04 -6.03294107e-06 9.99999701e-01 -2.67252939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.26, Y:-5.27, Z:-0.27 [[ 9.76735141e-01 2.14447877e-01 7.56565007e-04 1.09255163e+02] [-2.14447818e-01 9.76735434e-01 -1.59057416e-04 -5.27042181e+00] [-7.73073376e-04 -6.88674738e-06 9.99999701e-01 -2.72098143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.29, Y:-5.28, Z:-0.27 [[ 9.76621189e-01 2.14966232e-01 7.56550259e-04 1.09286930e+02] [-2.14966173e-01 9.76621482e-01 -1.59127534e-04 -5.27807027e+00] [-7.73070282e-04 -7.22539297e-06 9.99999701e-01 -2.71049938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.32, Y:-5.29, Z:-0.27 [[ 9.76529112e-01 2.15384124e-01 7.56540983e-04 1.09319168e+02] [-2.15384065e-01 9.76529405e-01 -1.59171623e-04 -5.28563787e+00] [-7.73067557e-04 -7.51114847e-06 9.99999701e-01 -2.67340594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.35, Y:-5.29, Z:-0.27 [[ 9.76370364e-01 2.16102615e-01 7.56509139e-04 1.09349555e+02] [-2.16102556e-01 9.76370657e-01 -1.59322825e-04 -5.29087531e+00] [-7.73063405e-04 -7.92547390e-06 9.99999701e-01 -2.70273495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.38, Y:-5.30, Z:-0.27 [[ 9.76367675e-01 2.16114765e-01 7.56483502e-04 1.09380958e+02] [-2.16114706e-01 9.76367968e-01 -1.59444463e-04 -5.29734678e+00] [-7.73064562e-04 -7.81079076e-06 9.99999701e-01 -2.73349032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.41, Y:-5.30, Z:-0.27 [[ 9.76500681e-01 2.15512989e-01 7.56455212e-04 1.09412083e+02] [-2.15512930e-01 9.76500974e-01 -1.59578566e-04 -5.30457495e+00] [-7.73070505e-04 -7.19730113e-06 9.99999701e-01 -2.69199047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.44, Y:-5.31, Z:-0.27 [[ 9.77162875e-01 2.12490340e-01 7.56428325e-04 1.09443237e+02] [-2.12490280e-01 9.77163167e-01 -1.59705915e-04 -5.31384290e+00] [-7.73089862e-04 -4.67497485e-06 9.99999701e-01 -2.73047710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.48, Y:-5.32, Z:-0.27 [[ 9.77577613e-01 2.10574067e-01 7.56409201e-04 1.09475039e+02] [-2.10574007e-01 9.77577906e-01 -1.59796440e-04 -5.32269161e+00] [-7.73097909e-04 -3.06669332e-06 9.99999701e-01 -2.70759717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.51, Y:-5.33, Z:-0.27 [[ 9.77979522e-01 2.08699501e-01 7.56379311e-04 1.09505268e+02] [-2.08699439e-01 9.77979815e-01 -1.59937793e-04 -5.33077390e+00] [-7.73102636e-04 -1.44005146e-06 9.99999701e-01 -2.72222723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.54, Y:-5.34, Z:-0.27 [[ 9.78598741e-01 2.05776415e-01 7.56364889e-04 1.09537015e+02] [-2.05776352e-01 9.78599033e-01 -1.60005966e-04 -5.34059827e+00] [-7.73103403e-04 9.39629195e-07 9.99999701e-01 -2.68595498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.57, Y:-5.35, Z:-0.27 [[ 9.78735663e-01 2.05124184e-01 7.56333713e-04 1.09568210e+02] [-2.05124121e-01 9.78735955e-01 -1.60153199e-04 -5.34936019e+00] [-7.73102293e-04 1.60535896e-06 9.99999701e-01 -2.70161557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.60, Y:-5.36, Z:-0.27 [[ 9.78772678e-01 2.04947489e-01 7.56304582e-04 1.09599292e+02] [-2.04947426e-01 9.78772970e-01 -1.60290648e-04 -5.35826917e+00] [-7.73101648e-04 1.88542890e-06 9.99999701e-01 -2.71049899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.63, Y:-5.37, Z:-0.27 [[ 9.78381705e-01 2.06805870e-01 7.56276189e-04 1.09629947e+02] [-2.06805808e-01 9.78381997e-01 -1.60424499e-04 -5.36893657e+00] [-7.73103736e-04 5.54086318e-07 9.99999701e-01 -2.70473814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.66, Y:-5.38, Z:-0.27 [[ 9.77982921e-01 2.08683576e-01 7.56249430e-04 1.09660512e+02] [-2.08683514e-01 9.77983213e-01 -1.60550544e-04 -5.37703045e+00] [-7.73103509e-04 -8.01098032e-07 9.99999701e-01 -2.71432691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.69, Y:-5.39, Z:-0.27 [[ 9.76988122e-01 2.13292377e-01 7.56224612e-04 1.09691701e+02] [-2.13292317e-01 9.76988414e-01 -1.60667359e-04 -5.38650149e+00] [-7.73091807e-04 -4.32679785e-06 9.99999701e-01 -2.66426646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.72, Y:-5.39, Z:-0.27 [[ 9.76406146e-01 2.15940887e-01 7.56198085e-04 1.09722550e+02] [-2.15940827e-01 9.76406439e-01 -1.60792111e-04 -5.39424949e+00] [-7.73078270e-04 -6.29563487e-06 9.99999701e-01 -2.67725820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.75, Y:-5.40, Z:-0.27 [[ 9.75788932e-01 2.18713026e-01 7.56169812e-04 1.09754994e+02] [-2.18712967e-01 9.75789225e-01 -1.60924964e-04 -5.40161152e+00] [-7.73058741e-04 -8.35534459e-06 9.99999701e-01 -2.65225647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.79, Y:-5.41, Z:-0.27 [[ 9.75131336e-01 2.21626499e-01 7.56139451e-04 1.09785629e+02] [-2.21626441e-01 9.75131630e-01 -1.61067497e-04 -5.40771029e+00] [-7.73032320e-04 -1.05185315e-05 9.99999701e-01 -2.67577917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.82, Y:-5.41, Z:-0.27 [[ 9.73898437e-01 2.26982957e-01 7.56124910e-04 1.09816279e+02] [-2.26982901e-01 9.73898730e-01 -1.61135726e-04 -5.41218322e+00] [-7.72964154e-04 -1.46975933e-05 9.99999701e-01 -2.67052477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.85, Y:-5.42, Z:-0.27 [[ 9.73370102e-01 2.29238027e-01 7.56111114e-04 1.09848695e+02] [-2.29237971e-01 9.73370396e-01 -1.61200437e-04 -5.41975975e+00] [-7.72929445e-04 -1.64216911e-05 9.99999701e-01 -2.65453568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.88, Y:-5.43, Z:-0.27 [[ 9.72605441e-01 2.32460929e-01 7.56081043e-04 1.09879702e+02] [-2.32460874e-01 9.72605735e-01 -1.61341357e-04 -5.42734449e+00] [-7.72874321e-04 -1.88377781e-05 9.99999701e-01 -2.66649718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.91, Y:-5.43, Z:-0.27 [[ 9.72223832e-01 2.34051806e-01 7.56054616e-04 1.09911580e+02] [-2.34051751e-01 9.72224126e-01 -1.61465101e-04 -5.43378157e+00] [-7.72845737e-04 -1.99756877e-05 9.99999701e-01 -2.67814609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.94, Y:-5.44, Z:-0.27 [[ 9.71665287e-01 2.36359893e-01 7.56028357e-04 1.09942067e+02] [-2.36359839e-01 9.71665581e-01 -1.61587963e-04 -5.43807952e+00] [-7.72799646e-04 -2.16853263e-05 9.99999701e-01 -2.69296769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.97, Y:-5.44, Z:-0.27 [[ 9.71486737e-01 2.37092700e-01 7.56013626e-04 1.09974102e+02] [-2.37092646e-01 9.71487031e-01 -1.61656853e-04 -5.44325181e+00] [-7.72785092e-04 -2.21977827e-05 9.99999701e-01 -2.65300935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.01, Y:-5.45, Z:-0.26 [[ 9.71463678e-01 2.37187166e-01 7.55987612e-04 1.10006295e+02] [-2.37187112e-01 9.71463971e-01 -1.61778414e-04 -5.44789032e+00] [-7.72786492e-04 -2.21486652e-05 9.99999701e-01 -2.63284146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.04, Y:-5.45, Z:-0.26 [[ 9.71683140e-01 2.36286487e-01 7.55961632e-04 1.10036682e+02] [-2.36286432e-01 9.71683434e-01 -1.61899723e-04 -5.45303681e+00] [-7.72810112e-04 -2.13082455e-05 9.99999701e-01 -2.64090891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.07, Y:-5.46, Z:-0.26 [[ 9.72746232e-01 2.31871077e-01 7.55937633e-04 1.10068294e+02] [-2.31871021e-01 9.72746526e-01 -1.62011700e-04 -5.45794298e+00] [-7.72901534e-04 -1.76837601e-05 9.99999701e-01 -2.64441131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.10, Y:-5.46, Z:-0.26 [[ 9.73426613e-01 2.28997940e-01 7.55911045e-04 1.10100331e+02] [-2.28997884e-01 9.73426907e-01 -1.62135660e-04 -5.46405119e+00] [-7.72952883e-04 -1.52748630e-05 9.99999701e-01 -2.63425054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.13, Y:-5.47, Z:-0.26 [[ 9.74229335e-01 2.25558487e-01 7.55879585e-04 1.10131955e+02] [-2.25558429e-01 9.74229628e-01 -1.62282198e-04 -5.46952085e+00] [-7.73004414e-04 -1.23949334e-05 9.99999701e-01 -2.62522009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.16, Y:-5.48, Z:-0.27 [[ 9.75772967e-01 2.18784245e-01 7.55869692e-04 1.10163128e+02] [-2.18784185e-01 9.75773260e-01 -1.62328262e-04 -5.47546021e+00] [-7.73072299e-04 -6.97680452e-06 9.99999701e-01 -2.65852502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.19, Y:-5.48, Z:-0.26 [[ 9.76443158e-01 2.15773465e-01 7.55839978e-04 1.10194517e+02] [-2.15773404e-01 9.76443450e-01 -1.62466500e-04 -5.48390464e+00] [-7.73090956e-04 -4.45086339e-06 9.99999701e-01 -2.63770967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.23, Y:-5.49, Z:-0.26 [[ 9.77644595e-01 2.10262869e-01 7.55812812e-04 1.10226426e+02] [-2.10262806e-01 9.77644887e-01 -1.62592779e-04 -5.49324097e+00] [-7.73103756e-04 3.86287100e-08 9.99999701e-01 -2.60782459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.26, Y:-5.50, Z:-0.26 [[ 9.78126534e-01 2.08009407e-01 7.55780576e-04 1.10258106e+02] [-2.08009343e-01 9.78126826e-01 -1.62742485e-04 -5.50017716e+00] [-7.73101224e-04 1.97332215e-06 9.99999701e-01 -2.61832371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.29, Y:-5.51, Z:-0.26 [[ 9.78480764e-01 2.06336675e-01 7.55750387e-04 1.10290516e+02] [-2.06336610e-01 9.78481056e-01 -1.62882556e-04 -5.50728926e+00] [-7.73096082e-04 3.43847481e-06 9.99999701e-01 -2.60369063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.32, Y:-5.52, Z:-0.26 [[ 9.79103053e-01 2.03363323e-01 7.55718287e-04 1.10321394e+02] [-2.03363258e-01 9.79103344e-01 -1.63031354e-04 -5.51510677e+00] [-7.73080900e-04 5.93916364e-06 9.99999701e-01 -2.62979878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.35, Y:-5.52, Z:-0.26 [[ 9.79064056e-01 2.03550984e-01 7.55688249e-04 1.10354064e+02] [-2.03550919e-01 9.79064348e-01 -1.63170471e-04 -5.52234891e+00] [-7.73080932e-04 5.93330598e-06 9.99999701e-01 -2.63005786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.38, Y:-5.53, Z:-0.26 [[ 9.79246215e-01 2.02672838e-01 7.55656946e-04 1.10384959e+02] [-2.02672772e-01 9.79246507e-01 -1.63315308e-04 -5.53109224e+00] [-7.73074002e-04 6.77480934e-06 9.99999701e-01 -2.64309760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.42, Y:-5.54, Z:-0.27 [[ 9.79185885e-01 2.02964112e-01 7.55627728e-04 1.10416260e+02] [-2.02964047e-01 9.79186177e-01 -1.63450383e-04 -5.54050240e+00] [-7.73074788e-04 6.68304716e-06 9.99999701e-01 -2.65507486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.45, Y:-5.55, Z:-0.27 [[ 9.78949796e-01 2.04099795e-01 7.55600742e-04 1.10445750e+02] [-2.04099729e-01 9.78950087e-01 -1.63575036e-04 -5.54931208e+00] [-7.73081044e-04 5.91384162e-06 9.99999701e-01 -2.67810893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.48, Y:-5.56, Z:-0.27 [[ 9.78045759e-01 2.08388875e-01 7.55575797e-04 1.10476180e+02] [-2.08388811e-01 9.78046050e-01 -1.63690183e-04 -5.55979158e+00] [-7.73099137e-04 2.64294739e-06 9.99999701e-01 -2.67246742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.51, Y:-5.57, Z:-0.27 [[ 9.77419282e-01 2.11307777e-01 7.55547630e-04 1.10506795e+02] [-2.11307713e-01 9.77419574e-01 -1.63820090e-04 -5.56760895e+00] [-7.73103502e-04 4.67873106e-07 9.99999701e-01 -2.71643326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.54, Y:-5.58, Z:-0.27 [[ 9.75964252e-01 2.17929363e-01 7.55517577e-04 1.10538837e+02] [-2.17929302e-01 9.75964545e-01 -1.63958572e-04 -5.57514146e+00] [-7.73089756e-04 -4.63171292e-06 9.99999701e-01 -2.68162116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.57, Y:-5.58, Z:-0.27 [[ 9.74986215e-01 2.22264054e-01 7.55486089e-04 1.10569703e+02] [-2.22263994e-01 9.74986508e-01 -1.64103533e-04 -5.58258063e+00] [-7.73063061e-04 -7.91867272e-06 9.99999701e-01 -2.68098924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.60, Y:-5.59, Z:-0.27 [[ 9.73917177e-01 2.26902536e-01 7.55456780e-04 1.10600797e+02] [-2.26902477e-01 9.73917470e-01 -1.64238351e-04 -5.59031164e+00] [-7.73018654e-04 -1.14604634e-05 9.99999701e-01 -2.67147215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.63, Y:-5.60, Z:-0.27 [[ 9.72863169e-01 2.31379957e-01 7.55429923e-04 1.10631260e+02] [-2.31379899e-01 9.72863462e-01 -1.64361790e-04 -5.59741934e+00] [-7.72960193e-04 -1.48897677e-05 9.99999701e-01 -2.66414666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.66, Y:-5.60, Z:-0.27 [[ 9.71031647e-01 2.38949721e-01 7.55415166e-04 1.10663144e+02] [-2.38949665e-01 9.71031941e-01 -1.64429585e-04 -5.60404727e+00] [-7.72822658e-04 -2.08398698e-05 9.99999701e-01 -2.65497077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.69, Y:-5.61, Z:-0.27 [[ 9.69777589e-01 2.43989462e-01 7.55384300e-04 1.10694548e+02] [-2.43989408e-01 9.69777883e-01 -1.64571258e-04 -5.61012029e+00] [-7.72708640e-04 -2.47082504e-05 9.99999701e-01 -2.65233665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.73, Y:-5.62, Z:-0.26 [[ 9.69425174e-01 2.45385944e-01 7.55355518e-04 1.10726443e+02] [-2.45385890e-01 9.69425468e-01 -1.64703259e-04 -5.61519405e+00] [-7.72676741e-04 -2.56861002e-05 9.99999701e-01 -2.62866493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.76, Y:-5.62, Z:-0.26 [[ 9.69228553e-01 2.46161412e-01 7.55328456e-04 1.10758423e+02] [-2.46161359e-01 9.69228847e-01 -1.64827272e-04 -5.62025241e+00] [-7.72660243e-04 -2.61773806e-05 9.99999701e-01 -2.62583286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.79, Y:-5.63, Z:-0.26 [[ 9.69452393e-01 2.45278388e-01 7.55299615e-04 1.10790342e+02] [-2.45278334e-01 9.69452687e-01 -1.64959325e-04 -5.62539476e+00] [-7.72688198e-04 -2.53384192e-05 9.99999701e-01 -2.64985305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.82, Y:-5.63, Z:-0.27 [[ 9.69811848e-01 2.43853251e-01 7.55272692e-04 1.10820994e+02] [-2.43853197e-01 9.69812142e-01 -1.65082501e-04 -5.63257804e+00] [-7.72728532e-04 -2.40766953e-05 9.99999701e-01 -2.66179410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.85, Y:-5.64, Z:-0.26 [[ 9.70375831e-01 2.41599208e-01 7.55243935e-04 1.10851859e+02] [-2.41599152e-01 9.70376124e-01 -1.65213958e-04 -5.63969081e+00] [-7.72786244e-04 -2.21466623e-05 9.99999701e-01 -2.63645136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.88, Y:-5.65, Z:-0.27 [[ 9.71742812e-01 2.36040964e-01 7.55218687e-04 1.10882350e+02] [-2.36040906e-01 9.71743106e-01 -1.65329289e-04 -5.64701819e+00] [-7.72903037e-04 -1.76049550e-05 9.99999701e-01 -2.65493286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.91, Y:-5.65, Z:-0.27 [[ 9.72362685e-01 2.33474277e-01 7.55193564e-04 1.10913595e+02] [-2.33474218e-01 9.72362978e-01 -1.65443967e-04 -5.65330558e+00] [-7.72949174e-04 -1.54466874e-05 9.99999701e-01 -2.66542187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.95, Y:-5.66, Z:-0.27 [[ 9.73414652e-01 2.29048784e-01 7.55167621e-04 1.10945260e+02] [-2.29048724e-01 9.73414945e-01 -1.65562298e-04 -5.65970161e+00] [-7.73013291e-04 -1.18094134e-05 9.99999701e-01 -2.66666915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.98, Y:-5.67, Z:-0.26 [[ 9.73851863e-01 2.27182701e-01 7.55141693e-04 1.10977178e+02] [-2.27182641e-01 9.73852155e-01 -1.65680474e-04 -5.66845441e+00] [-7.73036103e-04 -1.02068452e-05 9.99999701e-01 -2.63647503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.01, Y:-5.68, Z:-0.26 [[ 9.74301338e-01 2.25247268e-01 7.55110527e-04 1.11008614e+02] [-2.25247208e-01 9.74301631e-01 -1.65822397e-04 -5.67729723e+00] [-7.73056460e-04 -8.52555458e-06 9.99999701e-01 -2.64092612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.04, Y:-5.69, Z:-0.27 [[ 9.75110491e-01 2.21718198e-01 7.55083134e-04 1.11038781e+02] [-2.21718136e-01 9.75110784e-01 -1.65947039e-04 -5.68601163e+00] [-7.73083185e-04 -5.59892591e-06 9.99999701e-01 -2.66503686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.07, Y:-5.69, Z:-0.27 [[ 9.75367745e-01 2.20583751e-01 7.55057732e-04 1.11070539e+02] [-2.20583689e-01 9.75368037e-01 -1.66062537e-04 -5.69294644e+00] [-7.73089876e-04 -4.58137798e-06 9.99999701e-01 -2.67051742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.10, Y:-5.70, Z:-0.27 [[ 9.75579611e-01 2.19644833e-01 7.55026402e-04 1.11102643e+02] [-2.19644770e-01 9.75579903e-01 -1.66204860e-04 -5.69989363e+00] [-7.73094623e-04 -3.69152755e-06 9.99999701e-01 -2.66353070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.13, Y:-5.71, Z:-0.27 [[ 9.75862401e-01 2.18384992e-01 7.54994841e-04 1.11132382e+02] [-2.18384929e-01 9.75862693e-01 -1.66348104e-04 -5.70872303e+00] [-7.73099228e-04 -2.54663438e-06 9.99999701e-01 -2.67306112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.16, Y:-5.72, Z:-0.27 [[ 9.75820840e-01 2.18570625e-01 7.54979624e-04 1.11164366e+02] [-2.18570562e-01 9.75821132e-01 -1.66417141e-04 -5.71838821e+00] [-7.73098970e-04 -2.62300595e-06 9.99999701e-01 -2.66090539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.20, Y:-5.73, Z:-0.26 [[ 9.75737947e-01 2.18940379e-01 7.54948436e-04 1.11195391e+02] [-2.18940315e-01 9.75738239e-01 -1.66558503e-04 -5.72876613e+00] [-7.73098439e-04 -2.77119753e-06 9.99999701e-01 -2.64315917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.23, Y:-5.74, Z:-0.27 [[ 9.75633098e-01 2.19407127e-01 7.54919731e-04 1.11226055e+02] [-2.19407064e-01 9.75633390e-01 -1.66688505e-04 -5.73590874e+00] [-7.73097543e-04 -3.00789909e-06 9.99999701e-01 -2.68289594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.26, Y:-5.74, Z:-0.27 [[ 9.75416521e-01 2.20367968e-01 7.54903555e-04 1.11258646e+02] [-2.20367905e-01 9.75416813e-01 -1.66761734e-04 -5.74268151e+00] [-7.73094564e-04 -3.69436515e-06 9.99999701e-01 -2.68408018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.29, Y:-5.75, Z:-0.27 [[ 9.74800845e-01 2.23075643e-01 7.54872036e-04 1.11290778e+02] [-2.23075581e-01 9.74801137e-01 -1.66904285e-04 -5.74894369e+00] [-7.73082400e-04 -5.69508012e-06 9.99999701e-01 -2.66546657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.32, Y:-5.76, Z:-0.27 [[ 9.74378878e-01 2.24911611e-01 7.54839032e-04 1.11321981e+02] [-2.24911549e-01 9.74379170e-01 -1.67053419e-04 -5.75703600e+00] [-7.73071683e-04 -6.99869290e-06 9.99999701e-01 -2.71261083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.35, Y:-5.77, Z:-0.27 [[ 9.73495453e-01 2.28705125e-01 7.54808253e-04 1.11352373e+02] [-2.28705064e-01 9.73495745e-01 -1.67192374e-04 -5.76720349e+00] [-7.73040375e-04 -9.86745397e-06 9.99999701e-01 -2.68300006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.204203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.38, Y:-5.77, Z:-0.27 [[ 9.72972040e-01 2.30921719e-01 7.54780357e-04 1.11382328e+02] [-2.30921659e-01 9.72972332e-01 -1.67318214e-04 -5.77429299e+00] [-7.73017814e-04 -1.14991884e-05 9.99999701e-01 -2.66699570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.41, Y:-5.78, Z:-0.26 [[ 9.72372229e-01 2.33434528e-01 7.54765175e-04 1.11413148e+02] [-2.33434468e-01 9.72372522e-01 -1.67386668e-04 -5.78125938e+00] [-7.72986745e-04 -1.34260597e-05 9.99999701e-01 -2.64876395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.45, Y:-5.79, Z:-0.27 [[ 9.71282690e-01 2.37927230e-01 7.54739645e-04 1.11445293e+02] [-2.37927171e-01 9.71282983e-01 -1.67501703e-04 -5.78527093e+00] [-7.72918990e-04 -1.68815639e-05 9.99999701e-01 -2.66002243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.48, Y:-5.79, Z:-0.27 [[ 9.70848667e-01 2.39692085e-01 7.54712222e-04 1.11476474e+02] [-2.39692027e-01 9.70848960e-01 -1.67625172e-04 -5.79030064e+00] [-7.72890003e-04 -1.81598272e-05 9.99999701e-01 -2.69612379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.51, Y:-5.80, Z:-0.27 [[ 9.70577016e-01 2.40789714e-01 7.54686815e-04 1.11507918e+02] [-2.40789657e-01 9.70577309e-01 -1.67739483e-04 -5.79594805e+00] [-7.72871840e-04 -1.89166926e-05 9.99999701e-01 -2.68582651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.54, Y:-5.80, Z:-0.27 [[ 9.70483708e-01 2.41165509e-01 7.54658721e-04 1.11538467e+02] [-2.41165451e-01 9.70484001e-01 -1.67865781e-04 -5.80299974e+00] [-7.72867652e-04 -1.90866056e-05 9.99999701e-01 -2.68330672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.57, Y:-5.81, Z:-0.27 [[ 9.71022008e-01 2.38988892e-01 7.54632678e-04 1.11568274e+02] [-2.38988833e-01 9.71022301e-01 -1.67982774e-04 -5.80992134e+00] [-7.72911177e-04 -1.72338124e-05 9.99999701e-01 -2.66819927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.60, Y:-5.82, Z:-0.26 [[ 9.71512813e-01 2.36985832e-01 7.54628685e-04 1.11600827e+02] [-2.36985773e-01 9.71513106e-01 -1.68000712e-04 -5.81748061e+00] [-7.72945446e-04 -1.56214183e-05 9.99999701e-01 -2.63637356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.63, Y:-5.83, Z:-0.26 [[ 9.72754123e-01 2.31837976e-01 7.54597503e-04 1.11631580e+02] [-2.31837915e-01 9.72754415e-01 -1.68140654e-04 -5.82576788e+00] [-7.73019442e-04 -1.13847974e-05 9.99999701e-01 -2.63794146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.66, Y:-5.83, Z:-0.27 [[ 9.73320836e-01 2.29447120e-01 7.54569852e-04 1.11661991e+02] [-2.29447059e-01 9.73321128e-01 -1.68264653e-04 -5.83260539e+00] [-7.73046620e-04 -9.35834006e-06 9.99999701e-01 -2.66189857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.69, Y:-5.84, Z:-0.27 [[ 9.74501430e-01 2.24380018e-01 7.54544207e-04 1.11693616e+02] [-2.24379955e-01 9.74501723e-01 -1.68379572e-04 -5.83918605e+00] [-7.73085641e-04 -5.21846206e-06 9.99999701e-01 -2.72082156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.73, Y:-5.85, Z:-0.27 [[ 9.74983221e-01 2.22277189e-01 7.54516534e-04 1.11725913e+02] [-2.22277125e-01 9.74983513e-01 -1.68503488e-04 -5.84803201e+00] [-7.73095662e-04 -3.42369203e-06 9.99999701e-01 -2.70721604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.76, Y:-5.86, Z:-0.27 [[ 9.75307808e-01 2.20848615e-01 7.54483739e-04 1.11755819e+02] [-2.20848550e-01 9.75308100e-01 -1.68650199e-04 -5.85690189e+00] [-7.73100265e-04 -2.14078398e-06 9.99999701e-01 -2.71607880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.79, Y:-5.87, Z:-0.27 [[ 9.75486548e-01 2.20057777e-01 7.54457215e-04 1.11787364e+02] [-2.20057712e-01 9.75486840e-01 -1.68768769e-04 -5.86636240e+00] [-7.73101965e-04 -1.39246440e-06 9.99999701e-01 -2.70032390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.82, Y:-5.88, Z:-0.27 [[ 9.75698890e-01 2.19114369e-01 7.54425051e-04 1.11818056e+02] [-2.19114304e-01 9.75699182e-01 -1.68912426e-04 -5.87608756e+00] [-7.73103045e-04 -4.97653792e-07 9.99999701e-01 -2.70196702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.85, Y:-5.88, Z:-0.27 [[ 9.75661392e-01 2.19281279e-01 7.54395987e-04 1.11848269e+02] [-2.19281213e-01 9.75661684e-01 -1.69042135e-04 -5.88439412e+00] [-7.73103034e-04 -4.96982898e-07 9.99999701e-01 -2.73440900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.88, Y:-5.89, Z:-0.27 [[ 9.75379731e-01 2.20530750e-01 7.54369074e-04 1.11877871e+02] [-2.20530685e-01 9.75380022e-01 -1.69162149e-04 -5.89275654e+00] [-7.73101980e-04 -1.36419728e-06 9.99999701e-01 -2.70230878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.91, Y:-5.90, Z:-0.27 [[ 9.75117111e-01 2.21689085e-01 7.54355604e-04 1.11909288e+02] [-2.21689020e-01 9.75117403e-01 -1.69222197e-04 -5.90097404e+00] [-7.73099991e-04 -2.22089538e-06 9.99999701e-01 -2.65964199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.94, Y:-5.91, Z:-0.27 [[ 9.74831908e-01 2.22939862e-01 7.54325014e-04 1.11939189e+02] [-2.22939798e-01 9.74832200e-01 -1.69358447e-04 -5.90900723e+00] [-7.73097061e-04 -3.07304786e-06 9.99999701e-01 -2.68264718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.97, Y:-5.92, Z:-0.27 [[ 9.74283148e-01 2.25325937e-01 7.54298660e-04 1.11971074e+02] [-2.25325873e-01 9.74283440e-01 -1.69475743e-04 -5.91958236e+00] [-7.73087974e-04 -4.84564407e-06 9.99999701e-01 -2.65008711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.00, Y:-5.93, Z:-0.27 [[ 9.73871798e-01 2.27097230e-01 7.54266676e-04 1.12001919e+02] [-2.27097166e-01 9.73872090e-01 -1.69617970e-04 -5.92779526e+00] [-7.73079035e-04 -6.10566726e-06 9.99999701e-01 -2.66295626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.03, Y:-5.94, Z:-0.27 [[ 9.73339110e-01 2.29369587e-01 7.54236731e-04 1.12031769e+02] [-2.29369525e-01 9.73339402e-01 -1.69751022e-04 -5.93570379e+00] [-7.73064051e-04 -7.77361183e-06 9.99999701e-01 -2.69268887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:-5.95, Z:-0.27 [[ 9.72332195e-01 2.33601228e-01 7.54211459e-04 1.12062624e+02] [-2.33601167e-01 9.72332487e-01 -1.69863232e-04 -5.94641985e+00] [-7.73024563e-04 -1.10211880e-05 9.99999701e-01 -2.68029708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:-5.95, Z:-0.27 [[ 9.71795972e-01 2.35822010e-01 7.54183794e-04 1.12093683e+02] [-2.35821949e-01 9.71796264e-01 -1.69985975e-04 -5.95383679e+00] [-7.72999428e-04 -1.26614064e-05 9.99999701e-01 -2.67941908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.13, Y:-5.96, Z:-0.27 [[ 9.70728061e-01 2.40180065e-01 7.54155764e-04 1.12125876e+02] [-2.40180005e-01 9.70728353e-01 -1.70110241e-04 -5.95951379e+00] [-7.72937472e-04 -1.60023512e-05 9.99999701e-01 -2.69312333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.16, Y:-5.97, Z:-0.27 [[ 9.70313047e-01 2.41851239e-01 7.54140509e-04 1.12156804e+02] [-2.41851180e-01 9.70313340e-01 -1.70177844e-04 -5.96627519e+00] [-7.72910318e-04 -1.72639889e-05 9.99999701e-01 -2.70577413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.19, Y:-5.97, Z:-0.27 [[ 9.69970825e-01 2.43220127e-01 7.54110343e-04 1.12187386e+02] [-2.43220068e-01 9.69971118e-01 -1.70311411e-04 -5.97400823e+00] [-7.72888416e-04 -1.82176694e-05 9.99999701e-01 -2.70578580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.22, Y:-5.98, Z:-0.27 [[ 9.69698752e-01 2.44302604e-01 7.54084414e-04 1.12218961e+02] [-2.44302545e-01 9.69699045e-01 -1.70426141e-04 -5.98230668e+00] [-7.72870486e-04 -1.89627255e-05 9.99999701e-01 -2.70686175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.25, Y:-5.99, Z:-0.27 [[ 9.69663163e-01 2.44443822e-01 7.54052787e-04 1.12248846e+02] [-2.44443763e-01 9.69663456e-01 -1.70565959e-04 -5.98922795e+00] [-7.72871226e-04 -1.89319739e-05 9.99999701e-01 -2.73914669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.28, Y:-6.00, Z:-0.27 [[ 9.69627207e-01 2.44586410e-01 7.54027212e-04 1.12280235e+02] [-2.44586351e-01 9.69627500e-01 -1.70678947e-04 -5.99645109e+00] [-7.72871271e-04 -1.89298136e-05 9.99999701e-01 -2.71670745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.31, Y:-6.00, Z:-0.27 [[ 9.69334881e-01 2.45742384e-01 7.53999202e-04 1.12311464e+02] [-2.45742326e-01 9.69335174e-01 -1.70802593e-04 -6.00222593e+00] [-7.72851385e-04 -1.97246058e-05 9.99999701e-01 -2.70712464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.34, Y:-6.01, Z:-0.27 [[ 9.69131688e-01 2.46542497e-01 7.53970652e-04 1.12342181e+02] [-2.46542438e-01 9.69131981e-01 -1.70928527e-04 -6.00777000e+00] [-7.72838218e-04 -2.02335109e-05 9.99999701e-01 -2.72986436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.37, Y:-6.02, Z:-0.27 [[ 9.69085735e-01 2.46723062e-01 7.53944303e-04 1.12374768e+02] [-2.46723004e-01 9.69086028e-01 -1.71044673e-04 -6.01533543e+00] [-7.72837555e-04 -2.02584500e-05 9.99999701e-01 -2.73012335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.41, Y:-6.02, Z:-0.27 [[ 9.68821183e-01 2.47759857e-01 7.53912407e-04 1.12407199e+02] [-2.47759799e-01 9.68821476e-01 -1.71185143e-04 -6.01950817e+00] [-7.72819338e-04 -2.09413933e-05 9.99999701e-01 -2.73955265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.44, Y:-6.03, Z:-0.27 [[ 9.68803802e-01 2.47827814e-01 7.53884556e-04 1.12438410e+02] [-2.47827756e-01 9.68804095e-01 -1.71307711e-04 -6.02525245e+00] [-7.72821260e-04 -2.08699558e-05 9.99999701e-01 -2.74883328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.47, Y:-6.03, Z:-0.27 [[ 9.68927102e-01 2.47345309e-01 7.53854702e-04 1.12469572e+02] [-2.47345250e-01 9.68927395e-01 -1.71438982e-04 -6.03151567e+00] [-7.72835102e-04 -2.03505037e-05 9.99999701e-01 -2.73961310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.50, Y:-6.03, Z:-0.27 [[ 9.69699650e-01 2.44299039e-01 7.53826301e-04 1.12501383e+02] [-2.44298980e-01 9.69699943e-01 -1.71563773e-04 -6.03493447e+00] [-7.72898186e-04 -1.77936651e-05 9.99999701e-01 -2.72313226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.53, Y:-6.04, Z:-0.28 [[ 9.70207768e-01 2.42273230e-01 7.53797828e-04 1.12533323e+02] [-2.42273169e-01 9.70208061e-01 -1.71688786e-04 -6.03976892e+00] [-7.72936326e-04 -1.60511953e-05 9.99999701e-01 -2.77023618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.56, Y:-6.04, Z:-0.28 [[ 9.71327567e-01 2.37743958e-01 7.53767358e-04 1.12564720e+02] [-2.37743896e-01 9.71327859e-01 -1.71822454e-04 -6.04219598e+00] [-7.73004984e-04 -1.23077018e-05 9.99999701e-01 -2.78038443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.60, Y:-6.05, Z:-0.28 [[ 9.71746261e-01 2.36026770e-01 7.53761299e-04 1.12596328e+02] [-2.36026708e-01 9.71746553e-01 -1.71849029e-04 -6.04800657e+00] [-7.73025916e-04 -1.09141471e-05 9.99999701e-01 -2.76040021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.63, Y:-6.05, Z:-0.27 [[ 9.72169655e-01 2.34276746e-01 7.53732566e-04 1.12628147e+02] [-2.34276683e-01 9.72169947e-01 -1.71974961e-04 -6.05407583e+00] [-7.73045883e-04 -9.39312735e-06 9.99999701e-01 -2.72261369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.66, Y:-6.06, Z:-0.27 [[ 9.73023218e-01 2.30705980e-01 7.53703471e-04 1.12659855e+02] [-2.30705916e-01 9.73023510e-01 -1.72102379e-04 -6.05586840e+00] [-7.73076245e-04 -6.42423932e-06 9.99999701e-01 -2.70466115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.69, Y:-6.06, Z:-0.27 [[ 9.73429737e-01 2.28984672e-01 7.53676543e-04 1.12692721e+02] [-2.28984607e-01 9.73430028e-01 -1.72220224e-04 -6.06010040e+00] [-7.73087170e-04 -4.93603968e-06 9.99999701e-01 -2.69578402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.73, Y:-6.06, Z:-0.27 [[ 9.73871835e-01 2.27097073e-01 7.53643854e-04 1.12725647e+02] [-2.27097007e-01 9.73872127e-01 -1.72363153e-04 -6.06459396e+00] [-7.73095910e-04 -3.29064352e-06 9.99999701e-01 -2.69234274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.76, Y:-6.07, Z:-0.27 [[ 9.74967440e-01 2.22346401e-01 7.53611199e-04 1.12757241e+02] [-2.22346335e-01 9.74967732e-01 -1.72505808e-04 -6.06522475e+00] [-7.73102647e-04 6.24858616e-07 9.99999701e-01 -2.69928524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.79, Y:-6.07, Z:-0.27 [[ 9.75504634e-01 2.19977594e-01 7.53584723e-04 1.12789793e+02] [-2.19977526e-01 9.75504925e-01 -1.72621392e-04 -6.06928778e+00] [-7.73098447e-04 2.62126500e-06 9.99999701e-01 -2.68170158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.82, Y:-6.07, Z:-0.27 [[ 9.76633749e-01 2.14909174e-01 7.53551073e-04 1.12820873e+02] [-2.14909105e-01 9.76634039e-01 -1.72768158e-04 -6.07316353e+00] [-7.73073091e-04 6.78622751e-06 9.99999701e-01 -2.68287744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.85, Y:-6.08, Z:-0.27 [[ 9.77169453e-01 2.12460095e-01 7.53523920e-04 1.12852339e+02] [-2.12460025e-01 9.77169744e-01 -1.72886506e-04 -6.08108939e+00] [-7.73052259e-04 8.84570229e-06 9.99999701e-01 -2.65612839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.88, Y:-6.09, Z:-0.26 [[ 9.77670430e-01 2.10142721e-01 7.53495322e-04 1.12883011e+02] [-2.10142651e-01 9.77670720e-01 -1.73011055e-04 -6.08890624e+00] [-7.73027328e-04 1.08062882e-05 9.99999701e-01 -2.64839120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67420382200001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:112.91, Y:-6.10, Z:-0.26 [[ 9.78088039e-01 2.08190345e-01 7.53464806e-04 1.12914990e+02] [-2.08190273e-01 9.78088329e-01 -1.73143851e-04 -6.09535635e+00] [-7.73002011e-04 1.24858863e-05 9.99999701e-01 -2.62795959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.95, Y:-6.10, Z:-0.27 [[ 9.78714019e-01 2.05227439e-01 7.53434497e-04 1.12946147e+02] [-2.05227367e-01 9.78714309e-01 -1.73275641e-04 -6.10021515e+00] [-7.72958039e-04 1.49619215e-05 9.99999701e-01 -2.68754232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.98, Y:-6.11, Z:-0.27 [[ 9.78786819e-01 2.04879954e-01 7.53406438e-04 1.12977692e+02] [-2.04879881e-01 9.78787109e-01 -1.73397555e-04 -6.10724901e+00] [-7.72950192e-04 1.53614195e-05 9.99999701e-01 -2.70876830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.01, Y:-6.11, Z:-0.27 [[ 9.78424972e-01 2.06601082e-01 7.53377040e-04 1.13009634e+02] [-2.06601009e-01 9.78425262e-01 -1.73525192e-04 -6.11348562e+00] [-7.72973620e-04 1.41329245e-05 9.99999701e-01 -2.73767385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.04, Y:-6.12, Z:-0.28 [[ 9.78004308e-01 2.08583329e-01 7.53347768e-04 1.13040248e+02] [-2.08583258e-01 9.78004598e-01 -1.73652179e-04 -6.12001800e+00] [-7.72998531e-04 1.26968480e-05 9.99999701e-01 -2.75679009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.07, Y:-6.13, Z:-0.28 [[ 9.77483049e-01 2.11012611e-01 7.53320708e-04 1.13071347e+02] [-2.11012540e-01 9.77483339e-01 -1.73769488e-04 -6.12742345e+00] [-7.73025995e-04 1.08966125e-05 9.99999701e-01 -2.76913388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.10, Y:-6.13, Z:-0.28 [[ 9.76317522e-01 2.16341230e-01 7.53291619e-04 1.13101461e+02] [-2.16341161e-01 9.76317813e-01 -1.73895499e-04 -6.13480758e+00] [-7.73072792e-04 6.80923943e-06 9.99999701e-01 -2.79712674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.13, Y:-6.14, Z:-0.28 [[ 9.75631705e-01 2.19413331e-01 7.53264809e-04 1.13134206e+02] [-2.19413262e-01 9.75631995e-01 -1.74011557e-04 -6.14167359e+00] [-7.73089703e-04 4.49490312e-06 9.99999701e-01 -2.77830786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.17, Y:-6.15, Z:-0.28 [[ 9.74943383e-01 2.22451866e-01 7.53231356e-04 1.13165441e+02] [-2.22451798e-01 9.74943674e-01 -1.74156242e-04 -6.14716965e+00] [-7.73099526e-04 2.23480659e-06 9.99999701e-01 -2.76466110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.20, Y:-6.15, Z:-0.27 [[ 9.73624320e-01 2.28155902e-01 7.53204110e-04 1.13196378e+02] [-2.28155835e-01 9.73624612e-01 -1.74273997e-04 -6.15083806e+00] [-7.73099700e-04 -2.17051109e-06 9.99999701e-01 -2.73143424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.23, Y:-6.16, Z:-0.27 [[ 9.72944426e-01 2.31038040e-01 7.53189356e-04 1.13228438e+02] [-2.31037974e-01 9.72944718e-01 -1.74337739e-04 -6.15682239e+00] [-7.73090255e-04 -4.39441155e-06 9.99999701e-01 -2.71586512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.26, Y:-6.16, Z:-0.27 [[ 9.72325340e-01 2.33629761e-01 7.53160282e-04 1.13259190e+02] [-2.33629696e-01 9.72325632e-01 -1.74463251e-04 -6.16185142e+00] [-7.73076855e-04 -6.32556768e-06 9.99999701e-01 -2.71094883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.29, Y:-6.17, Z:-0.27 [[ 9.71190988e-01 2.38301277e-01 7.53144564e-04 1.13289945e+02] [-2.38301213e-01 9.71191280e-01 -1.74531077e-04 -6.16545746e+00] [-7.73038411e-04 -9.97225440e-06 9.99999701e-01 -2.69659292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.32, Y:-6.17, Z:-0.27 [[ 9.70704175e-01 2.40276583e-01 7.53118044e-04 1.13321980e+02] [-2.40276520e-01 9.70704468e-01 -1.74645439e-04 -6.17136693e+00] [-7.73018259e-04 -1.14275258e-05 9.99999701e-01 -2.67935239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.35, Y:-6.17, Z:-0.27 [[ 9.69943122e-01 2.43330583e-01 7.53084700e-04 1.13354200e+02] [-2.43330521e-01 9.69943414e-01 -1.74789102e-04 -6.17458966e+00] [-7.72981079e-04 -1.37130054e-05 9.99999701e-01 -2.70395010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.39, Y:-6.18, Z:-0.27 [[ 9.69676827e-01 2.44389617e-01 7.53063942e-04 1.13386839e+02] [-2.44389555e-01 9.69677119e-01 -1.74878490e-04 -6.18053692e+00] [-7.72967361e-04 -1.44653420e-05 9.99999701e-01 -2.68435056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.42, Y:-6.19, Z:-0.27 [[ 9.69556064e-01 2.44868275e-01 7.53031187e-04 1.13419757e+02] [-2.44868212e-01 9.69556356e-01 -1.75019423e-04 -6.18637768e+00] [-7.72962877e-04 -1.47022576e-05 9.99999701e-01 -2.66483647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.45, Y:-6.19, Z:-0.27 [[ 9.69770490e-01 2.44017683e-01 7.52997796e-04 1.13450987e+02] [-2.44017621e-01 9.69770782e-01 -1.75162962e-04 -6.18893596e+00] [-7.72978122e-04 -1.38768592e-05 9.99999701e-01 -2.65725373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.48, Y:-6.19, Z:-0.27 [[ 9.70085379e-01 2.42762828e-01 7.52970868e-04 1.13483885e+02] [-2.42762765e-01 9.70085671e-01 -1.75278644e-04 -6.19434565e+00] [-7.72997389e-04 -1.27580399e-05 9.99999701e-01 -2.65711000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.51, Y:-6.20, Z:-0.27 [[ 9.70453026e-01 2.41288951e-01 7.52937585e-04 1.13514684e+02] [-2.41288887e-01 9.70453318e-01 -1.75421498e-04 -6.20091379e+00] [-7.73018047e-04 -1.14371489e-05 9.99999701e-01 -2.67290199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.274203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:113.54, Y:-6.21, Z:-0.27 [[ 9.71252598e-01 2.38050044e-01 7.52910665e-04 1.13544976e+02] [-2.38049979e-01 9.71252890e-01 -1.75536962e-04 -6.20735253e+00] [-7.73053241e-04 -8.73963753e-06 9.99999701e-01 -2.71555619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.58, Y:-6.21, Z:-0.27 [[ 9.71558391e-01 2.36798915e-01 7.52884154e-04 1.13575046e+02] [-2.36798850e-01 9.71558683e-01 -1.75650595e-04 -6.21367280e+00] [-7.73065007e-04 -7.62729267e-06 9.99999701e-01 -2.71514594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.61, Y:-6.22, Z:-0.27 [[ 9.71934906e-01 2.35248743e-01 7.52858521e-04 1.13608085e+02] [-2.35248677e-01 9.71935198e-01 -1.75760395e-04 -6.21690614e+00] [-7.73077107e-04 -6.28130796e-06 9.99999701e-01 -2.66565963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.64, Y:-6.22, Z:-0.27 [[ 9.72066049e-01 2.34706261e-01 7.52823667e-04 1.13639080e+02] [-2.34706195e-01 9.72066341e-01 -1.75909553e-04 -6.22292612e+00] [-7.73081621e-04 -5.69667400e-06 9.99999701e-01 -2.70401925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.67, Y:-6.23, Z:-0.27 [[ 9.72227461e-01 2.34036744e-01 7.52795523e-04 1.13670874e+02] [-2.34036678e-01 9.72227752e-01 -1.76029915e-04 -6.23032809e+00] [-7.73086167e-04 -5.04064559e-06 9.99999701e-01 -2.70216428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.70, Y:-6.24, Z:-0.27 [[ 9.72390381e-01 2.33358910e-01 7.52784792e-04 1.13701556e+02] [-2.33358844e-01 9.72390672e-01 -1.76075791e-04 -6.23628796e+00] [-7.73089765e-04 -4.45458339e-06 9.99999701e-01 -2.73063311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.73, Y:-6.24, Z:-0.28 [[ 9.72306143e-01 2.33709643e-01 7.52767727e-04 1.13731970e+02] [-2.33709576e-01 9.72306435e-01 -1.76148721e-04 -6.24214693e+00] [-7.73088559e-04 -4.65854284e-06 9.99999701e-01 -2.78768347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.76, Y:-6.25, Z:-0.28 [[ 9.71791137e-01 2.35841939e-01 7.52740278e-04 1.13764384e+02] [-2.35841873e-01 9.71791428e-01 -1.76265939e-04 -6.24507277e+00] [-7.73077451e-04 -6.23399993e-06 9.99999701e-01 -2.75111566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.80, Y:-6.25, Z:-0.27 [[ 9.71301059e-01 2.37852236e-01 7.52712219e-04 1.13796804e+02] [-2.37852171e-01 9.71301351e-01 -1.76385678e-04 -6.24930181e+00] [-7.73064123e-04 -7.71063978e-06 9.99999701e-01 -2.71946274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.83, Y:-6.25, Z:-0.27 [[ 9.70635557e-01 2.40553629e-01 7.52683235e-04 1.13829266e+02] [-2.40553565e-01 9.70635849e-01 -1.76509275e-04 -6.25364598e+00] [-7.73041277e-04 -9.73445740e-06 9.99999701e-01 -2.71405723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.86, Y:-6.26, Z:-0.27 [[ 9.69986307e-01 2.43158381e-01 7.52650158e-04 1.13861606e+02] [-2.43158317e-01 9.69986599e-01 -1.76650205e-04 -6.25848531e+00] [-7.73014545e-04 -1.16648659e-05 9.99999701e-01 -2.69814066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.604203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:113.89, Y:-6.26, Z:-0.27 [[ 9.69135367e-01 2.46528038e-01 7.52621017e-04 1.13893776e+02] [-2.46527975e-01 9.69135659e-01 -1.76774273e-04 -6.26145009e+00] [-7.72971680e-04 -1.42239349e-05 9.99999701e-01 -2.66377373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.93, Y:-6.27, Z:-0.26 [[ 9.68949502e-01 2.47257549e-01 7.52592099e-04 1.13925657e+02] [-2.47257486e-01 9.68949794e-01 -1.76897304e-04 -6.26619787e+00] [-7.72963153e-04 -1.46794759e-05 9.99999701e-01 -2.62971575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.96, Y:-6.27, Z:-0.26 [[ 9.69199526e-01 2.46275683e-01 7.52562571e-04 1.13957978e+02] [-2.46275619e-01 9.69199818e-01 -1.77022831e-04 -6.26696227e+00] [-7.72979926e-04 -1.37673697e-05 9.99999701e-01 -2.59278708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.99, Y:-6.27, Z:-0.26 [[ 9.69474880e-01 2.45189498e-01 7.52546354e-04 1.13988784e+02] [-2.45189435e-01 9.69475172e-01 -1.77091748e-04 -6.27135627e+00] [-7.72996043e-04 -1.28304135e-05 9.99999701e-01 -2.61086303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.02, Y:-6.28, Z:-0.26 [[ 9.70282321e-01 2.41974485e-01 7.52518073e-04 1.14020809e+02] [-2.41974420e-01 9.70282613e-01 -1.77211840e-04 -6.27536894e+00] [-7.73035946e-04 -1.01446087e-05 9.99999701e-01 -2.62665274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.05, Y:-6.28, Z:-0.26 [[ 9.70712616e-01 2.40242484e-01 7.52486172e-04 1.14051648e+02] [-2.40242419e-01 9.70712907e-01 -1.77347195e-04 -6.28222054e+00] [-7.73054371e-04 -8.62593880e-06 9.99999701e-01 -2.62055941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.08, Y:-6.29, Z:-0.26 [[ 9.71054652e-01 2.38856225e-01 7.52454501e-04 1.14083630e+02] [-2.38856159e-01 9.71054944e-01 -1.77481470e-04 -6.29026744e+00] [-7.73067217e-04 -7.38418471e-06 9.99999701e-01 -2.61776063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.11, Y:-6.30, Z:-0.26 [[ 9.71387334e-01 2.37499645e-01 7.52420784e-04 1.14114805e+02] [-2.37499579e-01 9.71387625e-01 -1.77624297e-04 -6.29663022e+00] [-7.73077946e-04 -6.15762693e-06 9.99999701e-01 -2.62009544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.15, Y:-6.30, Z:-0.26 [[ 9.71712540e-01 2.36165563e-01 7.52391358e-04 1.14146166e+02] [-2.36165496e-01 9.71712832e-01 -1.77748850e-04 -6.29825190e+00] [-7.73086495e-04 -4.96809132e-06 9.99999701e-01 -2.64058450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.18, Y:-6.30, Z:-0.26 [[ 9.71684218e-01 2.36282067e-01 7.52364180e-04 1.14178517e+02] [-2.36282000e-01 9.71684509e-01 -1.77863816e-04 -6.30271466e+00] [-7.73086649e-04 -4.94264976e-06 9.99999701e-01 -2.64413325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.21, Y:-6.31, Z:-0.26 [[ 9.71684327e-01 2.36281616e-01 7.52334648e-04 1.14211207e+02] [-2.36281549e-01 9.71684619e-01 -1.77988642e-04 -6.30851708e+00] [-7.73087450e-04 -4.81402229e-06 9.99999701e-01 -2.63703176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.24, Y:-6.32, Z:-0.26 [[ 9.71768652e-01 2.35934569e-01 7.52299907e-04 1.14242141e+02] [-2.35934502e-01 9.71768943e-01 -1.78135362e-04 -6.31716815e+00] [-7.73089975e-04 -4.38714324e-06 9.99999701e-01 -2.64552924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.27, Y:-6.33, Z:-0.26 [[ 9.71885686e-01 2.35452006e-01 7.52278340e-04 1.14272817e+02] [-2.35451939e-01 9.71885977e-01 -1.78226391e-04 -6.32550196e+00] [-7.73092531e-04 -3.90971527e-06 9.99999701e-01 -2.64535235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.30, Y:-6.33, Z:-0.26 [[ 9.71925765e-01 2.35286511e-01 7.52248217e-04 1.14304378e+02] [-2.35286444e-01 9.71926056e-01 -1.78353446e-04 -6.33027720e+00] [-7.73093802e-04 -3.64749780e-06 9.99999701e-01 -2.63261899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.34, Y:-6.34, Z:-0.26 [[ 9.71779510e-01 2.35889845e-01 7.52217691e-04 1.14335389e+02] [-2.35889777e-01 9.71779801e-01 -1.78482097e-04 -6.33508605e+00] [-7.73092072e-04 -3.99521937e-06 9.99999701e-01 -2.63541241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.37, Y:-6.34, Z:-0.26 [[ 9.71734139e-01 2.36076677e-01 7.52189458e-04 1.14367921e+02] [-2.36076610e-01 9.71734430e-01 -1.78601004e-04 -6.34300164e+00] [-7.73091925e-04 -4.02164481e-06 9.99999701e-01 -2.63567145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.40, Y:-6.35, Z:-0.27 [[ 9.71481217e-01 2.37115329e-01 7.52155092e-04 1.14398761e+02] [-2.37115262e-01 9.71481508e-01 -1.78745615e-04 -6.34683947e+00] [-7.73088088e-04 -4.69944413e-06 9.99999701e-01 -2.67176325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.43, Y:-6.35, Z:-0.27 [[ 9.71313670e-01 2.37800735e-01 7.52127329e-04 1.14429852e+02] [-2.37800668e-01 9.71313961e-01 -1.78862359e-04 -6.35374925e+00] [-7.73085375e-04 -5.12492631e-06 9.99999701e-01 -2.68348239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.46, Y:-6.36, Z:-0.27 [[ 9.71167946e-01 2.38395165e-01 7.52097365e-04 1.14461444e+02] [-2.38395098e-01 9.71168237e-01 -1.78988267e-04 -6.36116314e+00] [-7.73083009e-04 -5.46865734e-06 9.99999701e-01 -2.68859964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.49, Y:-6.37, Z:-0.27 [[ 9.70763387e-01 2.40037250e-01 7.52067126e-04 1.14493432e+02] [-2.40037183e-01 9.70763678e-01 -1.79115232e-04 -6.36739360e+00] [-7.73073777e-04 -6.64556449e-06 9.99999701e-01 -2.69993926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.52, Y:-6.37, Z:-0.27 [[ 9.70341592e-01 2.41736694e-01 7.52036759e-04 1.14523874e+02] [-2.41736627e-01 9.70341883e-01 -1.79242643e-04 -6.37207523e+00] [-7.73062289e-04 -7.86823825e-06 9.99999701e-01 -2.70715704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.56, Y:-6.38, Z:-0.27 [[ 9.69885393e-01 2.43560584e-01 7.52008644e-04 1.14555729e+02] [-2.43560519e-01 9.69885685e-01 -1.79360519e-04 -6.37637046e+00] [-7.73047572e-04 -9.20046819e-06 9.99999701e-01 -2.68204438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.59, Y:-6.38, Z:-0.27 [[ 9.69520326e-01 2.45009740e-01 7.51977927e-04 1.14585936e+02] [-2.45009674e-01 9.69520617e-01 -1.79489208e-04 -6.37969187e+00] [-7.73034708e-04 -1.02234316e-05 9.99999701e-01 -2.69557634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.61, Y:-6.39, Z:-0.27 [[ 9.69593870e-01 2.44718534e-01 7.51975742e-04 1.14614837e+02] [-2.44718468e-01 9.69594162e-01 -1.79498363e-04 -6.38538615e+00] [-7.73037866e-04 -9.98183954e-06 9.99999701e-01 -2.69456353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.64, Y:-6.39, Z:-0.27 [[ 9.70246528e-01 2.42117967e-01 7.51977853e-04 1.14644982e+02] [-2.42117901e-01 9.70246819e-01 -1.79489520e-04 -6.38881421e+00] [-7.73061757e-04 -7.91821576e-06 9.99999701e-01 -2.66863740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.67, Y:-6.39, Z:-0.27 [[ 9.70758037e-01 2.40058884e-01 7.51977853e-04 1.14674128e+02] [-2.40058817e-01 9.70758328e-01 -1.79489520e-04 -6.39472073e+00] [-7.73076817e-04 -6.27801998e-06 9.99999701e-01 -2.67463089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.71, Y:-6.40, Z:-0.26 [[ 9.71302473e-01 2.37846463e-01 7.51979977e-04 1.14705013e+02] [-2.37846395e-01 9.71302764e-01 -1.79480620e-04 -6.40220467e+00] [-7.73089061e-04 -4.52575639e-06 9.99999701e-01 -2.63582623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.414203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:114.73, Y:-6.41, Z:-0.26 [[ 9.72383453e-01 2.33387780e-01 7.51975623e-04 1.14734896e+02] [-2.33387711e-01 9.72383743e-01 -1.79498859e-04 -6.41004180e+00] [-7.73101712e-04 -9.60149510e-07 9.99999701e-01 -2.61931448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.76, Y:-6.42, Z:-0.26 [[ 9.73025843e-01 2.30694913e-01 7.51947499e-04 1.14764766e+02] [-2.30694843e-01 9.73026134e-01 -1.79616599e-04 -6.41859637e+00] [-7.73101203e-04 1.30118307e-06 9.99999701e-01 -2.62755168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.79, Y:-6.43, Z:-0.26 [[ 9.73548552e-01 2.28478994e-01 7.51943265e-04 1.14794834e+02] [-2.28478923e-01 9.73548843e-01 -1.79634323e-04 -6.42723250e+00] [-7.73096165e-04 3.07954733e-06 9.99999701e-01 -2.62688764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.83, Y:-6.44, Z:-0.26 [[ 9.74170159e-01 2.25813940e-01 7.51938969e-04 1.14826071e+02] [-2.25813868e-01 9.74170449e-01 -1.79652304e-04 -6.43558947e+00] [-7.73084718e-04 5.21366607e-06 9.99999701e-01 -2.63644748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.53420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.86, Y:-6.44, Z:-0.27 [[ 9.74380081e-01 2.24906408e-01 7.51908859e-04 1.14855892e+02] [-2.24906336e-01 9.74380371e-01 -1.79778237e-04 -6.44319653e+00] [-7.73078510e-04 6.06326720e-06 9.99999701e-01 -2.65451747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.89, Y:-6.45, Z:-0.27 [[ 9.74579489e-01 2.24040741e-01 7.51880994e-04 1.14886679e+02] [-2.24040669e-01 9.74579779e-01 -1.79894698e-04 -6.45334453e+00] [-7.73071755e-04 6.86976205e-06 9.99999701e-01 -2.66097080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.92, Y:-6.46, Z:-0.27 [[ 9.74569136e-01 2.24085771e-01 7.51850215e-04 1.14918190e+02] [-2.24085699e-01 9.74569426e-01 -1.80023246e-04 -6.46278662e+00] [-7.73070881e-04 6.96621839e-06 9.99999701e-01 -2.65982027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.95, Y:-6.47, Z:-0.27 [[ 9.74518956e-01 2.24303901e-01 7.51814415e-04 1.14948961e+02] [-2.24303829e-01 9.74519246e-01 -1.80172628e-04 -6.47252777e+00] [-7.73071040e-04 6.94678959e-06 9.99999701e-01 -2.67196322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.98, Y:-6.48, Z:-0.27 [[ 9.74354068e-01 2.25019078e-01 7.51780991e-04 1.14980237e+02] [-2.25019006e-01 9.74354358e-01 -1.80311986e-04 -6.48304682e+00] [-7.73074721e-04 6.52270637e-06 9.99999701e-01 -2.66756957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.01, Y:-6.50, Z:-0.27 [[ 9.73855255e-01 2.27168170e-01 7.51746206e-04 1.15010957e+02] [-2.27168098e-01 9.73855545e-01 -1.80456894e-04 -6.49503896e+00] [-7.73086273e-04 4.96613846e-06 9.99999701e-01 -2.67374660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.04, Y:-6.50, Z:-0.27 [[ 9.73348902e-01 2.29328039e-01 7.51735277e-04 1.15042922e+02] [-2.29327968e-01 9.73349192e-01 -1.80502409e-04 -6.50260259e+00] [-7.73095188e-04 3.29789769e-06 9.99999701e-01 -2.67191661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.07, Y:-6.51, Z:-0.27 [[ 9.71855167e-01 2.35577948e-01 7.51700320e-04 1.15073551e+02] [-2.35577879e-01 9.71855458e-01 -1.80647867e-04 -6.50842968e+00] [-7.73100713e-04 -1.52040344e-06 9.99999701e-01 -2.68852881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.10, Y:-6.52, Z:-0.27 [[ 9.70997743e-01 2.39087468e-01 7.51672112e-04 1.15104284e+02] [-2.39087399e-01 9.70998034e-01 -1.80765167e-04 -6.51625536e+00] [-7.73090829e-04 -4.19276132e-06 9.99999701e-01 -2.69813650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.14, Y:-6.52, Z:-0.27 [[ 9.70073186e-01 2.42811549e-01 7.51667841e-04 1.15135516e+02] [-2.42811482e-01 9.70073477e-01 -1.80782925e-04 -6.52425021e+00] [-7.73069218e-04 -7.14091353e-06 9.99999701e-01 -2.68638719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.17, Y:-6.53, Z:-0.27 [[ 9.68336857e-01 2.49646084e-01 7.51637219e-04 1.15165388e+02] [-2.49646019e-01 9.68337148e-01 -1.80910151e-04 -6.53018305e+00] [-7.73001752e-04 -1.24612725e-05 9.99999701e-01 -2.68845633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.19, Y:-6.54, Z:-0.27 [[ 9.67586968e-01 2.52536915e-01 7.51635039e-04 1.15193706e+02] [-2.52536851e-01 9.67587260e-01 -1.80919208e-04 -6.53503192e+00] [-7.72961267e-04 -1.47604773e-05 9.99999701e-01 -2.68723285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.89420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.22, Y:-6.54, Z:-0.27 [[ 9.66887319e-01 2.55202563e-01 7.51641319e-04 1.15222306e+02] [-2.55202499e-01 9.66887611e-01 -1.80893113e-04 -6.54007064e+00] [-7.72917065e-04 -1.69174864e-05 9.99999701e-01 -2.67575417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.25, Y:-6.54, Z:-0.26 [[ 9.65834550e-01 2.59158362e-01 7.51647478e-04 1.15251983e+02] [-2.59158299e-01 9.65834843e-01 -1.80867517e-04 -6.54451417e+00] [-7.72840653e-04 -2.01075858e-05 9.99999701e-01 -2.64433803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.28, Y:-6.55, Z:-0.26 [[ 9.65523052e-01 2.60316483e-01 7.51651750e-04 1.15280947e+02] [-2.60316421e-01 9.65523344e-01 -1.80849760e-04 -6.54993475e+00] [-7.72815485e-04 -2.10526807e-05 9.99999701e-01 -2.64052273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.31, Y:-6.56, Z:-0.26 [[ 9.65366332e-01 2.60897069e-01 7.51656057e-04 1.15309050e+02] [-2.60897008e-01 9.65366624e-01 -1.80831858e-04 -6.55522515e+00] [-7.72802172e-04 -2.15358283e-05 9.99999701e-01 -2.63143071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.34, Y:-6.56, Z:-0.26 [[ 9.66010819e-01 2.58500546e-01 7.51662484e-04 1.15338677e+02] [-2.58500483e-01 9.66011111e-01 -1.80805141e-04 -6.56003245e+00] [-7.72852539e-04 -1.96453933e-05 9.99999701e-01 -2.60534483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.37, Y:-6.57, Z:-0.26 [[ 9.66719150e-01 2.55838857e-01 7.51666713e-04 1.15366346e+02] [-2.55838794e-01 9.66719442e-01 -1.80787557e-04 -6.56668800e+00] [-7.72903307e-04 -1.75347117e-05 9.99999701e-01 -2.62926728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.40, Y:-6.57, Z:-0.26 [[ 9.67543052e-01 2.52705119e-01 7.51673017e-04 1.15395780e+02] [-2.52705055e-01 9.67543344e-01 -1.80761345e-04 -6.57425455e+00] [-7.72955541e-04 -1.50571878e-05 9.99999701e-01 -2.61466781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.43, Y:-6.58, Z:-0.26 [[ 9.69043889e-01 2.46887374e-01 7.51673017e-04 1.15425455e+02] [-2.46887308e-01 9.69044181e-01 -1.80761345e-04 -6.58201924e+00] [-7.73032056e-04 -1.04128514e-05 9.99999701e-01 -2.63341959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.134203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:115.45, Y:-6.59, Z:-0.27 [[ 9.69733874e-01 2.44163158e-01 7.51670865e-04 1.15454098e+02] [-2.44163091e-01 9.69734166e-01 -1.80770290e-04 -6.58993371e+00] [-7.73058364e-04 -8.23120822e-06 9.99999701e-01 -2.65716446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.48, Y:-6.60, Z:-0.26 [[ 9.71065328e-01 2.38812820e-01 7.51672995e-04 1.15484362e+02] [-2.38812752e-01 9.71065619e-01 -1.80761435e-04 -6.60271747e+00] [-7.73091950e-04 -3.97793452e-06 9.99999701e-01 -2.64204638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.51, Y:-6.61, Z:-0.26 [[ 9.71580738e-01 2.36707214e-01 7.51642837e-04 1.15514782e+02] [-2.36707144e-01 9.71581029e-01 -1.80886751e-04 -6.61215109e+00] [-7.73099119e-04 -2.17314639e-06 9.99999701e-01 -2.64161649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.55, Y:-6.62, Z:-0.26 [[ 9.71900721e-01 2.35389939e-01 7.51632022e-04 1.15545185e+02] [-2.35389869e-01 9.71901012e-01 -1.80931678e-04 -6.62041004e+00] [-7.73101419e-04 -1.07893499e-06 9.99999701e-01 -2.63540565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.58, Y:-6.63, Z:-0.26 [[ 9.72060819e-01 2.34727924e-01 7.51603906e-04 1.15576503e+02] [-2.34727854e-01 9.72061110e-01 -1.81048398e-04 -6.62790874e+00] [-7.73102042e-04 -4.32317608e-07 9.99999701e-01 -2.62996051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.61, Y:-6.63, Z:-0.27 [[ 9.71887861e-01 2.35443030e-01 7.51573773e-04 1.15608215e+02] [-2.35442960e-01 9.71888152e-01 -1.81173400e-04 -6.63417972e+00] [-7.73101660e-04 -8.72526004e-07 9.99999701e-01 -2.66062754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.64, Y:-6.64, Z:-0.27 [[ 9.71604566e-01 2.36609390e-01 7.51543376e-04 1.15638620e+02] [-2.36609321e-01 9.71604856e-01 -1.81299407e-04 -6.64220973e+00] [-7.73100336e-04 -1.67083648e-06 9.99999701e-01 -2.68513912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.67, Y:-6.65, Z:-0.27 [[ 9.71130452e-01 2.38547859e-01 7.51515306e-04 1.15668394e+02] [-2.38547790e-01 9.71130742e-01 -1.81415689e-04 -6.65384378e+00] [-7.73095941e-04 -3.09401575e-06 9.99999701e-01 -2.67843927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.70, Y:-6.66, Z:-0.27 [[ 9.70817793e-01 2.39817112e-01 7.51510997e-04 1.15699460e+02] [-2.39817044e-01 9.70818084e-01 -1.81433534e-04 -6.66321597e+00] [-7.73091333e-04 -4.08624234e-06 9.99999701e-01 -2.67644026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.73, Y:-6.67, Z:-0.27 [[ 9.70255238e-01 2.42083060e-01 7.51480823e-04 1.15728894e+02] [-2.42082992e-01 9.70255529e-01 -1.81558426e-04 -6.66946983e+00] [-7.73080643e-04 -5.76271261e-06 9.99999701e-01 -2.68375673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.76, Y:-6.68, Z:-0.27 [[ 9.69937138e-01 2.43354441e-01 7.51478677e-04 1.15760120e+02] [-2.43354374e-01 9.69937429e-01 -1.81567309e-04 -6.67564231e+00] [-7.73072507e-04 -6.76674670e-06 9.99999701e-01 -2.67742066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.79, Y:-6.68, Z:-0.27 [[ 9.69670399e-01 2.44415124e-01 7.51447993e-04 1.15791038e+02] [-2.44415056e-01 9.69670690e-01 -1.81694209e-04 -6.68266652e+00] [-7.73065907e-04 -7.48170694e-06 9.99999701e-01 -2.68110476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.82, Y:-6.69, Z:-0.27 [[ 9.69456064e-01 2.45263889e-01 7.51416988e-04 1.15821069e+02] [-2.45263822e-01 9.69456355e-01 -1.81822344e-04 -6.69311851e+00] [-7.73060430e-04 -8.02662824e-06 9.99999701e-01 -2.69730193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.85, Y:-6.70, Z:-0.27 [[ 9.69503151e-01 2.45077692e-01 7.51383853e-04 1.15850853e+02] [-2.45077624e-01 9.69503442e-01 -1.81959174e-04 -6.70211711e+00] [-7.73063366e-04 -7.73737685e-06 9.99999701e-01 -2.70012592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.88, Y:-6.71, Z:-0.27 [[ 9.69728921e-01 2.44182831e-01 7.51355977e-04 1.15880138e+02] [-2.44182763e-01 9.69729212e-01 -1.82074209e-04 -6.71200529e+00] [-7.73071235e-04 -6.90555236e-06 9.99999701e-01 -2.71504839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.91, Y:-6.72, Z:-0.27 [[ 9.69894922e-01 2.43522638e-01 7.51328266e-04 1.15911250e+02] [-2.43522570e-01 9.69895213e-01 -1.82188488e-04 -6.72102163e+00] [-7.73076709e-04 -6.26170118e-06 9.99999701e-01 -2.67067033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.94, Y:-6.73, Z:-0.27 [[ 9.70076958e-01 2.42796482e-01 7.51297477e-04 1.15942134e+02] [-2.42796413e-01 9.70077249e-01 -1.82315363e-04 -6.73049522e+00] [-7.73082118e-04 -5.55240052e-06 9.99999701e-01 -2.65503238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.97, Y:-6.74, Z:-0.27 [[ 9.70189127e-01 2.42347878e-01 7.51266405e-04 1.15971861e+02] [-2.42347809e-01 9.70189418e-01 -1.82443313e-04 -6.73963195e+00] [-7.73085465e-04 -5.06324840e-06 9.99999701e-01 -2.66175267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.67420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.00, Y:-6.75, Z:-0.26 [[ 9.70091572e-01 2.42738084e-01 7.51237625e-04 1.16002846e+02] [-2.42738015e-01 9.70091863e-01 -1.82561739e-04 -6.74928081e+00] [-7.73084194e-04 -5.25232509e-06 9.99999701e-01 -2.64009588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.03, Y:-6.76, Z:-0.26 [[ 9.69852416e-01 2.43691870e-01 7.51206409e-04 1.16033529e+02] [-2.43691801e-01 9.69852707e-01 -1.82690097e-04 -6.75829614e+00] [-7.73079661e-04 -5.88041109e-06 9.99999701e-01 -2.64939545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.06, Y:-6.77, Z:-0.27 [[ 9.69250066e-01 2.46076707e-01 7.51184210e-04 1.16062699e+02] [-2.46076639e-01 9.69250357e-01 -1.82781331e-04 -6.76848035e+00] [-7.73063791e-04 -7.68806864e-06 9.99999701e-01 -2.65395254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.10, Y:-6.78, Z:-0.26 [[ 9.68792070e-01 2.47873680e-01 7.51167457e-04 1.16095040e+02] [-2.47873613e-01 9.68792361e-01 -1.82850152e-04 -6.77695760e+00] [-7.73049035e-04 -9.05081416e-06 9.99999701e-01 -2.64242737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.13, Y:-6.78, Z:-0.27 [[ 9.68185903e-01 2.50230879e-01 7.51133179e-04 1.16125689e+02] [-2.50230812e-01 9.68186194e-01 -1.82990855e-04 -6.78427906e+00] [-7.73026737e-04 -1.07874993e-05 9.99999701e-01 -2.67881297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.16, Y:-6.79, Z:-0.26 [[ 9.66751844e-01 2.55715287e-01 7.51111778e-04 1.16156924e+02] [-2.55715222e-01 9.66752136e-01 -1.83078659e-04 -6.78871937e+00] [-7.72954927e-04 -1.50790844e-05 9.99999701e-01 -2.60849030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.19, Y:-6.80, Z:-0.26 [[ 9.66027424e-01 2.58438489e-01 7.51107507e-04 1.16186484e+02] [-2.58438424e-01 9.66027716e-01 -1.83096178e-04 -6.79552077e+00] [-7.72909769e-04 -1.72391117e-05 9.99999701e-01 -2.62168213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.22, Y:-6.80, Z:-0.26 [[ 9.65318439e-01 2.61074219e-01 7.51105394e-04 1.16217761e+02] [-2.61074155e-01 9.65318731e-01 -1.83104846e-04 -6.80323808e+00] [-7.72860060e-04 -1.93397219e-05 9.99999701e-01 -2.55135494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.25, Y:-6.81, Z:-0.25 [[ 9.64265678e-01 2.64936102e-01 7.51074748e-04 1.16249082e+02] [-2.64936040e-01 9.64265970e-01 -1.83230468e-04 -6.80848203e+00] [-7.72780186e-04 -2.23039179e-05 9.99999701e-01 -2.54521915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.28, Y:-6.81, Z:-0.26 [[ 9.64009475e-01 2.65866823e-01 7.51043821e-04 1.16280657e+02] [-2.65866761e-01 9.64009767e-01 -1.83357144e-04 -6.81465552e+00] [-7.72762161e-04 -2.29195642e-05 9.99999701e-01 -2.58983670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.31, Y:-6.82, Z:-0.26 [[ 9.64015402e-01 2.65845331e-01 7.51010785e-04 1.16309970e+02] [-2.65845268e-01 9.64015695e-01 -1.83492357e-04 -6.82177107e+00] [-7.72766770e-04 -2.27632052e-05 9.99999701e-01 -2.59007014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.34, Y:-6.83, Z:-0.26 [[ 9.64353800e-01 2.64615165e-01 7.51014876e-04 1.16339822e+02] [-2.64615102e-01 9.64354092e-01 -1.83475613e-04 -6.82573132e+00] [-7.72794698e-04 -2.17944734e-05 9.99999701e-01 -2.62255988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.37, Y:-6.83, Z:-0.26 [[ 9.64934867e-01 2.62488358e-01 7.51018968e-04 1.16369678e+02] [-2.62488295e-01 9.64935159e-01 -1.83458859e-04 -6.83173518e+00] [-7.72840423e-04 -2.01078385e-05 9.99999701e-01 -2.62839609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.40, Y:-6.84, Z:-0.26 [[ 9.65710975e-01 2.59618469e-01 7.51018968e-04 1.16400242e+02] [-2.59618404e-01 9.65711267e-01 -1.83458859e-04 -6.83854300e+00] [-7.72896787e-04 -1.78101126e-05 9.99999701e-01 -2.62743826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.43, Y:-6.85, Z:-0.26 [[ 9.67686836e-01 2.52153969e-01 7.51014661e-04 1.16431381e+02] [-2.52153903e-01 9.67687127e-01 -1.83476491e-04 -6.84798021e+00] [-7.73011545e-04 -1.18234928e-05 9.99999701e-01 -2.61938864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.46, Y:-6.86, Z:-0.26 [[ 9.68736657e-01 2.48090157e-01 7.51003870e-04 1.16462671e+02] [-2.48090089e-01 9.68736948e-01 -1.83520651e-04 -6.85652041e+00] [-7.73054863e-04 -8.53343479e-06 9.99999701e-01 -2.62186713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.49, Y:-6.86, Z:-0.26 [[ 9.69776906e-01 2.43992189e-01 7.50971472e-04 1.16494691e+02] [-2.43992120e-01 9.69777197e-01 -1.83653127e-04 -6.86413001e+00] [-7.73084938e-04 -5.12856013e-06 9.99999701e-01 -2.62026550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.53, Y:-6.87, Z:-0.27 [[ 9.71578580e-01 2.36716071e-01 7.50936809e-04 1.16525363e+02] [-2.36715999e-01 9.71578871e-01 -1.83794750e-04 -6.87154547e+00] [-7.73101508e-04 8.12284914e-07 9.99999701e-01 -2.65034856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.56, Y:-6.88, Z:-0.26 [[ 9.72312616e-01 2.33682718e-01 7.50908685e-04 1.16557070e+02] [-2.33682646e-01 9.72312906e-01 -1.83909581e-04 -6.88113246e+00] [-7.73094697e-04 3.34327709e-06 9.99999701e-01 -2.63070651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.59, Y:-6.89, Z:-0.26 [[ 9.73382394e-01 2.29185843e-01 7.50873786e-04 1.16587356e+02] [-2.29185769e-01 9.73382684e-01 -1.84051961e-04 -6.89208487e+00] [-7.73069644e-04 7.06335239e-06 9.99999701e-01 -2.59955810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.62, Y:-6.90, Z:-0.26 [[ 9.73688273e-01 2.27882829e-01 7.50843283e-04 1.16619479e+02] [-2.27882755e-01 9.73688562e-01 -1.84176314e-04 -6.90153712e+00] [-7.73058136e-04 8.22608116e-06 9.99999701e-01 -2.58553507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.65, Y:-6.91, Z:-0.26 [[ 9.73909655e-01 2.26934839e-01 7.50807714e-04 1.16649131e+02] [-2.26934764e-01 9.73909944e-01 -1.84321198e-04 -6.91031466e+00] [-7.73048000e-04 9.12782327e-06 9.99999701e-01 -2.60375383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.68, Y:-6.92, Z:-0.26 [[ 9.73986997e-01 2.26602660e-01 7.50778993e-04 1.16681189e+02] [-2.26602585e-01 9.73987287e-01 -1.84438111e-04 -6.91960221e+00] [-7.73043361e-04 9.51186074e-06 9.99999701e-01 -2.60115137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.71, Y:-6.93, Z:-0.26 [[ 9.73685927e-01 2.27892850e-01 7.50743549e-04 1.16711159e+02] [-2.27892776e-01 9.73686217e-01 -1.84582270e-04 -6.92714436e+00] [-7.73053626e-04 8.63612716e-06 9.99999701e-01 -2.60613763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.74, Y:-6.93, Z:-0.26 [[ 9.73306597e-01 2.29507527e-01 7.50715011e-04 1.16743189e+02] [-2.29507453e-01 9.73306886e-01 -1.84698266e-04 -6.93499401e+00] [-7.73065732e-04 7.47335059e-06 9.99999701e-01 -2.57504031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.77, Y:-6.94, Z:-0.26 [[ 9.72293333e-01 2.33762936e-01 7.50679866e-04 1.16774798e+02] [-2.33762863e-01 9.72293623e-01 -1.84840997e-04 -6.94278805e+00] [-7.73090221e-04 4.23859489e-06 9.99999701e-01 -2.56270016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.81, Y:-6.95, Z:-0.26 [[ 9.71589780e-01 2.36670098e-01 7.50648995e-04 1.16805775e+02] [-2.36670026e-01 9.71590070e-01 -1.84966281e-04 -6.95164691e+00] [-7.73099097e-04 2.05523147e-06 9.99999701e-01 -2.57290307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.84, Y:-6.96, Z:-0.26 [[ 9.70229841e-01 2.42184830e-01 7.50616135e-04 1.16835424e+02] [-2.42184759e-01 9.70230132e-01 -1.85099532e-04 -6.96058972e+00] [-7.73098691e-04 -2.19869831e-06 9.99999701e-01 -2.58595033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.87, Y:-6.97, Z:-0.26 [[ 9.69421079e-01 2.45402136e-01 7.50588160e-04 1.16867744e+02] [-2.45402066e-01 9.69421369e-01 -1.85212903e-04 -6.96752444e+00] [-7.73087844e-04 -4.64659278e-06 9.99999701e-01 -2.57035134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.90, Y:-6.97, Z:-0.26 [[ 9.68658283e-01 2.48395988e-01 7.50553057e-04 1.16899542e+02] [-2.48395919e-01 9.68658574e-01 -1.85355047e-04 -6.97333358e+00] [-7.73071104e-04 -6.88861468e-06 9.99999701e-01 -2.57541158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.93, Y:-6.98, Z:-0.26 [[ 9.67971488e-01 2.51059028e-01 7.50522273e-04 1.16930245e+02] [-2.51058959e-01 9.67971779e-01 -1.85479610e-04 -6.97923580e+00] [-7.73050710e-04 -8.88636679e-06 9.99999701e-01 -2.60658518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.96, Y:-6.99, Z:-0.26 [[ 9.66923967e-01 2.55063675e-01 7.50493866e-04 1.16960675e+02] [-2.55063608e-01 9.66924258e-01 -1.85594481e-04 -6.98656954e+00] [-7.73009135e-04 -1.19679220e-05 9.99999701e-01 -2.60086259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.99, Y:-6.99, Z:-0.26 [[ 9.66454647e-01 2.56836235e-01 7.50489529e-04 1.16992102e+02] [-2.56836169e-01 9.66454938e-01 -1.85612016e-04 -6.99335536e+00] [-7.72986203e-04 -1.33672593e-05 9.99999701e-01 -2.59315208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.02, Y:-7.00, Z:-0.26 [[ 9.66009514e-01 2.58505426e-01 7.50458786e-04 1.17021812e+02] [-2.58505360e-01 9.66009806e-01 -1.85736231e-04 -6.99851826e+00] [-7.72964370e-04 -1.45746517e-05 9.99999701e-01 -2.61391666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.05, Y:-7.00, Z:-0.26 [[ 9.65218875e-01 2.61442079e-01 7.50456601e-04 1.17053093e+02] [-2.61442013e-01 9.65219166e-01 -1.85745058e-04 -7.00089061e+00] [-7.72916669e-04 -1.69162487e-05 9.99999701e-01 -2.61321886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.08, Y:-7.00, Z:-0.26 [[ 9.64894093e-01 2.62638203e-01 7.50456601e-04 1.17082966e+02] [-2.62638138e-01 9.64894385e-01 -1.85745058e-04 -7.00486416e+00] [-7.72895109e-04 -1.78742153e-05 9.99999701e-01 -2.63626291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.11, Y:-7.01, Z:-0.26 [[ 9.64699447e-01 2.63352264e-01 7.50458801e-04 1.17113031e+02] [-2.63352199e-01 9.64699738e-01 -1.85736169e-04 -7.00625675e+00] [-7.72881450e-04 -1.84553955e-05 9.99999701e-01 -2.61181006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.14, Y:-7.01, Z:-0.26 [[ 9.64840359e-01 2.62835536e-01 7.50463179e-04 1.17143415e+02] [-2.62835471e-01 9.64840651e-01 -1.85718478e-04 -7.01230361e+00] [-7.72890798e-04 -1.80596599e-05 9.99999701e-01 -2.60241044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.17, Y:-7.02, Z:-0.26 [[ 9.65042729e-01 2.62091525e-01 7.50463179e-04 1.17172486e+02] [-2.62091459e-01 9.65043021e-01 -1.85718478e-04 -7.01808943e+00] [-7.72904493e-04 -1.74637229e-05 9.99999701e-01 -2.64339602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.20, Y:-7.02, Z:-0.26 [[ 9.65443608e-01 2.60610968e-01 7.50460556e-04 1.17201456e+02] [-2.60610902e-01 9.65443900e-01 -1.85729078e-04 -7.02209025e+00] [-7.72930601e-04 -1.62672512e-05 9.99999701e-01 -2.59785799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.23, Y:-7.03, Z:-0.25 [[ 9.65713165e-01 2.59610323e-01 7.50469032e-04 1.17230895e+02] [-2.59610257e-01 9.65713457e-01 -1.85694824e-04 -7.02646097e+00] [-7.72946336e-04 -1.55015220e-05 9.99999701e-01 -2.54584405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.26, Y:-7.03, Z:-0.25 [[ 9.65972393e-01 2.58644104e-01 7.50473470e-04 1.17259349e+02] [-2.58644038e-01 9.65972684e-01 -1.85676885e-04 -7.02967510e+00] [-7.72961104e-04 -1.47467440e-05 9.99999701e-01 -2.53878574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.29, Y:-7.03, Z:-0.25 [[ 9.66767270e-01 2.55656964e-01 7.50480103e-04 1.17289226e+02] [-2.55656897e-01 9.66767561e-01 -1.85650071e-04 -7.02830644e+00] [-7.73002552e-04 -1.23850021e-05 9.99999701e-01 -2.54376654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:-7.03, Z:-0.25 [[ 9.67252847e-01 2.53813647e-01 7.50488648e-04 1.17318580e+02] [-2.53813579e-01 9.67253138e-01 -1.85615524e-04 -7.03282895e+00] [-7.73024252e-04 -1.09470663e-05 9.99999701e-01 -2.54071314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.35, Y:-7.04, Z:-0.26 [[ 9.68562749e-01 2.48768243e-01 7.50493168e-04 1.17347618e+02] [-2.48768174e-01 9.68563039e-01 -1.85597244e-04 -7.03678994e+00] [-7.73070644e-04 -6.93623812e-06 9.99999701e-01 -2.63389127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.38, Y:-7.04, Z:-0.26 [[ 9.69362219e-01 2.45634536e-01 7.50497680e-04 1.17376608e+02] [-2.45634466e-01 9.69362510e-01 -1.85578998e-04 -7.04154413e+00] [-7.73088926e-04 -4.45482695e-06 9.99999701e-01 -2.58458493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.41, Y:-7.05, Z:-0.26 [[ 9.70113752e-01 2.42649429e-01 7.50502186e-04 1.17405123e+02] [-2.42649358e-01 9.70114042e-01 -1.85560775e-04 -7.04586520e+00] [-7.73098925e-04 -2.09381451e-06 9.99999701e-01 -2.61126933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.43, Y:-7.05, Z:-0.26 [[ 9.71386311e-01 2.37503833e-01 7.50508919e-04 1.17433394e+02] [-2.37503761e-01 9.71386601e-01 -1.85533538e-04 -7.04712524e+00] [-7.73099235e-04 1.97604886e-06 9.99999701e-01 -2.63752673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.46, Y:-7.05, Z:-0.26 [[ 9.71902461e-01 2.35382759e-01 7.50517605e-04 1.17462071e+02] [-2.35382686e-01 9.71902751e-01 -1.85498396e-04 -7.05204439e+00] [-7.73093249e-04 3.62749762e-06 9.99999701e-01 -2.61115027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.49, Y:-7.06, Z:-0.26 [[ 9.72619672e-01 2.32401398e-01 7.50526797e-04 1.17491535e+02] [-2.32401324e-01 9.72619962e-01 -1.85461198e-04 -7.05621183e+00] [-7.73078786e-04 5.95978807e-06 9.99999701e-01 -2.61159993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.17420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.52, Y:-7.06, Z:-0.26 [[ 9.73035414e-01 2.30654546e-01 7.50531412e-04 1.17519514e+02] [-2.30654472e-01 9.73035704e-01 -1.85442517e-04 -7.06114102e+00] [-7.73067020e-04 7.32871021e-06 9.99999701e-01 -2.63297814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.55, Y:-7.07, Z:-0.26 [[ 9.73442211e-01 2.28931646e-01 7.50538291e-04 1.17548147e+02] [-2.28931571e-01 9.73442500e-01 -1.85414672e-04 -7.06638766e+00] [-7.73053157e-04 8.66855825e-06 9.99999701e-01 -2.60218969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.234203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:117.58, Y:-7.07, Z:-0.27 [[ 9.74127660e-01 2.25997209e-01 7.50547638e-04 1.17575883e+02] [-2.25997133e-01 9.74127949e-01 -1.85376831e-04 -7.07010943e+00] [-7.73024077e-04 1.09590840e-05 9.99999701e-01 -2.65444840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.60, Y:-7.07, Z:-0.26 [[ 9.74286864e-01 2.25309881e-01 7.50559178e-04 1.17604425e+02] [-2.25309805e-01 9.74287153e-01 -1.85330094e-04 -7.07466528e+00] [-7.73016866e-04 1.14563338e-05 9.99999701e-01 -2.62492447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.63, Y:-7.08, Z:-0.26 [[ 9.74207522e-01 2.25652698e-01 7.50568032e-04 1.17633633e+02] [-2.25652622e-01 9.74207811e-01 -1.85294231e-04 -7.07848910e+00] [-7.73021383e-04 1.11473889e-05 9.99999701e-01 -2.61490872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.66, Y:-7.08, Z:-0.27 [[ 9.73377407e-01 2.29207025e-01 7.50576897e-04 1.17661826e+02] [-2.29206951e-01 9.73377696e-01 -1.85258314e-04 -7.08038585e+00] [-7.73057318e-04 8.28881580e-06 9.99999701e-01 -2.65814271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.69, Y:-7.09, Z:-0.27 [[ 9.72802923e-01 2.31633134e-01 7.50588683e-04 1.17688926e+02] [-2.31633061e-01 9.72803213e-01 -1.85210548e-04 -7.08583805e+00] [-7.73075982e-04 6.31220849e-06 9.99999701e-01 -2.66561912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.72, Y:-7.09, Z:-0.26 [[ 9.71711664e-01 2.36169175e-01 7.50599111e-04 1.17718674e+02] [-2.36169102e-01 9.71711954e-01 -1.85168276e-04 -7.08749612e+00] [-7.73097168e-04 2.66185512e-06 9.99999701e-01 -2.61924206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.75, Y:-7.09, Z:-0.26 [[ 9.71344590e-01 2.37674409e-01 7.50607843e-04 1.17747577e+02] [-2.37674337e-01 9.71344880e-01 -1.85132876e-04 -7.09085817e+00] [-7.73100431e-04 1.42759550e-06 9.99999701e-01 -2.62000510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.78, Y:-7.09, Z:-0.26 [[ 9.71154652e-01 2.38449321e-01 7.50616652e-04 1.17775875e+02] [-2.38449249e-01 9.71154942e-01 -1.85097151e-04 -7.09445041e+00] [-7.73101361e-04 7.73981644e-07 9.99999701e-01 -2.62177413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.80, Y:-7.10, Z:-0.26 [[ 9.71162550e-01 2.38417153e-01 7.50629903e-04 1.17803399e+02] [-2.38417081e-01 9.71162840e-01 -1.85043399e-04 -7.09767319e+00] [-7.73101388e-04 7.44229045e-07 9.99999701e-01 -2.61587380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:-7.10, Z:-0.26 [[ 9.71786363e-01 2.35861615e-01 7.50640886e-04 1.17831849e+02] [-2.35861543e-01 9.71786653e-01 -1.84998836e-04 -7.09943150e+00] [-7.73096918e-04 2.73202835e-06 9.99999701e-01 -2.59348757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.86, Y:-7.11, Z:-0.26 [[ 9.72381379e-01 2.33396424e-01 7.50656399e-04 1.17860624e+02] [-2.33396351e-01 9.72381668e-01 -1.84935866e-04 -7.10509986e+00] [-7.73087892e-04 4.62772765e-06 9.99999701e-01 -2.60038474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:-7.11, Z:-0.26 [[ 9.73110010e-01 2.30339628e-01 7.50665079e-04 1.17887625e+02] [-2.30339554e-01 9.73110300e-01 -1.84900629e-04 -7.11164594e+00] [-7.73069862e-04 7.02079357e-06 9.99999701e-01 -2.59137700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.594203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:117.92, Y:-7.12, Z:-0.26 [[ 9.74465058e-01 2.24537940e-01 7.50678437e-04 1.17915187e+02] [-2.24537864e-01 9.74465347e-01 -1.84846379e-04 -7.11885582e+00] [-7.73015149e-04 1.15706045e-05 9.99999701e-01 -2.56330930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.94, Y:-7.13, Z:-0.25 [[ 9.74978879e-01 2.22296246e-01 7.50687457e-04 1.17943249e+02] [-2.22296170e-01 9.74979168e-01 -1.84809741e-04 -7.12567340e+00] [-7.72987144e-04 1.33106479e-05 9.99999701e-01 -2.54934934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.97, Y:-7.13, Z:-0.26 [[ 9.75570316e-01 2.19686128e-01 7.50696582e-04 1.17970458e+02] [-2.19686051e-01 9.75570605e-01 -1.84772667e-04 -7.13104610e+00] [-7.72949510e-04 1.53411618e-05 9.99999701e-01 -2.55518002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.00, Y:-7.14, Z:-0.25 [[ 9.75706285e-01 2.19081449e-01 7.50708864e-04 1.17997903e+02] [-2.19081372e-01 9.75706574e-01 -1.84722756e-04 -7.13709820e+00] [-7.72940902e-04 1.57688262e-05 9.99999701e-01 -2.54488910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.03, Y:-7.14, Z:-0.25 [[ 9.75718014e-01 2.19029207e-01 7.50722387e-04 1.18025095e+02] [-2.19029130e-01 9.75718303e-01 -1.84667779e-04 -7.14362579e+00] [-7.72941211e-04 1.57536073e-05 9.99999701e-01 -2.54610746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.05, Y:-7.15, Z:-0.26 [[ 9.75591316e-01 2.19592851e-01 7.50733599e-04 1.18053422e+02] [-2.19592774e-01 9.75591605e-01 -1.84622189e-04 -7.15044299e+00] [-7.72951109e-04 1.52601308e-05 9.99999701e-01 -2.56100167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.08, Y:-7.16, Z:-0.26 [[ 9.75398258e-01 2.20448801e-01 7.50742692e-04 1.18080984e+02] [-2.20448724e-01 9.75398547e-01 -1.84585204e-04 -7.15770502e+00] [-7.72964918e-04 1.45438177e-05 9.99999701e-01 -2.58210415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.11, Y:-7.16, Z:-0.26 [[ 9.75131924e-01 2.21623930e-01 7.50751738e-04 1.18108171e+02] [-2.21623854e-01 9.75132213e-01 -1.84548404e-04 -7.16445410e+00] [-7.72982547e-04 1.35745473e-05 9.99999701e-01 -2.60852489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.834203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.14, Y:-7.17, Z:-0.26 [[ 9.74324483e-01 2.25147147e-01 7.50763023e-04 1.18136133e+02] [-2.25147071e-01 9.74324772e-01 -1.84502485e-04 -7.16993678e+00] [-7.73027220e-04 1.07331923e-05 9.99999701e-01 -2.59894386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86420382200001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.16, Y:-7.18, Z:-0.26 [[ 9.74340726e-01 2.25076844e-01 7.50771848e-04 1.18163837e+02] [-2.25076768e-01 9.74341015e-01 -1.84466569e-04 -7.17660436e+00] [-7.73026958e-04 1.07519899e-05 9.99999701e-01 -2.59916413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:-7.18, Z:-0.26 [[ 9.73861417e-01 2.27141757e-01 7.50785154e-04 1.18190865e+02] [-2.27141682e-01 9.73861706e-01 -1.84412396e-04 -7.18202057e+00] [-7.73048667e-04 9.05751473e-06 9.99999701e-01 -2.59420229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.22, Y:-7.19, Z:-0.26 [[ 9.73389334e-01 2.29156368e-01 7.50798668e-04 1.18219319e+02] [-2.29156294e-01 9.73389623e-01 -1.84357359e-04 -7.18739357e+00] [-7.73066296e-04 7.40124634e-06 9.99999701e-01 -2.60705256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.25, Y:-7.19, Z:-0.26 [[ 9.72456855e-01 2.33081747e-01 7.50807662e-04 1.18247633e+02] [-2.33081674e-01 9.72457145e-01 -1.84320726e-04 -7.19084661e+00] [-7.73090072e-04 4.24444636e-06 9.99999701e-01 -2.64708571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.28, Y:-7.20, Z:-0.26 [[ 9.72108647e-01 2.34529774e-01 7.50816620e-04 1.18276279e+02] [-2.34529702e-01 9.72108937e-01 -1.84284228e-04 -7.19624942e+00] [-7.73095684e-04 3.05549364e-06 9.99999701e-01 -2.62419397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.30, Y:-7.20, Z:-0.26 [[ 9.71679441e-01 2.36301713e-01 7.50825595e-04 1.18304481e+02] [-2.36301641e-01 9.71679731e-01 -1.84247652e-04 -7.20210556e+00] [-7.73100049e-04 1.60833466e-06 9.99999701e-01 -2.61140284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.33, Y:-7.21, Z:-0.26 [[ 9.71657907e-01 2.36390245e-01 7.50834693e-04 1.18330549e+02] [-2.36390173e-01 9.71658197e-01 -1.84210571e-04 -7.20736920e+00] [-7.73100266e-04 1.49971412e-06 9.99999701e-01 -2.62810534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.074203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:118.36, Y:-7.21, Z:-0.26 [[ 9.71763014e-01 2.35957795e-01 7.50850530e-04 1.18358689e+02] [-2.35957723e-01 9.71763304e-01 -1.84145995e-04 -7.21237402e+00] [-7.73099675e-04 1.77728629e-06 9.99999701e-01 -2.59216615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.39, Y:-7.22, Z:-0.26 [[ 9.72067432e-01 2.34700541e-01 7.50859792e-04 1.18385561e+02] [-2.34700469e-01 9.72067722e-01 -1.84108222e-04 -7.21794373e+00] [-7.73096867e-04 2.73846189e-06 9.99999701e-01 -2.59146132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:-7.23, Z:-0.26 [[ 9.73045081e-01 2.30613759e-01 7.50871307e-04 1.18413334e+02] [-2.30613686e-01 9.73045371e-01 -1.84061246e-04 -7.22661693e+00] [-7.73078906e-04 5.93869031e-06 9.99999701e-01 -2.57126441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.44, Y:-7.23, Z:-0.26 [[ 9.73612396e-01 2.28206789e-01 7.50880454e-04 1.18440531e+02] [-2.28206715e-01 9.73612686e-01 -1.84023924e-04 -7.23409591e+00] [-7.73062244e-04 7.81201230e-06 9.99999701e-01 -2.58423060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.47, Y:-7.24, Z:-0.26 [[ 9.74186053e-01 2.25745366e-01 7.50891805e-04 1.18468209e+02] [-2.25745291e-01 9.74186342e-01 -1.83977594e-04 -7.24124080e+00] [-7.73040631e-04 9.71811674e-06 9.99999701e-01 -2.55202730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.49, Y:-7.25, Z:-0.26 [[ 9.75436551e-01 2.20279304e-01 7.50901038e-04 1.18494426e+02] [-2.20279228e-01 9.75436840e-01 -1.83939902e-04 -7.25180327e+00] [-7.72974689e-04 1.40138029e-05 9.99999701e-01 -2.56236074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.52, Y:-7.26, Z:-0.26 [[ 9.76003917e-01 2.17751671e-01 7.50912521e-04 1.18521096e+02] [-2.17751594e-01 9.76004206e-01 -1.83893013e-04 -7.26158047e+00] [-7.72936790e-04 1.59679021e-05 9.99999701e-01 -2.55913793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.55, Y:-7.27, Z:-0.26 [[ 9.76708614e-01 2.14568684e-01 7.50926056e-04 1.18547152e+02] [-2.14568606e-01 9.76708902e-01 -1.83837728e-04 -7.27265353e+00] [-7.72881983e-04 1.84307349e-05 9.99999701e-01 -2.55990733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.57, Y:-7.28, Z:-0.26 [[ 9.76782832e-01 2.14230565e-01 7.50937300e-04 1.18574306e+02] [-2.14230487e-01 9.76783121e-01 -1.83791784e-04 -7.28161734e+00] [-7.72876697e-04 1.86509961e-05 9.99999701e-01 -2.55585920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.60, Y:-7.29, Z:-0.26 [[ 9.76643037e-01 2.14866968e-01 7.50946222e-04 1.18601310e+02] [-2.14866890e-01 9.76643326e-01 -1.83755325e-04 -7.28948632e+00] [-7.72889565e-04 1.81098790e-05 9.99999701e-01 -2.58031074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.63, Y:-7.30, Z:-0.26 [[ 9.75900640e-01 2.18214062e-01 7.50957306e-04 1.18629937e+02] [-2.18213985e-01 9.75900929e-01 -1.83710015e-04 -7.29542059e+00] [-7.72948041e-04 1.54133354e-05 9.99999701e-01 -2.60993228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.66, Y:-7.30, Z:-0.26 [[ 9.75375295e-01 2.20550381e-01 7.50970992e-04 1.18657739e+02] [-2.20550305e-01 9.75375584e-01 -1.83654054e-04 -7.30215238e+00] [-7.72983741e-04 1.35047459e-05 9.99999701e-01 -2.61195014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.69, Y:-7.31, Z:-0.26 [[ 9.74702259e-01 2.23506022e-01 7.50979925e-04 1.18685558e+02] [-2.23505947e-01 9.74702548e-01 -1.83617517e-04 -7.31058824e+00] [-7.73021668e-04 1.11239291e-05 9.99999701e-01 -2.60902602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.71, Y:-7.32, Z:-0.26 [[ 9.73978484e-01 2.26639248e-01 7.50988883e-04 1.18712263e+02] [-2.26639174e-01 9.73978774e-01 -1.83580875e-04 -7.31955456e+00] [-7.73053862e-04 8.60032242e-06 9.99999701e-01 -2.63278044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.74, Y:-7.33, Z:-0.26 [[ 9.72698858e-01 2.32069748e-01 7.51001715e-04 1.18739608e+02] [-2.32069675e-01 9.72699148e-01 -1.83528364e-04 -7.32831925e+00] [-7.73090109e-04 4.23310554e-06 9.99999701e-01 -2.64607957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.77, Y:-7.33, Z:-0.27 [[ 9.72229922e-01 2.34026526e-01 7.51010456e-04 1.18766809e+02] [-2.34026454e-01 9.72230212e-01 -1.83492587e-04 -7.33487096e+00] [-7.73097188e-04 2.64067014e-06 9.99999701e-01 -2.66097970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.79, Y:-7.34, Z:-0.27 [[ 9.71495388e-01 2.37057267e-01 7.51021324e-04 1.18794473e+02] [-2.37057196e-01 9.71495678e-01 -1.83448095e-04 -7.33996000e+00] [-7.73101675e-04 1.83968237e-07 9.99999701e-01 -2.68229639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.82, Y:-7.35, Z:-0.27 [[ 9.71267346e-01 2.37989869e-01 7.51036263e-04 1.18822321e+02] [-2.37989799e-01 9.71267637e-01 -1.83386914e-04 -7.34620691e+00] [-7.73101444e-04 -6.21247910e-07 9.99999701e-01 -2.65987022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:-7.35, Z:-0.26 [[ 9.71217284e-01 2.38194088e-01 7.51045121e-04 1.18849665e+02] [-2.38194018e-01 9.71217574e-01 -1.83350631e-04 -7.35370016e+00] [-7.73101257e-04 -8.21153375e-07 9.99999701e-01 -2.62692204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.88, Y:-7.36, Z:-0.26 [[ 9.71487407e-01 2.37089970e-01 7.51058680e-04 1.18875506e+02] [-2.37089899e-01 9.71487697e-01 -1.83295072e-04 -7.36382953e+00] [-7.73101691e-04 4.26914660e-10 9.99999701e-01 -2.60253109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.90, Y:-7.37, Z:-0.26 [[ 9.71853176e-01 2.35586163e-01 7.51069884e-04 1.18903506e+02] [-2.35586092e-01 9.71853466e-01 -1.83249150e-04 -7.37160182e+00] [-7.73100835e-04 1.14964905e-06 9.99999701e-01 -2.58665882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.93, Y:-7.38, Z:-0.26 [[ 9.72330730e-01 2.33607336e-01 7.51078554e-04 1.18931446e+02] [-2.33607264e-01 9.72331020e-01 -1.83213609e-04 -7.37885177e+00] [-7.73097020e-04 2.68681589e-06 9.99999701e-01 -2.58155985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.96, Y:-7.39, Z:-0.26 [[ 9.72852847e-01 2.31423366e-01 7.51087317e-04 1.18959334e+02] [-2.31423294e-01 9.72853137e-01 -1.83177678e-04 -7.38577631e+00] [-7.73089247e-04 4.38582489e-06 9.99999701e-01 -2.56680263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:-7.39, Z:-0.26 [[ 9.73636711e-01 2.28103026e-01 7.51096370e-04 1.18986111e+02] [-2.28102953e-01 9.73637001e-01 -1.83140549e-04 -7.39390037e+00] [-7.73070131e-04 6.98506191e-06 9.99999701e-01 -2.58844225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.01, Y:-7.40, Z:-0.26 [[ 9.73888653e-01 2.27024948e-01 7.51107621e-04 1.19012508e+02] [-2.27024875e-01 9.73888943e-01 -1.83094393e-04 -7.40246856e+00] [-7.73062402e-04 7.79343786e-06 9.99999701e-01 -2.60137882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.04, Y:-7.41, Z:-0.26 [[ 9.73978308e-01 2.26640006e-01 7.51118628e-04 1.19039106e+02] [-2.26639932e-01 9.73978597e-01 -1.83049227e-04 -7.41406156e+00] [-7.73059746e-04 8.05250208e-06 9.99999701e-01 -2.59098465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.07, Y:-7.42, Z:-0.26 [[ 9.73872965e-01 2.27092237e-01 7.51127516e-04 1.19066846e+02] [-2.27092163e-01 9.73873255e-01 -1.83012749e-04 -7.42050819e+00] [-7.73063773e-04 7.65599578e-06 9.99999701e-01 -2.59381159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.09, Y:-7.42, Z:-0.26 [[ 9.73314860e-01 2.29472481e-01 7.51136528e-04 1.19094474e+02] [-2.29472408e-01 9.73315150e-01 -1.82975755e-04 -7.42470695e+00] [-7.73080463e-04 5.72791331e-06 9.99999701e-01 -2.62169619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:-7.43, Z:-0.26 [[ 9.72930062e-01 2.31098531e-01 7.51147706e-04 1.19122269e+02] [-2.31098459e-01 9.72930352e-01 -1.82929855e-04 -7.43099203e+00] [-7.73089223e-04 4.38887740e-06 9.99999701e-01 -2.61685072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:-7.44, Z:-0.26 [[ 9.72428081e-01 2.33201764e-01 7.51156680e-04 1.19149274e+02] [-2.33201693e-01 9.72428371e-01 -1.82893001e-04 -7.43693513e+00] [-7.73097037e-04 2.67928080e-06 9.99999701e-01 -2.62676959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.18, Y:-7.44, Z:-0.26 [[ 9.71413131e-01 2.37394113e-01 7.51167842e-04 1.19177584e+02] [-2.37394043e-01 9.71413421e-01 -1.82847142e-04 -7.44281380e+00] [-7.73101359e-04 -7.02655983e-07 9.99999701e-01 -2.63510759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.21, Y:-7.45, Z:-0.26 [[ 9.71049059e-01 2.38878965e-01 7.51176685e-04 1.19205484e+02] [-2.38878895e-01 9.71049350e-01 -1.82810806e-04 -7.44937342e+00] [-7.73099288e-04 -1.92199499e-06 9.99999701e-01 -2.64489927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.23, Y:-7.46, Z:-0.27 [[ 9.70880428e-01 2.39563416e-01 7.51185542e-04 1.19232851e+02] [-2.39563346e-01 9.70880719e-01 -1.82774405e-04 -7.45553744e+00] [-7.73097620e-04 -2.50442950e-06 9.99999701e-01 -2.68239959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.26, Y:-7.46, Z:-0.26 [[ 9.70993925e-01 2.39102976e-01 7.51196570e-04 1.19261661e+02] [-2.39102906e-01 9.70994216e-01 -1.82729069e-04 -7.46085706e+00] [-7.73098589e-04 -2.18446724e-06 9.99999701e-01 -2.63769288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.29, Y:-7.46, Z:-0.26 [[ 9.71927732e-01 2.35278389e-01 7.51205440e-04 1.19289276e+02] [-2.35278318e-01 9.71928022e-01 -1.82692599e-04 -7.46270279e+00] [-7.73101237e-04 8.21651077e-07 9.99999701e-01 -2.60808576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:-7.47, Z:-0.26 [[ 9.72875866e-01 2.31326574e-01 7.51218708e-04 1.19316220e+02] [-2.31326502e-01 9.72876157e-01 -1.82638025e-04 -7.46890037e+00] [-7.73091798e-04 3.90733058e-06 9.99999701e-01 -2.60688393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:-7.48, Z:-0.26 [[ 9.75254228e-01 2.21085112e-01 7.51229489e-04 1.19342971e+02] [-2.21085037e-01 9.75254517e-01 -1.82593668e-04 -7.47938638e+00] [-7.73008694e-04 1.19896472e-05 9.99999701e-01 -2.59677446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.37, Y:-7.49, Z:-0.26 [[ 9.76512898e-01 2.15457641e-01 7.51238438e-04 1.19369403e+02] [-2.15457564e-01 9.76513187e-01 -1.82556845e-04 -7.48874057e+00] [-7.72927508e-04 1.64091101e-05 9.99999701e-01 -2.63640511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.40, Y:-7.50, Z:-0.26 [[ 9.78796073e-01 2.04835745e-01 7.51249517e-04 1.19396432e+02] [-2.04835665e-01 9.78796361e-01 -1.82511240e-04 -7.50199101e+00] [-7.72705120e-04 2.47585905e-05 9.99999701e-01 -2.60443486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.42, Y:-7.51, Z:-0.26 [[ 9.79545001e-01 2.01223821e-01 7.51253941e-04 1.19423689e+02] [-2.01223740e-01 9.79545289e-01 -1.82493026e-04 -7.51269694e+00] [-7.72609203e-04 2.75900037e-05 9.99999701e-01 -2.60924480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.45, Y:-7.52, Z:-0.26 [[ 9.80044285e-01 1.98777852e-01 7.51260504e-04 1.19451644e+02] [-1.98777771e-01 9.80044573e-01 -1.82466005e-04 -7.52317487e+00] [-7.72538981e-04 2.94908770e-05 9.99999701e-01 -2.63428749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.48, Y:-7.53, Z:-0.26 [[ 9.80202408e-01 1.97996653e-01 7.51257639e-04 1.19480779e+02] [-1.97996571e-01 9.80202696e-01 -1.82477803e-04 -7.53339112e+00] [-7.72514757e-04 3.01187452e-05 9.99999701e-01 -2.63481170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.51, Y:-7.54, Z:-0.27 [[ 9.79484782e-01 2.01516744e-01 7.51257639e-04 1.19508200e+02] [-2.01516663e-01 9.79485069e-01 -1.82477803e-04 -7.54485547e+00] [-7.72617973e-04 2.73432987e-05 9.99999701e-01 -2.66174763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.54, Y:-7.55, Z:-0.27 [[ 9.78693517e-01 2.05325196e-01 7.51257639e-04 1.19536234e+02] [-2.05325116e-01 9.78693805e-01 -1.82477803e-04 -7.55362168e+00] [-7.72718487e-04 2.43377807e-05 9.99999701e-01 -2.67866989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.56, Y:-7.56, Z:-0.27 [[ 9.77632386e-01 2.10319644e-01 7.51255270e-04 1.19564095e+02] [-2.10319566e-01 9.77632675e-01 -1.82487553e-04 -7.56239694e+00] [-7.72832417e-04 2.04020600e-05 9.99999701e-01 -2.67921374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.59, Y:-7.57, Z:-0.27 [[ 9.74974587e-01 2.22315069e-01 7.51261717e-04 1.19591641e+02] [-2.22314994e-01 9.74974877e-01 -1.82461011e-04 -7.57283727e+00] [-7.73025132e-04 1.08781041e-05 9.99999701e-01 -2.68435403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.62, Y:-7.58, Z:-0.27 [[ 9.73470890e-01 2.28809665e-01 7.51268316e-04 1.19617907e+02] [-2.28809592e-01 9.73471179e-01 -1.82433835e-04 -7.58070137e+00] [-7.73080678e-04 5.69663052e-06 9.99999701e-01 -2.67978054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.65, Y:-7.59, Z:-0.27 [[ 9.70243445e-01 2.42130321e-01 7.51279317e-04 1.19645745e+02] [-2.42130252e-01 9.70243736e-01 -1.82388522e-04 -7.58793257e+00] [-7.73085842e-04 -4.94618199e-06 9.99999701e-01 -2.65558897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.67, Y:-7.59, Z:-0.27 [[ 9.68643611e-01 2.48453195e-01 7.51288019e-04 1.19672896e+02] [-2.48453129e-01 9.68643902e-01 -1.82352668e-04 -7.59268169e+00] [-7.73036662e-04 -1.00251125e-05 9.99999701e-01 -2.65410924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.70, Y:-7.60, Z:-0.27 [[ 9.67168747e-01 2.54133920e-01 7.51298755e-04 1.19701775e+02] [-2.54133855e-01 9.67169039e-01 -1.82308426e-04 -7.59687395e+00] [-7.72963650e-04 -1.46074367e-05 9.99999701e-01 -2.65406129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.73, Y:-7.60, Z:-0.27 [[ 9.65864498e-01 2.59046729e-01 7.51307398e-04 1.19729150e+02] [-2.59046666e-01 9.65864790e-01 -1.82272798e-04 -7.60109835e+00] [-7.72878534e-04 -1.85728519e-05 9.99999701e-01 -2.66433809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.76, Y:-7.60, Z:-0.27 [[ 9.63991046e-01 2.65933638e-01 7.51318139e-04 1.19756788e+02] [-2.65933576e-01 9.63991338e-01 -1.82228516e-04 -7.60460768e+00] [-7.72724870e-04 -2.41340621e-05 9.99999701e-01 -2.69558898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.79, Y:-7.61, Z:-0.27 [[ 9.63514992e-01 2.67653311e-01 7.51328708e-04 1.19785150e+02] [-2.67653251e-01 9.63515285e-01 -1.82184927e-04 -7.61034256e+00] [-7.72679093e-04 -2.55576621e-05 9.99999701e-01 -2.70736439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.81, Y:-7.62, Z:-0.27 [[ 9.63367990e-01 2.68181936e-01 7.51337051e-04 1.19813245e+02] [-2.68181876e-01 9.63368283e-01 -1.82150516e-04 -7.61600015e+00] [-7.72663762e-04 -2.60170035e-05 9.99999701e-01 -2.70069453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.84, Y:-7.62, Z:-0.27 [[ 9.64186777e-01 2.65223102e-01 7.51345749e-04 1.19841120e+02] [-2.65223040e-01 9.64187070e-01 -1.82114628e-04 -7.61895710e+00] [-7.72738863e-04 -2.36816877e-05 9.99999701e-01 -2.72949194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.87, Y:-7.62, Z:-0.27 [[ 9.65139549e-01 2.61734764e-01 7.51356578e-04 1.19868726e+02] [-2.61734701e-01 9.65139841e-01 -1.82069941e-04 -7.62341008e+00] [-7.72818201e-04 -2.09331886e-05 9.99999701e-01 -2.74038427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.90, Y:-7.63, Z:-0.27 [[ 9.67505989e-01 2.52846984e-01 7.51367261e-04 1.19896295e+02] [-2.52846918e-01 9.67506280e-01 -1.82025842e-04 -7.62833713e+00] [-7.72977229e-04 -1.38698042e-05 9.99999701e-01 -2.74991093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.92, Y:-7.63, Z:-0.28 [[ 9.67523589e-01 2.52779629e-01 7.51377901e-04 1.19924023e+02] [-2.52779563e-01 9.67523880e-01 -1.81981913e-04 -7.63491367e+00] [-7.72977383e-04 -1.38611847e-05 9.99999701e-01 -2.75013120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.95, Y:-7.64, Z:-0.28 [[ 9.68714050e-01 2.48178412e-01 7.51390566e-04 1.19952163e+02] [-2.48178345e-01 9.68714342e-01 -1.81929603e-04 -7.64173664e+00] [-7.73033818e-04 -1.02411046e-05 9.99999701e-01 -2.76129279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.98, Y:-7.65, Z:-0.28 [[ 9.69871608e-01 2.43615473e-01 7.51398971e-04 1.19980121e+02] [-2.43615405e-01 9.69871899e-01 -1.81894885e-04 -7.64725745e+00] [-7.73073156e-04 -6.63767989e-06 9.99999701e-01 -2.75516626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.01, Y:-7.65, Z:-0.27 [[ 9.71758922e-01 2.35974646e-01 7.51407456e-04 1.20009307e+02] [-2.35974576e-01 9.71759212e-01 -1.81859826e-04 -7.64987780e+00] [-7.73101426e-04 -5.89147790e-07 9.99999701e-01 -2.74065622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.04, Y:-7.65, Z:-0.27 [[ 9.72496549e-01 2.32916074e-01 7.51416141e-04 1.20037627e+02] [-2.32916003e-01 9.72496839e-01 -1.81823932e-04 -7.65493105e+00] [-7.73099539e-04 1.80630239e-06 9.99999701e-01 -2.73434852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.06, Y:-7.66, Z:-0.28 [[ 9.73100205e-01 2.30381046e-01 7.51422937e-04 1.20064637e+02] [-2.30380974e-01 9.73100495e-01 -1.81795844e-04 -7.66030761e+00] [-7.73092349e-04 3.79202455e-06 9.99999701e-01 -2.75951674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.09, Y:-7.67, Z:-0.27 [[ 9.73776703e-01 2.27504655e-01 7.51434265e-04 1.20093210e+02] [-2.27504583e-01 9.73776993e-01 -1.81749008e-04 -7.66569320e+00] [-7.73078144e-04 6.02821034e-06 9.99999701e-01 -2.74180062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.12, Y:-7.67, Z:-0.27 [[ 9.73973937e-01 2.26658785e-01 7.51442988e-04 1.20120355e+02] [-2.26658712e-01 9.73974227e-01 -1.81712938e-04 -7.67143119e+00] [-7.73072937e-04 6.66256594e-06 9.99999701e-01 -2.74106674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:-7.68, Z:-0.27 [[ 9.74342045e-01 2.25071131e-01 7.51453829e-04 1.20148493e+02] [-2.25071057e-01 9.74342335e-01 -1.81668095e-04 -7.67677904e+00] [-7.73061522e-04 7.87635549e-06 9.99999701e-01 -2.74100213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:-7.68, Z:-0.27 [[ 9.74595498e-01 2.23971092e-01 7.51462444e-04 1.20176866e+02] [-2.23971019e-01 9.74595788e-01 -1.81632449e-04 -7.68220328e+00] [-7.73052551e-04 8.71235822e-06 9.99999701e-01 -2.73874226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.20, Y:-7.69, Z:-0.27 [[ 9.74864135e-01 2.22798908e-01 7.51471002e-04 1.20203819e+02] [-2.22798834e-01 9.74864425e-01 -1.81597038e-04 -7.68715426e+00] [-7.73041967e-04 9.60557609e-06 9.99999701e-01 -2.73979988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.23, Y:-7.69, Z:-0.28 [[ 9.75067337e-01 2.21907919e-01 7.51478684e-04 1.20232339e+02] [-2.21907845e-01 9.75067626e-01 -1.81565242e-04 -7.69317159e+00] [-7.73033301e-04 1.02793221e-05 9.99999701e-01 -2.75235545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.26, Y:-7.70, Z:-0.28 [[ 9.75303523e-01 2.20867548e-01 7.51487154e-04 1.20259887e+02] [-2.20867474e-01 9.75303812e-01 -1.81530177e-04 -7.69926121e+00] [-7.73022411e-04 1.10679518e-05 9.99999701e-01 -2.75543055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.29, Y:-7.71, Z:-0.28 [[ 9.75253365e-01 2.21088918e-01 7.51499856e-04 1.20287562e+02] [-2.21088843e-01 9.75253654e-01 -1.81477577e-04 -7.70572301e+00] [-7.73025662e-04 1.08383837e-05 9.99999701e-01 -2.75211372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.32, Y:-7.71, Z:-0.27 [[ 9.75019581e-01 2.22117655e-01 7.51508267e-04 1.20315012e+02] [-2.22117581e-01 9.75019870e-01 -1.81442740e-04 -7.71126065e+00] [-7.73037129e-04 9.98702610e-06 9.99999701e-01 -2.74929458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.34, Y:-7.72, Z:-0.28 [[ 9.74715709e-01 2.23447357e-01 7.51521009e-04 1.20342729e+02] [-2.23447284e-01 9.74715999e-01 -1.81389951e-04 -7.71708648e+00] [-7.73050656e-04 8.87830613e-06 9.99999701e-01 -2.75588621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.37, Y:-7.72, Z:-0.27 [[ 9.74314082e-01 2.25192149e-01 7.51531590e-04 1.20371128e+02] [-2.25192076e-01 9.74314372e-01 -1.81346102e-04 -7.72200775e+00] [-7.73065747e-04 7.44910224e-06 9.99999701e-01 -2.74964727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.40, Y:-7.72, Z:-0.27 [[ 9.73348382e-01 2.29330249e-01 7.51540088e-04 1.20399175e+02] [-2.29330178e-01 9.73348672e-01 -1.81310878e-04 -7.72403199e+00] [-7.73090615e-04 4.12782775e-06 9.99999701e-01 -2.74938331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.43, Y:-7.73, Z:-0.27 [[ 9.72900403e-01 2.31223356e-01 7.51550692e-04 1.20426581e+02] [-2.31223285e-01 9.72900694e-01 -1.81266911e-04 -7.72829184e+00] [-7.73097333e-04 2.57863127e-06 9.99999701e-01 -2.73331010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.45, Y:-7.73, Z:-0.27 [[ 9.72589132e-01 2.32529169e-01 7.51563602e-04 1.20454253e+02] [-2.32529099e-01 9.72589423e-01 -1.81213367e-04 -7.73324243e+00] [-7.73100204e-04 1.48574415e-06 9.99999701e-01 -2.74658189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.48, Y:-7.74, Z:-0.28 [[ 9.72253241e-01 2.33929625e-01 7.51574297e-04 1.20482827e+02] [-2.33929555e-01 9.72253532e-01 -1.81169002e-04 -7.73793731e+00] [-7.73101561e-04 3.26708420e-07 9.99999701e-01 -2.75949471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.51, Y:-7.74, Z:-0.28 [[ 9.72197097e-01 2.34162847e-01 7.51582891e-04 1.20509884e+02] [-2.34162777e-01 9.72197388e-01 -1.81133341e-04 -7.74345233e+00] [-7.73101622e-04 1.04570817e-07 9.99999701e-01 -2.77725721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.54, Y:-7.75, Z:-0.28 [[ 9.72310790e-01 2.33690313e-01 7.51593613e-04 1.20538738e+02] [-2.33690243e-01 9.72311081e-01 -1.81088842e-04 -7.74860468e+00] [-7.73101506e-04 4.34540922e-07 9.99999701e-01 -2.75430817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.57, Y:-7.75, Z:-0.27 [[ 9.72361381e-01 2.33479721e-01 7.51602411e-04 1.20566440e+02] [-2.33479650e-01 9.72361671e-01 -1.81052317e-04 -7.75410953e+00] [-7.73101421e-04 5.64412454e-07 9.99999701e-01 -2.74993327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.59, Y:-7.76, Z:-0.27 [[ 9.72293640e-01 2.33761659e-01 7.51613389e-04 1.20594666e+02] [-2.33761589e-01 9.72293930e-01 -1.81006732e-04 -7.75943045e+00] [-7.73101570e-04 2.93353689e-07 9.99999701e-01 -2.72155139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.53420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.62, Y:-7.76, Z:-0.27 [[ 9.72188542e-01 2.34198363e-01 7.51622202e-04 1.20623108e+02] [-2.34198293e-01 9.72188833e-01 -1.80970129e-04 -7.76029269e+00] [-7.73101619e-04 -9.15501753e-08 9.99999701e-01 -2.71653234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.65, Y:-7.76, Z:-0.27 [[ 9.72203430e-01 2.34136552e-01 7.51633155e-04 1.20649433e+02] [-2.34136482e-01 9.72203721e-01 -1.80924625e-04 -7.76462937e+00] [-7.73101618e-04 -8.92018856e-08 9.99999701e-01 -2.72413020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.68, Y:-7.77, Z:-0.27 [[ 9.72248761e-01 2.33948245e-01 7.51648133e-04 1.20676535e+02] [-2.33948175e-01 9.72249052e-01 -1.80862376e-04 -7.77056820e+00] [-7.73101621e-04 -3.48769933e-09 9.99999701e-01 -2.74640813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.71, Y:-7.78, Z:-0.28 [[ 9.72546753e-01 2.32706356e-01 7.51658718e-04 1.20705154e+02] [-2.32706286e-01 9.72547043e-01 -1.80818376e-04 -7.77672099e+00] [-7.73101049e-04 9.38615579e-07 9.99999701e-01 -2.75196512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.73, Y:-7.78, Z:-0.28 [[ 9.72721361e-01 2.31975406e-01 7.51667431e-04 1.20732576e+02] [-2.31975336e-01 9.72721651e-01 -1.80782150e-04 -7.78157546e+00] [-7.73100197e-04 1.48235456e-06 9.99999701e-01 -2.75456984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.76, Y:-7.79, Z:-0.27 [[ 9.72880450e-01 2.31307294e-01 7.51680483e-04 1.20760809e+02] [-2.31307223e-01 9.72880741e-01 -1.80727863e-04 -7.78573727e+00] [-7.73099138e-04 1.95747900e-06 9.99999701e-01 -2.73921849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.79, Y:-7.79, Z:-0.27 [[ 9.72880558e-01 2.31306842e-01 7.51689216e-04 1.20788663e+02] [-2.31306771e-01 9.72880848e-01 -1.80691535e-04 -7.78745791e+00] [-7.73099230e-04 1.92047646e-06 9.99999701e-01 -2.72772965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.82, Y:-7.79, Z:-0.27 [[ 9.72837279e-01 2.31488799e-01 7.51700072e-04 1.20816128e+02] [-2.31488728e-01 9.72837569e-01 -1.80646361e-04 -7.79161081e+00] [-7.73099680e-04 1.72942053e-06 9.99999701e-01 -2.73634574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.84, Y:-7.79, Z:-0.28 [[ 9.72771736e-01 2.31764072e-01 7.51710855e-04 1.20844411e+02] [-2.31764002e-01 9.72772026e-01 -1.80601477e-04 -7.79365307e+00] [-7.73100226e-04 1.46449612e-06 9.99999701e-01 -2.76244948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.87, Y:-7.80, Z:-0.28 [[ 9.72790720e-01 2.31684377e-01 7.51726405e-04 1.20872014e+02] [-2.31684307e-01 9.72791010e-01 -1.80536729e-04 -7.79791866e+00] [-7.73100229e-04 1.46124314e-06 9.99999701e-01 -2.76114249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:-7.80, Z:-0.27 [[ 9.72928893e-01 2.31103450e-01 7.51739049e-04 1.20900523e+02] [-2.31103380e-01 9.72929183e-01 -1.80484069e-04 -7.80246864e+00] [-7.73099349e-04 1.86873039e-06 9.99999701e-01 -2.74513806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.93, Y:-7.81, Z:-0.27 [[ 9.73215182e-01 2.29894854e-01 7.51747554e-04 1.20929285e+02] [-2.29894783e-01 9.73215473e-01 -1.80448634e-04 -7.80632273e+00] [-7.73096564e-04 2.79250937e-06 9.99999701e-01 -2.71838840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.89420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.96, Y:-7.81, Z:-0.27 [[ 9.74241856e-01 2.25504414e-01 7.51756146e-04 1.20957350e+02] [-2.25504342e-01 9.74242146e-01 -1.80412835e-04 -7.80652577e+00] [-7.73076411e-04 6.24146004e-06 9.99999701e-01 -2.69537689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.99, Y:-7.81, Z:-0.27 [[ 9.74897833e-01 2.22651408e-01 7.51768960e-04 1.20985138e+02] [-2.22651335e-01 9.74898123e-01 -1.80359422e-04 -7.81224103e+00] [-7.73055427e-04 8.44964741e-06 9.99999701e-01 -2.70192078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.954203822 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:121.01, Y:-7.82, Z:-0.27 [[ 9.76350094e-01 2.16194193e-01 7.51777409e-04 1.21013530e+02] [-2.16194118e-01 9.76350383e-01 -1.80324196e-04 -7.81922690e+00] [-7.72983206e-04 1.35296919e-05 9.99999701e-01 -2.69291647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.04, Y:-7.83, Z:-0.27 [[ 9.77081475e-01 2.12864339e-01 7.51785967e-04 1.21042004e+02] [-2.12864263e-01 9.77081764e-01 -1.80288513e-04 -7.82561810e+00] [-7.72933354e-04 1.61282006e-05 9.99999701e-01 -2.67479418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.07, Y:-7.83, Z:-0.27 [[ 9.77789021e-01 2.09590231e-01 7.51794630e-04 1.21069870e+02] [-2.09590154e-01 9.77789310e-01 -1.80252381e-04 -7.83147197e+00] [-7.72875891e-04 1.86800469e-05 9.99999701e-01 -2.67574490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.10, Y:-7.84, Z:-0.27 [[ 9.78919760e-01 2.04243819e-01 7.51807728e-04 1.21096191e+02] [-2.04243740e-01 9.78920049e-01 -1.80197732e-04 -7.83809752e+00] [-7.72763931e-04 2.28470985e-05 9.99999701e-01 -2.68227219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.12, Y:-7.84, Z:-0.27 [[ 9.79303473e-01 2.02396004e-01 7.51822828e-04 1.21123040e+02] [-2.02395925e-01 9.79303761e-01 -1.80134712e-04 -7.84451697e+00] [-7.72721469e-04 2.42406720e-05 9.99999701e-01 -2.67780292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.15, Y:-7.85, Z:-0.27 [[ 9.79455334e-01 2.01659819e-01 7.51835692e-04 1.21150216e+02] [-2.01659740e-01 9.79455623e-01 -1.80081006e-04 -7.85168028e+00] [-7.72704799e-04 2.47663115e-05 9.99999701e-01 -2.70034160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.18, Y:-7.86, Z:-0.27 [[ 9.79317604e-01 2.02327618e-01 7.51846322e-04 1.21177711e+02] [-2.02327540e-01 9.79317892e-01 -1.80036612e-04 -7.86188450e+00] [-7.72722935e-04 2.41938071e-05 9.99999701e-01 -2.74301423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.20, Y:-7.87, Z:-0.27 [[ 9.79125460e-01 2.03255426e-01 7.51854758e-04 1.21204393e+02] [-2.03255347e-01 9.79125749e-01 -1.80001375e-04 -7.87108650e+00] [-7.72746609e-04 2.34254294e-05 9.99999701e-01 -2.74858965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:-7.88, Z:-0.27 [[ 9.78856988e-01 2.04544451e-01 7.51869913e-04 1.21230608e+02] [-2.04544373e-01 9.78857276e-01 -1.79938049e-04 -7.87919182e+00] [-7.72778665e-04 2.23428567e-05 9.99999701e-01 -2.74242165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:-7.89, Z:-0.27 [[ 9.77914634e-01 2.09003357e-01 7.51880366e-04 1.21258025e+02] [-2.09003280e-01 9.77914923e-01 -1.79894363e-04 -7.88747573e+00] [-7.72873556e-04 1.87758680e-05 9.99999701e-01 -2.72549892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25420382200001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.29, Y:-7.89, Z:-0.27 [[ 9.77250034e-01 2.12089146e-01 7.51888720e-04 1.21286308e+02] [-2.12089070e-01 9.77250323e-01 -1.79859438e-04 -7.89462087e+00] [-7.72929729e-04 1.63002619e-05 9.99999701e-01 -2.70781985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.31, Y:-7.91, Z:-0.27 [[ 9.75679211e-01 2.19201991e-01 7.51897416e-04 1.21313449e+02] [-2.19201917e-01 9.75679500e-01 -1.79823080e-04 -7.90589705e+00] [-7.73028472e-04 1.06322853e-05 9.99999701e-01 -2.68093825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.34, Y:-7.92, Z:-0.27 [[ 9.74839184e-01 2.22908053e-01 7.51906106e-04 1.21340192e+02] [-2.22907980e-01 9.74839474e-01 -1.79786734e-04 -7.91603875e+00] [-7.73063664e-04 7.65728162e-06 9.99999701e-01 -2.65432461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.37, Y:-7.93, Z:-0.26 [[ 9.73968073e-01 2.26683979e-01 7.51914967e-04 1.21366601e+02] [-2.26683908e-01 9.73968364e-01 -1.79749669e-04 -7.92551177e+00] [-7.73087760e-04 4.62341611e-06 9.99999701e-01 -2.64424318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.39, Y:-7.93, Z:-0.26 [[ 9.72067877e-01 2.34698696e-01 7.51925995e-04 1.21393697e+02] [-2.34698628e-01 9.72068167e-01 -1.79703523e-04 -7.93379630e+00] [-7.73099507e-04 -1.79197728e-06 9.99999701e-01 -2.63050189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:-7.94, Z:-0.26 [[ 9.71103538e-01 2.38657397e-01 7.51938786e-04 1.21419824e+02] [-2.38657329e-01 9.71103829e-01 -1.79649986e-04 -7.93997690e+00] [-7.73085432e-04 -4.99696582e-06 9.99999701e-01 -2.63890293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:-7.95, Z:-0.26 [[ 9.70195648e-01 2.42321766e-01 7.51961573e-04 1.21447764e+02] [-2.42321700e-01 9.70195940e-01 -1.79554556e-04 -7.94792904e+00] [-7.73060042e-04 -8.01355805e-06 9.99999701e-01 -2.64317010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.47, Y:-7.96, Z:-0.27 [[ 9.68682551e-01 2.48301330e-01 7.51970291e-04 1.21474946e+02] [-2.48301265e-01 9.68682843e-01 -1.79518038e-04 -7.95840086e+00] [-7.72995287e-04 -1.28191833e-05 9.99999701e-01 -2.69470780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.50, Y:-7.97, Z:-0.27 [[ 9.68119707e-01 2.50486860e-01 7.51979004e-04 1.21501664e+02] [-2.50486796e-01 9.68119999e-01 -1.79481531e-04 -7.96624447e+00] [-7.72963678e-04 -1.46012040e-05 9.99999701e-01 -2.73057614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.53, Y:-7.97, Z:-0.27 [[ 9.67426781e-01 2.53149871e-01 7.51989788e-04 1.21528967e+02] [-2.53149808e-01 9.67427073e-01 -1.79436339e-04 -7.97493288e+00] [-7.72919566e-04 -1.67745506e-05 9.99999701e-01 -2.73524534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.56, Y:-7.98, Z:-0.27 [[ 9.67198847e-01 2.54019340e-01 7.51998199e-04 1.21557312e+02] [-2.54019277e-01 9.67199139e-01 -1.79401083e-04 -7.98223908e+00] [-7.72903355e-04 -1.75055177e-05 9.99999701e-01 -2.72518379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.58, Y:-7.99, Z:-0.27 [[ 9.66925379e-01 2.55058318e-01 7.52006605e-04 1.21584304e+02] [-2.55058255e-01 9.66925672e-01 -1.79365839e-04 -7.98887676e+00] [-7.72883241e-04 -1.83721102e-05 9.99999701e-01 -2.71798626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.61, Y:-8.00, Z:-0.27 [[ 9.66354360e-01 2.57213307e-01 7.52017049e-04 1.21612538e+02] [-2.57213246e-01 9.66354652e-01 -1.79322041e-04 -7.99527842e+00] [-7.72839189e-04 -2.01401098e-05 9.99999701e-01 -2.67184878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.64, Y:-8.00, Z:-0.27 [[ 9.66158696e-01 2.57947298e-01 7.52025715e-04 1.21640234e+02] [-2.57947237e-01 9.66158988e-01 -1.79285690e-04 -8.00131316e+00] [-7.72822664e-04 -2.07645270e-05 9.99999701e-01 -2.66597595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.67, Y:-8.01, Z:-0.27 [[ 9.66177485e-01 2.57876913e-01 7.52034431e-04 1.21667985e+02] [-2.57876851e-01 9.66177777e-01 -1.79249122e-04 -8.00779394e+00] [-7.72823165e-04 -2.07458047e-05 9.99999701e-01 -2.66619624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.70, Y:-8.01, Z:-0.27 [[ 9.66400199e-01 2.57041029e-01 7.52047485e-04 1.21695049e+02] [-2.57040967e-01 9.66400491e-01 -1.79194336e-04 -8.01307788e+00] [-7.72839356e-04 -2.01335716e-05 9.99999701e-01 -2.66864902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.72, Y:-8.02, Z:-0.27 [[ 9.66768075e-01 2.55653912e-01 7.52060583e-04 1.21721962e+02] [-2.55653850e-01 9.66768368e-01 -1.79139348e-04 -8.01817736e+00] [-7.72866058e-04 -1.90809814e-05 9.99999701e-01 -2.68059718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.75, Y:-8.02, Z:-0.27 [[ 9.67331638e-01 2.53513186e-01 7.52076781e-04 1.21750790e+02] [-2.53513124e-01 9.67331931e-01 -1.79071321e-04 -8.02356778e+00] [-7.72904826e-04 -1.74399794e-05 9.99999701e-01 -2.66631043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.78, Y:-8.03, Z:-0.27 [[ 9.68024899e-01 2.50853005e-01 7.52085317e-04 1.21777950e+02] [-2.50852941e-01 9.68025191e-01 -1.79035461e-04 -8.02965265e+00] [-7.72949116e-04 -1.53520300e-05 9.99999701e-01 -2.65890988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.81, Y:-8.04, Z:-0.27 [[ 9.69650932e-01 2.44492340e-01 7.52101107e-04 1.21805891e+02] [-2.44492275e-01 9.69651224e-01 -1.78969108e-04 -8.03643559e+00] [-7.73032334e-04 -1.03453486e-05 9.99999701e-01 -2.65255144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.83, Y:-8.04, Z:-0.27 [[ 9.70475591e-01 2.41198180e-01 7.52109615e-04 1.21834194e+02] [-2.41198113e-01 9.70475882e-01 -1.78933344e-04 -8.04273013e+00] [-7.73062639e-04 -7.75697726e-06 9.99999701e-01 -2.66192837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.86, Y:-8.05, Z:-0.27 [[ 9.71592129e-01 2.36660451e-01 7.52118279e-04 1.21860255e+02] [-2.36660383e-01 9.71592420e-01 -1.78896919e-04 -8.04862925e+00] [-7.73090245e-04 -4.18176205e-06 9.99999701e-01 -2.68040448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.89, Y:-8.05, Z:-0.27 [[ 9.71982552e-01 2.35051807e-01 7.52139120e-04 1.21887901e+02] [-2.35051739e-01 9.71982843e-01 -1.78809256e-04 -8.05479631e+00] [-7.73095759e-04 -2.99213123e-06 9.99999701e-01 -2.66983710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.92, Y:-8.06, Z:-0.26 [[ 9.72423468e-01 2.33220995e-01 7.52151881e-04 1.21915806e+02] [-2.33220927e-01 9.72423759e-01 -1.78755561e-04 -8.05949556e+00] [-7.73099909e-04 -1.59145606e-06 9.99999701e-01 -2.64783341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.94, Y:-8.06, Z:-0.27 [[ 9.72617079e-01 2.32412247e-01 7.52164847e-04 1.21942744e+02] [-2.32412178e-01 9.72617369e-01 -1.78700984e-04 -8.06453878e+00] [-7.73100892e-04 -1.00464210e-06 9.99999701e-01 -2.66631439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.97, Y:-8.07, Z:-0.27 [[ 9.72775912e-01 2.31746540e-01 7.52175613e-04 1.21971180e+02] [-2.31746471e-01 9.72776203e-01 -1.78655659e-04 -8.07115188e+00] [-7.73101367e-04 -5.22122726e-07 9.99999701e-01 -2.68874097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.03420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.00, Y:-8.08, Z:-0.27 [[ 9.73200886e-01 2.29955365e-01 7.52184057e-04 1.21999383e+02] [-2.29955296e-01 9.73201176e-01 -1.78620098e-04 -8.07888103e+00] [-7.73101060e-04 8.64529690e-07 9.99999701e-01 -2.72015360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.03, Y:-8.09, Z:-0.27 [[ 9.73467203e-01 2.28825345e-01 7.52192595e-04 1.22025289e+02] [-2.28825275e-01 9.73467494e-01 -1.78584137e-04 -8.08530613e+00] [-7.73099617e-04 1.72512276e-06 9.99999701e-01 -2.72175709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.05, Y:-8.09, Z:-0.27 [[ 9.74059733e-01 2.26289794e-01 7.52207492e-04 1.22052220e+02] [-2.26289724e-01 9.74060023e-01 -1.78521367e-04 -8.09161510e+00] [-7.73092811e-04 3.67364879e-06 9.99999701e-01 -2.71245245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.08, Y:-8.10, Z:-0.27 [[ 9.74401428e-01 2.24813902e-01 7.52218006e-04 1.22080130e+02] [-2.24813831e-01 9.74401719e-01 -1.78477056e-04 -8.09817915e+00] [-7.73086641e-04 4.79928646e-06 9.99999701e-01 -2.69786421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.11, Y:-8.10, Z:-0.27 [[ 9.74781698e-01 2.23159304e-01 7.52226382e-04 1.22108267e+02] [-2.23159233e-01 9.74781988e-01 -1.78441746e-04 -8.10492510e+00] [-7.73077664e-04 6.07548581e-06 9.99999701e-01 -2.69167854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.14, Y:-8.11, Z:-0.27 [[ 9.75214950e-01 2.21258301e-01 7.52234767e-04 1.22135549e+02] [-2.21258230e-01 9.75215240e-01 -1.78406394e-04 -8.11213003e+00] [-7.73064704e-04 7.54644980e-06 9.99999701e-01 -2.68809951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:-8.12, Z:-0.27 [[ 9.76150877e-01 2.17091913e-01 7.52247355e-04 1.22162238e+02] [-2.17091840e-01 9.76151167e-01 -1.78353301e-04 -8.12155764e+00] [-7.73026192e-04 1.07929694e-05 9.99999701e-01 -2.67962721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.19, Y:-8.13, Z:-0.27 [[ 9.76531036e-01 2.15375416e-01 7.52259913e-04 1.22189933e+02] [-2.15375342e-01 9.76531326e-01 -1.78300317e-04 -8.12947866e+00] [-7.73006875e-04 1.20975576e-05 9.99999701e-01 -2.67085216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.22, Y:-8.14, Z:-0.27 [[ 9.76937637e-01 2.13523507e-01 7.52268297e-04 1.22216289e+02] [-2.13523433e-01 9.76937926e-01 -1.78264934e-04 -8.14071758e+00] [-7.72983184e-04 1.35268141e-05 9.99999701e-01 -2.66592172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.24, Y:-8.15, Z:-0.27 [[ 9.76902262e-01 2.13685295e-01 7.52278717e-04 1.22244215e+02] [-2.13685221e-01 9.76902551e-01 -1.78220952e-04 -8.14988114e+00] [-7.72986195e-04 1.33536072e-05 9.99999701e-01 -2.65602314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.27, Y:-8.16, Z:-0.27 [[ 9.76637714e-01 2.14891159e-01 7.52287283e-04 1.22271086e+02] [-2.14891085e-01 9.76638003e-01 -1.78184786e-04 -8.15810131e+00] [-7.73002686e-04 1.23621512e-05 9.99999701e-01 -2.66289317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.30, Y:-8.17, Z:-0.27 [[ 9.75541614e-01 2.19813542e-01 7.52297920e-04 1.22297452e+02] [-2.19813470e-01 9.75541904e-01 -1.78139867e-04 -8.16580368e+00] [-7.73055700e-04 8.41763713e-06 9.99999701e-01 -2.67748370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.33, Y:-8.17, Z:-0.27 [[ 9.74796751e-01 2.23093540e-01 7.52308165e-04 1.22325053e+02] [-2.23093469e-01 9.74797042e-01 -1.78096591e-04 -8.17210725e+00] [-7.73079972e-04 5.77293973e-06 9.99999701e-01 -2.70247718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:-8.18, Z:-0.27 [[ 9.74008231e-01 2.26511370e-01 7.52316332e-04 1.22353371e+02] [-2.26511300e-01 9.74008521e-01 -1.78062083e-04 -8.17885637e+00] [-7.73095605e-04 3.02578376e-06 9.99999701e-01 -2.71483449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.38, Y:-8.19, Z:-0.27 [[ 9.72386133e-01 2.33376609e-01 7.52325045e-04 1.22380151e+02] [-2.33376541e-01 9.72386424e-01 -1.78025262e-04 -8.18620603e+00] [-7.73097593e-04 -2.46572011e-06 9.99999701e-01 -2.74419382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:-8.19, Z:-0.28 [[ 9.71696800e-01 2.36230316e-01 7.52339203e-04 1.22407887e+02] [-2.36230249e-01 9.71697092e-01 -1.77965412e-04 -8.19173112e+00] [-7.73086641e-04 -4.79685576e-06 9.99999701e-01 -2.75115769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.44, Y:-8.20, Z:-0.27 [[ 9.71043448e-01 2.38901772e-01 7.52349655e-04 1.22436098e+02] [-2.38901706e-01 9.71043739e-01 -1.77921216e-04 -8.19693533e+00] [-7.73070116e-04 -6.96838556e-06 9.99999701e-01 -2.73415506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.46, Y:-8.20, Z:-0.27 [[ 9.69996085e-01 2.43119371e-01 7.52357626e-04 1.22463255e+02] [-2.43119306e-01 9.69996377e-01 -1.77887503e-04 -8.20241270e+00] [-7.73032069e-04 -1.03624816e-05 9.99999701e-01 -2.70923656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.49, Y:-8.21, Z:-0.27 [[ 9.69657133e-01 2.44467744e-01 7.52372285e-04 1.22491770e+02] [-2.44467680e-01 9.69657425e-01 -1.77825479e-04 -8.20842411e+00] [-7.73015967e-04 -1.15009624e-05 9.99999701e-01 -2.67554582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.52, Y:-8.21, Z:-0.27 [[ 9.69373003e-01 2.45591967e-01 7.52381017e-04 1.22519257e+02] [-2.45591903e-01 9.69373295e-01 -1.77788528e-04 -8.21420172e+00] [-7.73001500e-04 -1.24352859e-05 9.99999701e-01 -2.69925691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.55, Y:-8.22, Z:-0.27 [[ 9.69536399e-01 2.44946128e-01 7.52396722e-04 1.22547278e+02] [-2.44946064e-01 9.69536691e-01 -1.77722041e-04 -8.22178049e+00] [-7.73008553e-04 -1.19886275e-05 9.99999701e-01 -2.71326783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.57, Y:-8.23, Z:-0.27 [[ 9.69894739e-01 2.43523366e-01 7.52405048e-04 1.22574528e+02] [-2.43523301e-01 9.69895030e-01 -1.77686786e-04 -8.22940671e+00] [-7.73024801e-04 -1.08906825e-05 9.99999701e-01 -2.72096298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.60, Y:-8.24, Z:-0.27 [[ 9.70410337e-01 2.41460582e-01 7.52417566e-04 1.22600378e+02] [-2.41460517e-01 9.70410628e-01 -1.77633762e-04 -8.23544876e+00] [-7.73045554e-04 -9.30149564e-06 9.99999701e-01 -2.72230548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.724203822 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:122.63, Y:-8.24, Z:-0.28 [[ 9.71731139e-01 2.36089023e-01 7.52432058e-04 1.22627600e+02] [-2.36088957e-01 9.71731430e-01 -1.77572354e-04 -8.24149656e+00] [-7.73084763e-04 -5.08831388e-06 9.99999701e-01 -2.77615134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.66, Y:-8.25, Z:-0.27 [[ 9.72402111e-01 2.33310024e-01 7.52445303e-04 1.22655419e+02] [-2.33309957e-01 9.72402403e-01 -1.77516213e-04 -8.24992893e+00] [-7.73095932e-04 -2.93584080e-06 9.99999701e-01 -2.74367924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.68, Y:-8.26, Z:-0.28 [[ 9.73523097e-01 2.28587433e-01 7.52453906e-04 1.22681508e+02] [-2.28587364e-01 9.73523387e-01 -1.77479737e-04 -8.26000127e+00] [-7.73101113e-04 7.79168759e-07 9.99999701e-01 -2.76354148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.71, Y:-8.27, Z:-0.27 [[ 9.73923963e-01 2.26873417e-01 7.52462492e-04 1.22709419e+02] [-2.26873348e-01 9.73924254e-01 -1.77443329e-04 -8.26722538e+00] [-7.73098645e-04 2.10262543e-06 9.99999701e-01 -2.74793464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.74, Y:-8.27, Z:-0.27 [[ 9.74349265e-01 2.25039873e-01 7.52471036e-04 1.22736641e+02] [-2.25039803e-01 9.74349555e-01 -1.77407087e-04 -8.27301822e+00] [-7.73093488e-04 3.52053117e-06 9.99999701e-01 -2.69936857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.76, Y:-8.28, Z:-0.27 [[ 9.74358492e-01 2.24999916e-01 7.52481649e-04 1.22763370e+02] [-2.24999846e-01 9.74358783e-01 -1.77362060e-04 -8.27870484e+00] [-7.73093553e-04 3.50597378e-06 9.99999701e-01 -2.68274191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.79, Y:-8.29, Z:-0.27 [[ 9.74277299e-01 2.25351236e-01 7.52494232e-04 1.22791182e+02] [-2.25351166e-01 9.74277589e-01 -1.77308659e-04 -8.28523589e+00] [-7.73094992e-04 3.17234838e-06 9.99999701e-01 -2.67733408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.82, Y:-8.29, Z:-0.27 [[ 9.74147423e-01 2.25912001e-01 7.52502662e-04 1.22818575e+02] [-2.25911932e-01 9.74147713e-01 -1.77272876e-04 -8.29244989e+00] [-7.73096817e-04 2.69058560e-06 9.99999701e-01 -2.68140042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:-8.30, Z:-0.27 [[ 9.73818557e-01 2.27325429e-01 7.52515321e-04 1.22846019e+02] [-2.27325360e-01 9.73818848e-01 -1.77219122e-04 -8.30134562e+00] [-7.73100016e-04 1.51345296e-06 9.99999701e-01 -2.69323832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.87, Y:-8.31, Z:-0.27 [[ 9.73626847e-01 2.28145122e-01 7.52524155e-04 1.22873266e+02] [-2.28145053e-01 9.73627138e-01 -1.77181601e-04 -8.30819015e+00] [-7.73101057e-04 8.24099935e-07 9.99999701e-01 -2.72344557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.90, Y:-8.31, Z:-0.27 [[ 9.73184963e-01 2.30022742e-01 7.52535133e-04 1.22901505e+02] [-2.30022673e-01 9.73185254e-01 -1.77134962e-04 -8.31391856e+00] [-7.73101164e-04 -7.15061241e-07 9.99999701e-01 -2.74543222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.93, Y:-8.32, Z:-0.28 [[ 9.72945540e-01 2.31033352e-01 7.52543554e-04 1.22930322e+02] [-2.31033284e-01 9.72945831e-01 -1.77099178e-04 -8.31839832e+00] [-7.73099931e-04 -1.55475320e-06 9.99999701e-01 -2.76226760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.96, Y:-8.32, Z:-0.28 [[ 9.72780884e-01 2.31725670e-01 7.52552025e-04 1.22959284e+02] [-2.31725603e-01 9.72781175e-01 -1.77063177e-04 -8.32265375e+00] [-7.73098526e-04 -2.14189729e-06 9.99999701e-01 -2.76392561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.99, Y:-8.33, Z:-0.28 [[ 9.72548743e-01 2.32698036e-01 7.52560713e-04 1.22986914e+02] [-2.32697969e-01 9.72549034e-01 -1.77026242e-04 -8.32720410e+00] [-7.73095854e-04 -2.95270075e-06 9.99999701e-01 -2.76890352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.01, Y:-8.33, Z:-0.28 [[ 9.72537486e-01 2.32745078e-01 7.52571498e-04 1.23014511e+02] [-2.32745010e-01 9.72537778e-01 -1.76980383e-04 -8.33401997e+00] [-7.73095525e-04 -3.03720419e-06 9.99999701e-01 -2.75231471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.04, Y:-8.34, Z:-0.28 [[ 9.72560617e-01 2.32648404e-01 7.52580096e-04 1.23041133e+02] [-2.32648337e-01 9.72560908e-01 -1.76943813e-04 -8.34223493e+00] [-7.73095677e-04 -2.99792399e-06 9.99999701e-01 -2.76085772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.07, Y:-8.35, Z:-0.27 [[ 9.72686187e-01 2.32122845e-01 7.52590756e-04 1.23069184e+02] [-2.32122778e-01 9.72686478e-01 -1.76898460e-04 -8.34885131e+00] [-7.73097026e-04 -2.62676909e-06 9.99999701e-01 -2.73965564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.10, Y:-8.36, Z:-0.27 [[ 9.73311541e-01 2.29486551e-01 7.52598745e-04 1.23097680e+02] [-2.29486483e-01 9.73311832e-01 -1.76864466e-04 -8.35513600e+00] [-7.73101280e-04 -5.67013171e-07 9.99999701e-01 -2.71090185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:-8.36, Z:-0.27 [[ 9.73761561e-01 2.27569453e-01 7.52607003e-04 1.23124754e+02] [-2.27569384e-01 9.73761852e-01 -1.76829319e-04 -8.36092600e+00] [-7.73100940e-04 9.19281831e-07 9.99999701e-01 -2.71762355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.15, Y:-8.37, Z:-0.27 [[ 9.74241957e-01 2.25503973e-01 7.52619343e-04 1.23151529e+02] [-2.25503904e-01 9.74242248e-01 -1.76776782e-04 -8.36730402e+00] [-7.73097427e-04 2.50475742e-06 9.99999701e-01 -2.71927955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:-8.37, Z:-0.27 [[ 9.74676740e-01 2.23617275e-01 7.52631936e-04 1.23178712e+02] [-2.23617206e-01 9.74677031e-01 -1.76723150e-04 -8.37494221e+00] [-7.73091410e-04 3.94649312e-06 9.99999701e-01 -2.73920906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.21, Y:-8.38, Z:-0.27 [[ 9.75677493e-01 2.19209631e-01 7.52642365e-04 1.23206338e+02] [-2.19209560e-01 9.75677784e-01 -1.76678722e-04 -8.38478144e+00] [-7.73066113e-04 7.39505053e-06 9.99999701e-01 -2.74822245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.23, Y:-8.39, Z:-0.28 [[ 9.76455891e-01 2.15715847e-01 7.52650725e-04 1.23233421e+02] [-2.15715775e-01 9.76456181e-01 -1.76643104e-04 -8.39383545e+00] [-7.73035169e-04 1.01255658e-05 9.99999701e-01 -2.75310483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.26, Y:-8.40, Z:-0.28 [[ 9.76642582e-01 2.14869029e-01 7.52659107e-04 1.23261228e+02] [-2.14868957e-01 9.76642872e-01 -1.76607380e-04 -8.40115182e+00] [-7.73026609e-04 1.07592100e-05 9.99999701e-01 -2.75885154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.29, Y:-8.41, Z:-0.28 [[ 9.76702687e-01 2.14595655e-01 7.52665383e-04 1.23288445e+02] [-2.14595583e-01 9.76702977e-01 -1.76580629e-04 -8.40778041e+00] [-7.73023956e-04 1.09481087e-05 9.99999701e-01 -2.76392154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.32, Y:-8.41, Z:-0.28 [[ 9.76663670e-01 2.14773157e-01 7.52675845e-04 1.23316426e+02] [-2.14773085e-01 9.76663960e-01 -1.76536026e-04 -8.41487357e+00] [-7.73026571e-04 1.07618103e-05 9.99999701e-01 -2.76167488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.34, Y:-8.42, Z:-0.28 [[ 9.76389216e-01 2.16017436e-01 7.52684245e-04 1.23342344e+02] [-2.16017364e-01 9.76389506e-01 -1.76500203e-04 -8.42433375e+00] [-7.73040119e-04 9.74002807e-06 9.99999701e-01 -2.76689706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.37, Y:-8.43, Z:-0.28 [[ 9.76186373e-01 2.16932242e-01 7.52694676e-04 1.23369876e+02] [-2.16932171e-01 9.76186664e-01 -1.76455707e-04 -8.43228967e+00] [-7.73049437e-04 8.96996646e-06 9.99999701e-01 -2.76466083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.40, Y:-8.44, Z:-0.28 [[ 9.75599166e-01 2.19557966e-01 7.52702915e-04 1.23397710e+02] [-2.19557895e-01 9.75599457e-01 -1.76420556e-04 -8.43782884e+00] [-7.73071093e-04 6.85387983e-06 9.99999701e-01 -2.79751393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:-8.44, Z:-0.28 [[ 9.75609413e-01 2.19512430e-01 7.52711121e-04 1.23426289e+02] [-2.19512360e-01 9.75609703e-01 -1.76385539e-04 -8.44443016e+00] [-7.73071091e-04 6.85399817e-06 9.99999701e-01 -2.79774066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.45, Y:-8.45, Z:-0.28 [[ 9.75337804e-01 2.20716110e-01 7.52719352e-04 1.23454583e+02] [-2.20716040e-01 9.75338095e-01 -1.76350407e-04 -8.45042615e+00] [-7.73079234e-04 5.86398446e-06 9.99999701e-01 -2.80860597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.48, Y:-8.46, Z:-0.28 [[ 9.75102038e-01 2.21755380e-01 7.52727807e-04 1.23481420e+02] [-2.21755310e-01 9.75102329e-01 -1.76314309e-04 -8.45746355e+00] [-7.73085284e-04 5.00305357e-06 9.99999701e-01 -2.82610634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.51, Y:-8.47, Z:-0.28 [[ 9.74755616e-01 2.23273202e-01 7.52738284e-04 1.23509070e+02] [-2.23273133e-01 9.74755906e-01 -1.76269568e-04 -8.46728980e+00] [-7.73092359e-04 3.75351651e-06 9.99999701e-01 -2.79320991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:-8.48, Z:-0.28 [[ 9.74544636e-01 2.24192294e-01 7.52746920e-04 1.23536794e+02] [-2.24192225e-01 9.74544927e-01 -1.76232679e-04 -8.47556424e+00] [-7.73095701e-04 2.98660499e-06 9.99999701e-01 -2.79950926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.56, Y:-8.48, Z:-0.28 [[ 9.74276702e-01 2.25353815e-01 7.52755541e-04 1.23563152e+02] [-2.25353747e-01 9.74276992e-01 -1.76195850e-04 -8.48352295e+00] [-7.73098811e-04 2.02723051e-06 9.99999701e-01 -2.82217278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.59, Y:-8.49, Z:-0.28 [[ 9.73761808e-01 2.27568393e-01 7.52766235e-04 1.23591177e+02] [-2.27568325e-01 9.73762099e-01 -1.76150150e-04 -8.49132527e+00] [-7.73101436e-04 2.22537152e-07 9.99999701e-01 -2.80461959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.62, Y:-8.50, Z:-0.28 [[ 9.73579534e-01 2.28346938e-01 7.52774719e-04 1.23618620e+02] [-2.28346870e-01 9.73579825e-01 -1.76113884e-04 -8.49741820e+00] [-7.73101346e-04 -4.32878478e-07 9.99999701e-01 -2.82670296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.65, Y:-8.51, Z:-0.29 [[ 9.73125150e-01 2.30275650e-01 7.52785229e-04 1.23646809e+02] [-2.30275583e-01 9.73125442e-01 -1.76068948e-04 -8.50506836e+00] [-7.73098850e-04 -2.01093561e-06 9.99999701e-01 -2.85756564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:-8.51, Z:-0.29 [[ 9.72876451e-01 2.31324111e-01 7.52793446e-04 1.23674416e+02] [-2.31324045e-01 9.72876742e-01 -1.76033813e-04 -8.51264859e+00] [-7.73096100e-04 -2.88007371e-06 9.99999701e-01 -2.85470327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.89420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:-8.52, Z:-0.28 [[ 9.72623730e-01 2.32384406e-01 7.52801716e-04 1.23702330e+02] [-2.32384339e-01 9.72624022e-01 -1.75998436e-04 -8.52060458e+00] [-7.73092325e-04 -3.75907394e-06 9.99999701e-01 -2.84720414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.73, Y:-8.53, Z:-0.28 [[ 9.72239841e-01 2.33985309e-01 7.52810018e-04 1.23729429e+02] [-2.33985243e-01 9.72240132e-01 -1.75962920e-04 -8.52785312e+00] [-7.73084850e-04 -5.06827367e-06 9.99999701e-01 -2.83886938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:-8.53, Z:-0.28 [[ 9.72053824e-01 2.34756888e-01 7.52820321e-04 1.23757534e+02] [-2.34756822e-01 9.72054116e-01 -1.75918827e-04 -8.53358204e+00] [-7.73080248e-04 -5.72713768e-06 9.99999701e-01 -2.82651207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.79, Y:-8.54, Z:-0.28 [[ 9.71901336e-01 2.35387396e-01 7.52828463e-04 1.23785277e+02] [-2.35387330e-01 9.71901628e-01 -1.75883979e-04 -8.53946651e+00] [-7.73076080e-04 -6.26440775e-06 9.99999701e-01 -2.82105261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.81, Y:-8.55, Z:-0.28 [[ 9.71713940e-01 2.36159801e-01 7.52836587e-04 1.23812992e+02] [-2.36159735e-01 9.71714232e-01 -1.75849201e-04 -8.54680952e+00] [-7.73070538e-04 -6.91456879e-06 9.99999701e-01 -2.84250639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.84, Y:-8.55, Z:-0.28 [[ 9.71600529e-01 2.36625959e-01 7.52844687e-04 1.23841482e+02] [-2.36625894e-01 9.71600821e-01 -1.75814515e-04 -8.55324564e+00] [-7.73066794e-04 -7.32107095e-06 9.99999701e-01 -2.84518884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:-8.56, Z:-0.28 [[ 9.71578594e-01 2.36716009e-01 7.52852886e-04 1.23869561e+02] [-2.36715944e-01 9.71578886e-01 -1.75779398e-04 -8.55994117e+00] [-7.73065766e-04 -7.42878095e-06 9.99999701e-01 -2.84025820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:-8.57, Z:-0.28 [[ 9.71617477e-01 2.36556362e-01 7.52861140e-04 1.23897395e+02] [-2.36556297e-01 9.71617768e-01 -1.75744039e-04 -8.56564539e+00] [-7.73066631e-04 -7.33806370e-06 9.99999701e-01 -2.82313037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.93, Y:-8.57, Z:-0.28 [[ 9.71692653e-01 2.36247374e-01 7.52869488e-04 1.23926248e+02] [-2.36247309e-01 9.71692944e-01 -1.75708272e-04 -8.57018729e+00] [-7.73068587e-04 -7.12895407e-06 9.99999701e-01 -2.80743350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.95, Y:-8.57, Z:-0.28 [[ 9.71825878e-01 2.35698741e-01 7.52877925e-04 1.23953547e+02] [-2.35698676e-01 9.71826169e-01 -1.75672113e-04 -8.57431089e+00] [-7.73072166e-04 -6.72962457e-06 9.99999701e-01 -2.82000440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.98, Y:-8.58, Z:-0.28 [[ 9.72313167e-01 2.33680418e-01 7.52888415e-04 1.23981877e+02] [-2.33680352e-01 9.72313459e-01 -1.75627143e-04 -8.57903024e+00] [-7.73084163e-04 -5.17064630e-06 9.99999701e-01 -2.84725793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.01, Y:-8.59, Z:-0.29 [[ 9.72600846e-01 2.32480168e-01 7.52896623e-04 1.24009045e+02] [-2.32480102e-01 9.72601137e-01 -1.75591950e-04 -8.58511476e+00] [-7.73089757e-04 -4.25260480e-06 9.99999701e-01 -2.85819853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.04, Y:-8.59, Z:-0.29 [[ 9.73146296e-01 2.30186273e-01 7.52906841e-04 1.24036000e+02] [-2.30186206e-01 9.73146587e-01 -1.75548126e-04 -8.59084140e+00] [-7.73097491e-04 -2.47476022e-06 9.99999701e-01 -2.85245474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.06, Y:-8.60, Z:-0.28 [[ 9.73377288e-01 2.29207523e-01 7.52916743e-04 1.24063888e+02] [-2.29207456e-01 9.73377579e-01 -1.75505648e-04 -8.59696176e+00] [-7.73099491e-04 -1.74091928e-06 9.99999701e-01 -2.83590945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.09, Y:-8.60, Z:-0.29 [[ 9.73572655e-01 2.28376264e-01 7.52925222e-04 1.24091304e+02] [-2.28376196e-01 9.73572947e-01 -1.75469261e-04 -8.60222477e+00] [-7.73100642e-04 -1.11812393e-06 9.99999701e-01 -2.85653474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.12, Y:-8.60, Z:-0.29 [[ 9.74019808e-01 2.26461579e-01 7.52935774e-04 1.24118882e+02] [-2.26461511e-01 9.74020099e-01 -1.75423974e-04 -8.60481343e+00] [-7.73101367e-04 3.55451793e-07 9.99999701e-01 -2.90625150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.15, Y:-8.61, Z:-0.29 [[ 9.74285636e-01 2.25315186e-01 7.52946246e-04 1.24147678e+02] [-2.25315118e-01 9.74285927e-01 -1.75379013e-04 -8.61004578e+00] [-7.73100486e-04 1.21908106e-06 9.99999701e-01 -2.92255345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.17, Y:-8.62, Z:-0.30 [[ 9.74739447e-01 2.23343779e-01 7.52954653e-04 1.24174569e+02] [-2.23343710e-01 9.74739738e-01 -1.75342914e-04 -8.61695506e+00] [-7.73096570e-04 2.74596957e-06 9.99999701e-01 -2.97653165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.20, Y:-8.62, Z:-0.29 [[ 9.74870146e-01 2.22772599e-01 7.52965110e-04 1.24202936e+02] [-2.22772530e-01 9.74870437e-01 -1.75297997e-04 -8.62349803e+00] [-7.73095016e-04 3.15284135e-06 9.99999701e-01 -2.94160609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.23, Y:-8.63, Z:-0.29 [[ 9.74750608e-01 2.23295063e-01 7.52973461e-04 1.24230580e+02] [-2.23294994e-01 9.74750899e-01 -1.75262117e-04 -8.62545870e+00] [-7.73096724e-04 2.70165054e-06 9.99999701e-01 -2.92493579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.26, Y:-8.63, Z:-0.29 [[ 9.74664770e-01 2.23669441e-01 7.52985929e-04 1.24259023e+02] [-2.23669372e-01 9.74665061e-01 -1.75208536e-04 -8.63008596e+00] [-7.73097872e-04 2.34969698e-06 9.99999701e-01 -2.92868774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.29, Y:-8.64, Z:-0.29 [[ 9.74666573e-01 2.23661586e-01 7.52994132e-04 1.24287924e+02] [-2.23661518e-01 9.74666864e-01 -1.75173274e-04 -8.63511702e+00] [-7.73097961e-04 2.31972466e-06 9.99999701e-01 -2.93370594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.32, Y:-8.64, Z:-0.29 [[ 9.74697435e-01 2.23527053e-01 7.53002518e-04 1.24315753e+02] [-2.23526984e-01 9.74697726e-01 -1.75137217e-04 -8.63938794e+00] [-7.73097748e-04 2.38941386e-06 9.99999701e-01 -2.94464981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.34, Y:-8.64, Z:-0.30 [[ 9.75191202e-01 2.21362943e-01 7.53012970e-04 1.24343439e+02] [-2.21362874e-01 9.75191493e-01 -1.75092268e-04 -8.64133623e+00] [-7.73090782e-04 4.05932407e-06 9.99999701e-01 -2.95774970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.37, Y:-8.65, Z:-0.30 [[ 9.75549401e-01 2.19778976e-01 7.53023220e-04 1.24371371e+02] [-2.19778906e-01 9.75549692e-01 -1.75048175e-04 -8.64733937e+00] [-7.73083479e-04 5.26952296e-06 9.99999701e-01 -2.95766994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.40, Y:-8.65, Z:-0.30 [[ 9.76492371e-01 2.15550651e-01 7.53031377e-04 1.24399679e+02] [-2.15550580e-01 9.76492661e-01 -1.75013079e-04 -8.65451754e+00] [-7.73053796e-04 8.58258650e-06 9.99999701e-01 -2.97886108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.43, Y:-8.66, Z:-0.30 [[ 9.76931830e-01 2.13550070e-01 7.53039546e-04 1.24427187e+02] [-2.13549999e-01 9.76932120e-01 -1.74977920e-04 -8.66051827e+00] [-7.73035067e-04 1.01299055e-05 9.99999701e-01 -2.98383931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.45, Y:-8.67, Z:-0.30 [[ 9.77356195e-01 2.11599388e-01 7.53049695e-04 1.24454226e+02] [-2.11599316e-01 9.77356485e-01 -1.74934232e-04 -8.66514538e+00] [-7.73013979e-04 1.16282547e-05 9.99999701e-01 -3.00590235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.48, Y:-8.67, Z:-0.30 [[ 9.77780521e-01 2.09629879e-01 7.53059729e-04 1.24482571e+02] [-2.09629806e-01 9.77780811e-01 -1.74891026e-04 -8.66901277e+00] [-7.72989737e-04 1.31412736e-05 9.99999701e-01 -3.03231078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.51, Y:-8.68, Z:-0.30 [[ 9.77867184e-01 2.09225245e-01 7.53067538e-04 1.24510354e+02] [-2.09225173e-01 9.77867474e-01 -1.74857395e-04 -8.67532255e+00] [-7.72984832e-04 1.34266230e-05 9.99999701e-01 -2.99869783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.54, Y:-8.68, Z:-0.30 [[ 9.77878399e-01 2.09172823e-01 7.53075970e-04 1.24538105e+02] [-2.09172750e-01 9.77878689e-01 -1.74821071e-04 -8.67847735e+00] [-7.72984759e-04 1.34307766e-05 9.99999701e-01 -3.04043003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:-8.68, Z:-0.30 [[ 9.77811525e-01 2.09485212e-01 7.53086458e-04 1.24566994e+02] [-2.09485140e-01 9.77811815e-01 -1.74775883e-04 -8.68224989e+00] [-7.72989799e-04 1.31374505e-05 9.99999701e-01 -3.04256347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:-8.69, Z:-0.30 [[ 9.77848408e-01 2.09312981e-01 7.53094682e-04 1.24595074e+02] [-2.09312909e-01 9.77848698e-01 -1.74740437e-04 -8.68690657e+00] [-7.72988096e-04 1.32372190e-05 9.99999701e-01 -3.02577575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:-8.69, Z:-0.30 [[ 9.77938505e-01 2.08891628e-01 7.53103086e-04 1.24622436e+02] [-2.08891556e-01 9.77938795e-01 -1.74704211e-04 -8.69394125e+00] [-7.72982972e-04 1.35330996e-05 9.99999701e-01 -2.98374382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.65, Y:-8.70, Z:-0.30 [[ 9.77913821e-01 2.09007159e-01 7.53113692e-04 1.24650573e+02] [-2.09007086e-01 9.77914111e-01 -1.74658476e-04 -8.69929495e+00] [-7.72985378e-04 1.33948394e-05 9.99999701e-01 -2.97029550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.68, Y:-8.70, Z:-0.30 [[ 9.77680301e-01 2.10096792e-01 7.53122155e-04 1.24679893e+02] [-2.10096720e-01 9.77680591e-01 -1.74621979e-04 -8.70143521e+00] [-7.73000431e-04 1.24959744e-05 9.99999701e-01 -2.95748294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.71, Y:-8.71, Z:-0.30 [[ 9.77441930e-01 2.11202996e-01 7.53130649e-04 1.24706835e+02] [-2.11202925e-01 9.77442220e-01 -1.74585335e-04 -8.70735231e+00] [-7.73014640e-04 1.15836306e-05 9.99999701e-01 -2.96965248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.73, Y:-8.71, Z:-0.30 [[ 9.77258110e-01 2.12051926e-01 7.53141187e-04 1.24734443e+02] [-2.12051854e-01 9.77258400e-01 -1.74539865e-04 -8.71358906e+00] [-7.73025066e-04 1.08655127e-05 9.99999701e-01 -2.95537470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.76, Y:-8.72, Z:-0.30 [[ 9.76790311e-01 2.14196452e-01 7.53154073e-04 1.24761997e+02] [-2.14196382e-01 9.76790602e-01 -1.74484243e-04 -8.71720805e+00] [-7.73047726e-04 9.11164083e-06 9.99999701e-01 -2.98373661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.79, Y:-8.72, Z:-0.30 [[ 9.76588957e-01 2.15112626e-01 7.53164745e-04 1.24789543e+02] [-2.15112555e-01 9.76589247e-01 -1.74438163e-04 -8.72089829e+00] [-7.73056443e-04 8.33919107e-06 9.99999701e-01 -2.95820636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.82, Y:-8.72, Z:-0.30 [[ 9.76316717e-01 2.16344863e-01 7.53288003e-04 1.24817459e+02] [-2.16344793e-01 9.76317008e-01 -1.73905638e-04 -8.72370271e+00] [-7.73071481e-04 6.81704454e-06 9.99999701e-01 -2.98039061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.84, Y:-8.73, Z:-0.30 [[ 9.76294229e-01 2.16446322e-01 7.53186914e-04 1.24844374e+02] [-2.16446252e-01 9.76294520e-01 -1.74342358e-04 -8.72955996e+00] [-7.73068019e-04 7.18495302e-06 9.99999701e-01 -3.02304538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.87, Y:-8.74, Z:-0.30 [[ 9.76386673e-01 2.16028927e-01 7.53197531e-04 1.24871723e+02] [-2.16028857e-01 9.76386964e-01 -1.74296477e-04 -8.73500242e+00] [-7.73065331e-04 7.46835572e-06 9.99999701e-01 -3.00442075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.90, Y:-8.74, Z:-0.30 [[ 9.76518091e-01 2.15434097e-01 7.53210280e-04 1.24898630e+02] [-2.15434027e-01 9.76518382e-01 -1.74241366e-04 -8.74038916e+00] [-7.73061215e-04 7.88272250e-06 9.99999701e-01 -3.00793922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.93, Y:-8.75, Z:-0.30 [[ 9.76759330e-01 2.14337688e-01 7.53220846e-04 1.24925293e+02] [-2.14337618e-01 9.76759620e-01 -1.74195680e-04 -8.74708451e+00] [-7.73052407e-04 8.70369426e-06 9.99999701e-01 -3.03876249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.95, Y:-8.75, Z:-0.30 [[ 9.76821106e-01 2.14055973e-01 7.53231245e-04 1.24952028e+02] [-2.14055902e-01 9.76821396e-01 -1.74150703e-04 -8.75421055e+00] [-7.73050394e-04 8.88048836e-06 9.99999701e-01 -3.00806617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.98, Y:-8.76, Z:-0.30 [[ 9.76442850e-01 2.15774865e-01 7.53243881e-04 1.24978734e+02] [-2.15774795e-01 9.76443141e-01 -1.74096032e-04 -8.76196314e+00] [-7.73065369e-04 7.46378152e-06 9.99999701e-01 -3.04634782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.01, Y:-8.77, Z:-0.31 [[ 9.76109504e-01 2.17277862e-01 7.53254321e-04 1.25006474e+02] [-2.17277792e-01 9.76109794e-01 -1.74050847e-04 -8.76732168e+00] [-7.73076317e-04 6.22724973e-06 9.99999701e-01 -3.07878361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.03, Y:-8.77, Z:-0.31 [[ 9.75727522e-01 2.18986836e-01 7.53268336e-04 1.25034795e+02] [-2.18986767e-01 9.75727813e-01 -1.73990171e-04 -8.77163513e+00] [-7.73086424e-04 4.81120064e-06 9.99999701e-01 -3.09286992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.06, Y:-8.78, Z:-0.31 [[ 9.75368812e-01 2.20579039e-01 7.53276482e-04 1.25062362e+02] [-2.20578971e-01 9.75369103e-01 -1.73954899e-04 -8.77618350e+00] [-7.73093411e-04 3.51323226e-06 9.99999701e-01 -3.11496083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:-8.78, Z:-0.31 [[ 9.74767993e-01 2.23219157e-01 7.53286650e-04 1.25090150e+02] [-2.23219089e-01 9.74768284e-01 -1.73910858e-04 -8.78256919e+00] [-7.73100170e-04 1.37477804e-06 9.99999701e-01 -3.11911779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:-8.79, Z:-0.31 [[ 9.74425263e-01 2.24710569e-01 7.53294789e-04 1.25118833e+02] [-2.24710502e-01 9.74425554e-01 -1.73875595e-04 -8.78771182e+00] [-7.73101376e-04 1.55521618e-07 9.99999701e-01 -3.13214541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.15, Y:-8.79, Z:-0.31 [[ 9.74441192e-01 2.24641484e-01 7.53303003e-04 1.25146624e+02] [-2.24641417e-01 9.74441483e-01 -1.73840001e-04 -8.79398366e+00] [-7.73101371e-04 1.73803136e-07 9.99999701e-01 -3.13236564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:-8.79, Z:-0.31 [[ 9.73661943e-01 2.27995292e-01 7.53315324e-04 1.25175735e+02] [-2.27995226e-01 9.73662234e-01 -1.73786592e-04 -8.79474941e+00] [-7.73097207e-04 -2.54290607e-06 9.99999701e-01 -3.14649117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.20, Y:-8.80, Z:-0.32 [[ 9.73446421e-01 2.28913733e-01 7.53323594e-04 1.25203617e+02] [-2.28913668e-01 9.73446713e-01 -1.73750739e-04 -8.79953490e+00] [-7.73094306e-04 -3.30903193e-06 9.99999701e-01 -3.16048190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.23, Y:-8.81, Z:-0.31 [[ 9.73294897e-01 2.29557129e-01 7.53333862e-04 1.25232191e+02] [-2.29557064e-01 9.73295189e-01 -1.73706205e-04 -8.80512948e+00] [-7.73091721e-04 -3.86574643e-06 9.99999701e-01 -3.13300436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.26, Y:-8.81, Z:-0.31 [[ 9.73086235e-01 2.30440038e-01 7.53342219e-04 1.25260542e+02] [-2.30439972e-01 9.73086527e-01 -1.73669957e-04 -8.80512408e+00] [-7.73087675e-04 -4.60431501e-06 9.99999701e-01 -3.12502919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.29, Y:-8.81, Z:-0.32 [[ 9.73165061e-01 2.30106923e-01 7.53352608e-04 1.25287896e+02] [-2.30106857e-01 9.73165353e-01 -1.73624878e-04 -8.80604531e+00] [-7.73088943e-04 -4.38593645e-06 9.99999701e-01 -3.15442476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.32, Y:-8.81, Z:-0.31 [[ 9.73694695e-01 2.27855378e-01 7.53366948e-04 1.25317439e+02] [-2.27855312e-01 9.73694987e-01 -1.73562634e-04 -8.80668573e+00] [-7.73096800e-04 -2.66164442e-06 9.99999701e-01 -3.14866921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.34, Y:-8.81, Z:-0.32 [[ 9.74167843e-01 2.25823925e-01 7.53375023e-04 1.25344780e+02] [-2.25823858e-01 9.74168135e-01 -1.73527577e-04 -8.81112742e+00] [-7.73100619e-04 -1.08506892e-06 9.99999701e-01 -3.15151084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.37, Y:-8.82, Z:-0.31 [[ 9.74654389e-01 2.23714671e-01 7.53387154e-04 1.25372906e+02] [-2.23714604e-01 9.74654680e-01 -1.73474892e-04 -8.81545220e+00] [-7.73101194e-04 5.34356126e-07 9.99999701e-01 -3.14441199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.40, Y:-8.82, Z:-0.32 [[ 9.75180708e-01 2.21409166e-01 7.53395383e-04 1.25400471e+02] [-2.21409098e-01 9.75180999e-01 -1.73439145e-04 -8.81936852e+00] [-7.73097879e-04 2.32591584e-06 9.99999701e-01 -3.15458418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.43, Y:-8.82, Z:-0.32 [[ 9.75988984e-01 2.17818586e-01 7.53405588e-04 1.25428203e+02] [-2.17818517e-01 9.75989274e-01 -1.73394804e-04 -8.82255802e+00] [-7.73084384e-04 5.12573067e-06 9.99999701e-01 -3.15506486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.46, Y:-8.83, Z:-0.32 [[ 9.76326225e-01 2.16301954e-01 7.53553166e-04 1.25455794e+02] [-2.16301886e-01 9.76326515e-01 -1.72753154e-04 -8.82697965e+00] [-7.73080782e-04 5.66846380e-06 9.99999701e-01 -3.15272225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.48, Y:-8.83, Z:-0.31 [[ 9.76494244e-01 2.15542162e-01 7.53441065e-04 1.25484826e+02] [-2.15542093e-01 9.76494535e-01 -1.73240692e-04 -8.83132078e+00] [-7.73071756e-04 6.77027482e-06 9.99999701e-01 -3.14631110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.51, Y:-8.83, Z:-0.32 [[ 9.76546926e-01 2.15303354e-01 7.53449336e-04 1.25513484e+02] [-2.15303285e-01 9.76547216e-01 -1.73204714e-04 -8.83098735e+00] [-7.73070408e-04 6.92241420e-06 9.99999701e-01 -3.15947048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.54, Y:-8.83, Z:-0.32 [[ 9.76536835e-01 2.15349117e-01 7.53459629e-04 1.25542410e+02] [-2.15349047e-01 9.76537126e-01 -1.73159927e-04 -8.83491287e+00] [-7.73071138e-04 6.84023384e-06 9.99999701e-01 -3.15348931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.904203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.57, Y:-8.84, Z:-0.32 [[ 9.76817400e-01 2.14072883e-01 7.53468070e-04 1.25570573e+02] [-2.14072813e-01 9.76817691e-01 -1.73123188e-04 -8.83899603e+00] [-7.73061920e-04 7.81271281e-06 9.99999701e-01 -3.19831245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.60, Y:-8.85, Z:-0.32 [[ 9.77187034e-01 2.12379222e-01 7.53476428e-04 1.25598413e+02] [-2.12379151e-01 9.77187324e-01 -1.73086808e-04 -8.84583939e+00] [-7.73047655e-04 9.11550008e-06 9.99999701e-01 -3.17569244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.63, Y:-8.85, Z:-0.32 [[ 9.77706699e-01 2.09973912e-01 7.53484594e-04 1.25626152e+02] [-2.09973841e-01 9.77706989e-01 -1.73051250e-04 -8.85258891e+00] [-7.73023402e-04 1.09813120e-05 9.99999701e-01 -3.16337875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.65, Y:-8.86, Z:-0.32 [[ 9.78291263e-01 2.07233290e-01 7.53492811e-04 1.25653071e+02] [-2.07233218e-01 9.78291553e-01 -1.73015465e-04 -8.85973826e+00] [-7.72990216e-04 1.31107780e-05 9.99999701e-01 -3.16494929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.68, Y:-8.87, Z:-0.31 [[ 9.79186640e-01 2.02960479e-01 7.53503028e-04 1.25679984e+02] [-2.02960406e-01 9.79186930e-01 -1.72970959e-04 -8.87011084e+00] [-7.72926585e-04 1.64395720e-05 9.99999701e-01 -3.12434670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.71, Y:-8.88, Z:-0.32 [[ 9.79418623e-01 2.01838039e-01 7.53511418e-04 1.25706595e+02] [-2.01837965e-01 9.79418912e-01 -1.72934401e-04 -8.87791396e+00] [-7.72908074e-04 1.72879613e-05 9.99999701e-01 -3.15498785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.73, Y:-8.89, Z:-0.31 [[ 9.79302728e-01 2.02399605e-01 7.53521862e-04 1.25733695e+02] [-2.02399532e-01 9.79303017e-01 -1.72888882e-04 -8.88947603e+00] [-7.72918874e-04 1.67980817e-05 9.99999701e-01 -3.12396365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.76, Y:-8.90, Z:-0.31 [[ 9.78981842e-01 2.03946033e-01 7.53530285e-04 1.25761544e+02] [-2.03945960e-01 9.78982132e-01 -1.72852163e-04 -8.89837213e+00] [-7.72945198e-04 1.55396715e-05 9.99999701e-01 -3.11542532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.79, Y:-8.91, Z:-0.31 [[ 9.77951117e-01 2.08832574e-01 7.53717302e-04 1.25789391e+02] [-2.08832504e-01 9.77951408e-01 -1.72036589e-04 -8.90784677e+00] [-7.73025741e-04 1.08427025e-05 9.99999701e-01 -3.14709156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.82, Y:-8.92, Z:-0.32 [[ 9.77272743e-01 2.11984474e-01 7.53543297e-04 1.25817056e+02] [-2.11984403e-01 9.77273034e-01 -1.72795407e-04 -8.91517662e+00] [-7.73047488e-04 9.12881500e-06 9.99999701e-01 -3.16461325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.84, Y:-8.92, Z:-0.32 [[ 9.76552251e-01 2.15279200e-01 7.53551708e-04 1.25843592e+02] [-2.15279130e-01 9.76552541e-01 -1.72758721e-04 -8.92236715e+00] [-7.73074195e-04 6.48396176e-06 9.99999701e-01 -3.19151017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.87, Y:-8.93, Z:-0.32 [[ 9.75773829e-01 2.18780409e-01 7.53562180e-04 1.25871821e+02] [-2.18780341e-01 9.75774120e-01 -1.72713031e-04 -8.92938802e+00] [-7.73092700e-04 3.66426533e-06 9.99999701e-01 -3.18408895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.90, Y:-8.94, Z:-0.32 [[ 9.74277242e-01 2.25351475e-01 7.53570647e-04 1.25898898e+02] [-2.25351409e-01 9.74277534e-01 -1.72676080e-04 -8.93500763e+00] [-7.73099761e-04 -1.58383158e-06 9.99999701e-01 -3.23764221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.93, Y:-8.94, Z:-0.33 [[ 9.73542003e-01 2.28506894e-01 7.53581222e-04 1.25926803e+02] [-2.28506829e-01 9.73542294e-01 -1.72629919e-04 -8.94139537e+00] [-7.73090318e-04 -4.13597866e-06 9.99999701e-01 -3.25527929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.95, Y:-8.95, Z:-0.33 [[ 9.72937934e-01 2.31065377e-01 7.53589374e-04 1.25954597e+02] [-2.31065312e-01 9.72938226e-01 -1.72594321e-04 -8.94767217e+00] [-7.73076481e-04 -6.20480189e-06 9.99999701e-01 -3.25856031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.98, Y:-8.95, Z:-0.32 [[ 9.71914477e-01 2.35333128e-01 7.53597532e-04 1.25982535e+02] [-2.35333065e-01 9.71914769e-01 -1.72558694e-04 -8.95267448e+00] [-7.73041349e-04 -9.63412501e-06 9.99999701e-01 -3.19746918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.01, Y:-8.96, Z:-0.32 [[ 9.71566192e-01 2.36766904e-01 7.53608312e-04 1.26009583e+02] [-2.36766842e-01 9.71566484e-01 -1.72511605e-04 -8.95736441e+00] [-7.73025616e-04 -1.08230172e-05 9.99999701e-01 -3.23660912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.04, Y:-8.96, Z:-0.32 [[ 9.71354259e-01 2.37634879e-01 7.53619024e-04 1.26038585e+02] [-2.37634816e-01 9.71354551e-01 -1.72464797e-04 -8.96115877e+00] [-7.73014920e-04 -1.15617032e-05 9.99999701e-01 -3.19563030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.07, Y:-8.97, Z:-0.32 [[ 9.71466984e-01 2.37173629e-01 7.53627439e-04 1.26065732e+02] [-2.37173567e-01 9.71467277e-01 -1.72428016e-04 -8.96681357e+00] [-7.73019774e-04 -1.12323834e-05 9.99999701e-01 -3.21865705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.09, Y:-8.97, Z:-0.32 [[ 9.72203304e-01 2.34137069e-01 7.53637888e-04 1.26094027e+02] [-2.34137006e-01 9.72203596e-01 -1.72382334e-04 -8.97404112e+00] [-7.73050560e-04 -8.86384369e-06 9.99999701e-01 -3.20650488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50420382200001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:126.12, Y:-8.98, Z:-0.32 [[ 9.72773225e-01 2.31757815e-01 7.53646357e-04 1.26121418e+02] [-2.31757751e-01 9.72773517e-01 -1.72345300e-04 -8.98059375e+00] [-7.73069587e-04 -7.01049202e-06 9.99999701e-01 -3.23601109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.15, Y:-8.99, Z:-0.33 [[ 9.73432388e-01 2.28973401e-01 7.53656905e-04 1.26148890e+02] [-2.28973336e-01 9.73432680e-01 -1.72299160e-04 -8.98753557e+00] [-7.73086186e-04 -4.84575304e-06 9.99999701e-01 -3.30817816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.18, Y:-8.99, Z:-0.33 [[ 9.74000590e-01 2.26544216e-01 7.53665300e-04 1.26177478e+02] [-2.26544151e-01 9.74000882e-01 -1.72262435e-04 -8.99311361e+00] [-7.73095725e-04 -2.95475213e-06 9.99999701e-01 -3.28680572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.21, Y:-8.99, Z:-0.33 [[ 9.74612551e-01 2.23896870e-01 7.53673391e-04 1.26205867e+02] [-2.23896803e-01 9.74612842e-01 -1.72227025e-04 -8.99452820e+00] [-7.73100858e-04 -8.90443213e-07 9.99999701e-01 -3.33687900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.23, Y:-9.00, Z:-0.33 [[ 9.74631266e-01 2.23815385e-01 7.53688294e-04 1.26234601e+02] [-2.23815319e-01 9.74631558e-01 -1.72161786e-04 -8.99880040e+00] [-7.73100852e-04 -8.92726703e-07 9.99999701e-01 -3.29932550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.26, Y:-9.01, Z:-0.33 [[ 9.74292059e-01 2.25287409e-01 7.53696551e-04 1.26262150e+02] [-2.25287343e-01 9.74292350e-01 -1.72125631e-04 -9.00617938e+00] [-7.73098521e-04 -2.09765779e-06 9.99999701e-01 -3.29566684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.29, Y:-9.01, Z:-0.33 [[ 9.73975593e-01 2.26651664e-01 7.53705047e-04 1.26288839e+02] [-2.26651598e-01 9.73975884e-01 -1.72088416e-04 -9.01426124e+00] [-7.73094666e-04 -3.21853644e-06 9.99999701e-01 -3.30641792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.32, Y:-9.02, Z:-0.34 [[ 9.73536724e-01 2.28529385e-01 7.53715630e-04 1.26315913e+02] [-2.28529320e-01 9.73537015e-01 -1.72042056e-04 -9.02043631e+00] [-7.73086730e-04 -4.75686047e-06 9.99999701e-01 -3.36069272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.34, Y:-9.02, Z:-0.33 [[ 9.72957307e-01 2.30983787e-01 7.53725887e-04 1.26344796e+02] [-2.30983723e-01 9.72957599e-01 -1.71997106e-04 -9.02345437e+00] [-7.73071872e-04 -6.75257038e-06 9.99999701e-01 -3.29122996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.774203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:126.38, Y:-9.02, Z:-0.34 [[ 9.71461692e-01 2.37195304e-01 7.53755421e-04 1.26376049e+02] [-2.37195242e-01 9.71461985e-01 -1.71867580e-04 -9.01848271e+00] [-7.73010920e-04 -1.18244296e-05 9.99999701e-01 -3.38579524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.41, Y:-9.02, Z:-0.34 [[ 9.70800702e-01 2.39886282e-01 7.53759612e-04 1.26405087e+02] [-2.39886221e-01 9.70800995e-01 -1.71849198e-04 -9.02203485e+00] [-7.72974846e-04 -1.39852224e-05 9.99999701e-01 -3.42323170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.43, Y:-9.03, Z:-0.34 [[ 9.70891165e-01 2.39519891e-01 7.53788427e-04 1.26433189e+02] [-2.39519830e-01 9.70891457e-01 -1.71722710e-04 -9.02926378e+00] [-7.72977749e-04 -1.38232135e-05 9.99999701e-01 -3.39816225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.46, Y:-9.04, Z:-0.34 [[ 9.71182769e-01 2.38334767e-01 7.53817736e-04 1.26459694e+02] [-2.38334706e-01 9.71183061e-01 -1.71593958e-04 -9.03706835e+00] [-7.72991822e-04 -1.30118329e-05 9.99999701e-01 -3.43322845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.49, Y:-9.04, Z:-0.34 [[ 9.71609912e-01 2.36587428e-01 7.53828124e-04 1.26487705e+02] [-2.36587366e-01 9.71610204e-01 -1.71548307e-04 -9.04428299e+00] [-7.73013271e-04 -1.16681749e-05 9.99999701e-01 -3.38577881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.52, Y:-9.05, Z:-0.34 [[ 9.72539246e-01 2.32737720e-01 7.53836357e-04 1.26516076e+02] [-2.32737657e-01 9.72539538e-01 -1.71512123e-04 -9.05016615e+00] [-7.73053003e-04 -8.64383680e-06 9.99999701e-01 -3.35903929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.54, Y:-9.05, Z:-0.34 [[ 9.72909437e-01 2.31185336e-01 7.53865226e-04 1.26543298e+02] [-2.31185273e-01 9.72909729e-01 -1.71385138e-04 -9.05370632e+00] [-7.73064543e-04 -7.54031991e-06 9.99999701e-01 -3.37507032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.984203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:126.57, Y:-9.06, Z:-0.34 [[ 9.73123683e-01 2.30281849e-01 7.53877555e-04 1.26572115e+02] [-2.30281785e-01 9.73123975e-01 -1.71330888e-04 -9.05640799e+00] [-7.73070717e-04 -6.87812468e-06 9.99999701e-01 -3.35471805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.60, Y:-9.06, Z:-0.34 [[ 9.73480047e-01 2.28770693e-01 7.53885767e-04 1.26599607e+02] [-2.28770629e-01 9.73480339e-01 -1.71294745e-04 -9.06218919e+00] [-7.73080190e-04 -5.71490490e-06 9.99999701e-01 -3.35235107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.63, Y:-9.07, Z:-0.34 [[ 9.73613694e-01 2.28201241e-01 7.53896015e-04 1.26626502e+02] [-2.28201177e-01 9.73613986e-01 -1.71249632e-04 -9.06961563e+00] [-7.73083083e-04 -5.30897045e-06 9.99999701e-01 -3.36085838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.65, Y:-9.08, Z:-0.33 [[ 9.73732159e-01 2.27695222e-01 7.53907965e-04 1.26654425e+02] [-2.27695158e-01 9.73732451e-01 -1.71197008e-04 -9.07557481e+00] [-7.73085391e-04 -4.96116065e-06 9.99999701e-01 -3.33862089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.68, Y:-9.08, Z:-0.33 [[ 9.73703176e-01 2.27819132e-01 7.53916295e-04 1.26681746e+02] [-2.27819068e-01 9.73703468e-01 -1.71160315e-04 -9.08244090e+00] [-7.73084505e-04 -5.09716499e-06 9.99999701e-01 -3.32562402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.71, Y:-9.09, Z:-0.33 [[ 9.73363494e-01 2.29266089e-01 7.53950116e-04 1.26709454e+02] [-2.29266025e-01 9.73363786e-01 -1.71011208e-04 -9.09087961e+00] [-7.73074810e-04 -6.39907962e-06 9.99999701e-01 -3.28545329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.74, Y:-9.10, Z:-0.33 [[ 9.73113942e-01 2.30323006e-01 7.53979772e-04 1.26737132e+02] [-2.30322943e-01 9.73114234e-01 -1.70880354e-04 -9.09643480e+00] [-7.73066125e-04 -7.37278467e-06 9.99999701e-01 -3.28200176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.77, Y:-9.10, Z:-0.33 [[ 9.72756559e-01 2.31827754e-01 7.54013697e-04 1.26765248e+02] [-2.31827691e-01 9.72756852e-01 -1.70730526e-04 -9.10172107e+00] [-7.73052065e-04 -8.72201504e-06 9.99999701e-01 -3.29665732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.79, Y:-9.11, Z:-0.34 [[ 9.72331304e-01 2.33604936e-01 7.54043333e-04 1.26792127e+02] [-2.33604874e-01 9.72331597e-01 -1.70599538e-04 -9.10728196e+00] [-7.73033052e-04 -1.02689267e-05 9.99999701e-01 -3.37200588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.82, Y:-9.11, Z:-0.33 [[ 9.71521747e-01 2.36949206e-01 7.54053830e-04 1.26821226e+02] [-2.36949145e-01 9.71522040e-01 -1.70553130e-04 -9.11271271e+00] [-7.72992343e-04 -1.29763351e-05 9.99999701e-01 -3.30578845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.85, Y:-9.12, Z:-0.33 [[ 9.71124862e-01 2.38570606e-01 7.54057809e-04 1.26849513e+02] [-2.38570546e-01 9.71125155e-01 -1.70535533e-04 -9.11817464e+00] [-7.72969272e-04 -1.42846868e-05 9.99999701e-01 -3.25656944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.88, Y:-9.12, Z:-0.32 [[ 9.70724054e-01 2.40196259e-01 7.54086030e-04 1.26878210e+02] [-2.40196199e-01 9.70724346e-01 -1.70410654e-04 -9.12354683e+00] [-7.72941670e-04 -1.57068774e-05 9.99999701e-01 -3.24188957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.91, Y:-9.13, Z:-0.33 [[ 9.69932252e-01 2.43373904e-01 7.54114285e-04 1.26907193e+02] [-2.43373845e-01 9.69932545e-01 -1.70285525e-04 -9.12653667e+00] [-7.72883041e-04 -1.83662705e-05 9.99999701e-01 -3.26659547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.94, Y:-9.13, Z:-0.33 [[ 9.69978676e-01 2.43188816e-01 7.54122403e-04 1.26935005e+02] [-2.43188757e-01 9.69978969e-01 -1.70249568e-04 -9.13261450e+00] [-7.72885661e-04 -1.82556391e-05 9.99999701e-01 -3.26681556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:-9.14, Z:-0.33 [[ 9.69659843e-01 2.44456991e-01 7.54154863e-04 1.26964281e+02] [-2.44456933e-01 9.69660136e-01 -1.70105659e-04 -9.13582432e+00] [-7.72857424e-04 -1.94137583e-05 9.99999701e-01 -3.27916005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.99, Y:-9.14, Z:-0.33 [[ 9.69232429e-01 2.46146155e-01 7.54181143e-04 1.26992578e+02] [-2.46146097e-01 9.69232722e-01 -1.69989063e-04 -9.13675888e+00] [-7.72819196e-04 -2.08798321e-05 9.99999701e-01 -3.33384556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.02, Y:-9.14, Z:-0.32 [[ 9.69180792e-01 2.46349394e-01 7.54191171e-04 1.27020617e+02] [-2.46349336e-01 9.69181085e-01 -1.69944559e-04 -9.14227334e+00] [-7.72813557e-04 -2.10874914e-05 9.99999701e-01 -3.24910670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.05, Y:-9.15, Z:-0.33 [[ 9.69149987e-01 2.46470553e-01 7.54220252e-04 1.27047562e+02] [-2.46470496e-01 9.69150280e-01 -1.69815397e-04 -9.14750751e+00] [-7.72807264e-04 -2.13164495e-05 9.99999701e-01 -3.27249413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.07, Y:-9.15, Z:-0.33 [[ 9.69108382e-01 2.46634092e-01 7.54242818e-04 1.27074749e+02] [-2.46634035e-01 9.69108675e-01 -1.69715113e-04 -9.15179620e+00] [-7.72800790e-04 -2.15496111e-05 9.99999701e-01 -3.31387061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:-9.15, Z:-0.33 [[ 9.69222088e-01 2.46186872e-01 7.54274512e-04 1.27104412e+02] [-2.46186814e-01 9.69222381e-01 -1.69574135e-04 -9.15084223e+00] [-7.72806664e-04 -2.13374417e-05 9.99999701e-01 -3.29061785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.13, Y:-9.15, Z:-0.32 [[ 9.69584602e-01 2.44755247e-01 7.54301361e-04 1.27132236e+02] [-2.44755189e-01 9.69584895e-01 -1.69454621e-04 -9.15275522e+00] [-7.72834113e-04 -2.03185814e-05 9.99999701e-01 -3.22445796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:-9.15, Z:-0.32 [[ 9.70853713e-01 2.39671650e-01 7.54334408e-04 1.27160888e+02] [-2.39671590e-01 9.70854006e-01 -1.69307384e-04 -9.15465303e+00] [-7.72926761e-04 -1.64198252e-05 9.99999701e-01 -3.23229794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.19, Y:-9.16, Z:-0.33 [[ 9.71749285e-01 2.36014319e-01 7.54363612e-04 1.27188047e+02] [-2.36014259e-01 9.71749577e-01 -1.69177163e-04 -9.16035713e+00] [-7.72980754e-04 -1.36427816e-05 9.99999701e-01 -3.27298773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.22, Y:-9.17, Z:-0.32 [[ 9.72722184e-01 2.31971944e-01 7.54379108e-04 1.27216309e+02] [-2.31971882e-01 9.72722477e-01 -1.69108036e-04 -9.16613487e+00] [-7.73029834e-04 -1.04996035e-05 9.99999701e-01 -3.22677259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.704203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.24, Y:-9.17, Z:-0.33 [[ 9.74686170e-01 2.23576165e-01 7.54407787e-04 1.27243298e+02] [-2.23576101e-01 9.74686462e-01 -1.68979998e-04 -9.17152373e+00] [-7.73090956e-04 -3.96508403e-06 9.99999701e-01 -3.25383478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.27, Y:-9.18, Z:-0.32 [[ 9.75530006e-01 2.19865044e-01 7.54423000e-04 1.27271207e+02] [-2.19864979e-01 9.75530298e-01 -1.68912052e-04 -9.17809243e+00] [-7.73100350e-04 -1.09242191e-06 9.99999701e-01 -3.21428094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.30, Y:-9.19, Z:-0.32 [[ 9.76288266e-01 2.16473214e-01 7.54451681e-04 1.27299188e+02] [-2.16473148e-01 9.76288558e-01 -1.68783849e-04 -9.18587157e+00] [-7.73099726e-04 1.46316076e-06 9.99999701e-01 -3.23923877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.33, Y:-9.20, Z:-0.33 [[ 9.77421054e-01 2.11299582e-01 7.54480156e-04 1.27325248e+02] [-2.11299515e-01 9.77421345e-01 -1.68656468e-04 -9.19581542e+00] [-7.73082050e-04 5.42709154e-06 9.99999701e-01 -3.28194397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.35, Y:-9.20, Z:-0.33 [[ 9.77842392e-01 2.09341078e-01 7.54490261e-04 1.27351610e+02] [-2.09341011e-01 9.77842683e-01 -1.68611250e-04 -9.20304201e+00] [-7.73070042e-04 6.92947413e-06 9.99999701e-01 -3.28479850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:-9.21, Z:-0.33 [[ 9.78180274e-01 2.07756546e-01 7.54504057e-04 1.27378666e+02] [-2.07756478e-01 9.78180565e-01 -1.68549491e-04 -9.20983884e+00] [-7.73058465e-04 8.11868175e-06 9.99999701e-01 -3.26588472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.41, Y:-9.22, Z:-0.33 [[ 9.78235719e-01 2.07495322e-01 7.54536316e-04 1.27406179e+02] [-2.07495254e-01 9.78236010e-01 -1.68404958e-04 -9.21946651e+00] [-7.73057836e-04 8.17704080e-06 9.99999701e-01 -3.26254373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.43, Y:-9.23, Z:-0.32 [[ 9.78067594e-01 2.08286372e-01 7.54564425e-04 1.27433533e+02] [-2.08286304e-01 9.78067885e-01 -1.68278917e-04 -9.22778017e+00] [-7.73065436e-04 7.42272015e-06 9.99999701e-01 -3.22977229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.46, Y:-9.24, Z:-0.32 [[ 9.77014747e-01 2.13170388e-01 7.54593087e-04 1.27460171e+02] [-2.13170322e-01 9.77015039e-01 -1.68150292e-04 -9.23776732e+00] [-7.73093457e-04 3.42846399e-06 9.99999701e-01 -3.22469548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.49, Y:-9.25, Z:-0.32 [[ 9.76291424e-01 2.16458969e-01 7.54603254e-04 1.27488064e+02] [-2.16458904e-01 9.76291716e-01 -1.68104653e-04 -9.24580784e+00] [-7.73100666e-04 7.78537527e-07 9.99999701e-01 -3.19800987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:-9.25, Z:-0.32 [[ 9.75463021e-01 2.20162045e-01 7.54631601e-04 1.27514612e+02] [-2.20161981e-01 9.75463312e-01 -1.67977304e-04 -9.25347818e+00] [-7.73097668e-04 -2.28553973e-06 9.99999701e-01 -3.19865605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:-9.26, Z:-0.32 [[ 9.73584952e-01 2.28323832e-01 7.54646696e-04 1.27541830e+02] [-2.28323771e-01 9.73585244e-01 -1.67909462e-04 -9.26224181e+00] [-7.73050620e-04 -8.82965362e-06 9.99999701e-01 -3.16874014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:-9.27, Z:-0.32 [[ 9.72641345e-01 2.32310665e-01 7.54674486e-04 1.27569330e+02] [-2.32310605e-01 9.72641637e-01 -1.67784467e-04 -9.26869454e+00] [-7.73005949e-04 -1.21247767e-05 9.99999701e-01 -3.20659624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:-9.28, Z:-0.32 [[ 9.71706131e-01 2.36191927e-01 7.54684379e-04 1.27597193e+02] [-2.36191868e-01 9.71706423e-01 -1.67739958e-04 -9.27551736e+00] [-7.72950482e-04 -1.52563670e-05 9.99999701e-01 -3.18579754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:-9.29, Z:-0.32 [[ 9.69823386e-01 2.43807361e-01 7.54712626e-04 1.27623131e+02] [-2.43807305e-01 9.69823680e-01 -1.67612769e-04 -9.28610715e+00] [-7.72803403e-04 -2.14496678e-05 9.99999701e-01 -3.23315911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:-9.29, Z:-0.32 [[ 9.68840048e-01 2.47686075e-01 7.54722774e-04 1.27649992e+02] [-2.47686020e-01 9.68840342e-01 -1.67567064e-04 -9.29356639e+00] [-7.72709898e-04 -2.45885974e-05 9.99999701e-01 -3.20757379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:-9.30, Z:-0.31 [[ 9.66848177e-01 2.55350805e-01 7.54732461e-04 1.27678224e+02] [-2.55350752e-01 9.66848471e-01 -1.67523418e-04 -9.29905201e+00] [-7.72489166e-04 -3.07517903e-05 9.99999701e-01 -3.14541791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:-9.30, Z:-0.32 [[ 9.65870023e-01 2.59026118e-01 7.54760376e-04 1.27705862e+02] [-2.59026066e-01 9.65870317e-01 -1.67397555e-04 -9.30471492e+00] [-7.72360983e-04 -3.38183306e-05 9.99999701e-01 -3.15344128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:-9.31, Z:-0.31 [[ 9.65034383e-01 2.62122244e-01 7.54770258e-04 1.27734027e+02] [-2.62122193e-01 9.65034677e-01 -1.67352989e-04 -9.31043238e+00] [-7.72246413e-04 -3.63406467e-05 9.99999701e-01 -3.11050481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:-9.31, Z:-0.31 [[ 9.63671126e-01 2.67090605e-01 7.54798409e-04 1.27761188e+02] [-2.67090555e-01 9.63671421e-01 -1.67225925e-04 -9.31442158e+00] [-7.72042129e-04 -4.04487308e-05 9.99999701e-01 -3.10990240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.304203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.79, Y:-9.32, Z:-0.31 [[ 9.63256341e-01 2.68582673e-01 7.54810359e-04 1.27789865e+02] [-2.68582625e-01 9.63256635e-01 -1.67171969e-04 -9.31869280e+00] [-7.71975581e-04 -4.16994878e-05 9.99999701e-01 -3.08648693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.82, Y:-9.32, Z:-0.31 [[ 9.63004825e-01 2.69483092e-01 7.54837376e-04 1.27817709e+02] [-2.69483044e-01 9.63005120e-01 -1.67049889e-04 -9.32283112e+00] [-7.71929378e-04 -4.25460246e-05 9.99999701e-01 -3.07789216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:-9.33, Z:-0.31 [[ 9.62951649e-01 2.69673046e-01 7.54846958e-04 1.27845110e+02] [-2.69672998e-01 9.62951944e-01 -1.67006581e-04 -9.32659171e+00] [-7.71918519e-04 -4.27425795e-05 9.99999701e-01 -3.05173542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.87, Y:-9.33, Z:-0.31 [[ 9.63120754e-01 2.69068475e-01 7.54878419e-04 1.27873111e+02] [-2.69068426e-01 9.63121048e-01 -1.66864254e-04 -9.32789979e+00] [-7.71937204e-04 -4.24035221e-05 9.99999701e-01 -3.09556243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:-9.33, Z:-0.31 [[ 9.63433184e-01 2.67947624e-01 7.54888167e-04 1.27901939e+02] [-2.67947576e-01 9.63433479e-01 -1.66820144e-04 -9.33118002e+00] [-7.71983594e-04 -4.15503918e-05 9.99999701e-01 -3.08264407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:-9.33, Z:-0.31 [[ 9.63936199e-01 2.66132361e-01 7.54913825e-04 1.27929798e+02] [-2.66132312e-01 9.63936494e-01 -1.66703948e-04 -9.33393793e+00] [-7.72054302e-04 -4.02149914e-05 9.99999701e-01 -3.05589247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.96, Y:-9.34, Z:-0.31 [[ 9.65311370e-01 2.61100343e-01 7.54944377e-04 1.27957398e+02] [-2.61100292e-01 9.65311664e-01 -1.66565473e-04 -9.33638185e+00] [-7.72246916e-04 -3.63286524e-05 9.99999701e-01 -3.10681146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.99, Y:-9.34, Z:-0.31 [[ 9.66081630e-01 2.58235773e-01 7.54953895e-04 1.27985966e+02] [-2.58235721e-01 9.66081924e-01 -1.66522325e-04 -9.34204479e+00] [-7.72349333e-04 -3.40819046e-05 9.99999701e-01 -3.11154731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.01, Y:-9.35, Z:-0.31 [[ 9.66857637e-01 2.55314983e-01 7.54980525e-04 1.28012589e+02] [-2.55314931e-01 9.66857931e-01 -1.66401501e-04 -9.34635835e+00] [-7.72443705e-04 -3.18712387e-05 9.99999701e-01 -3.14293218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.04, Y:-9.35, Z:-0.31 [[ 9.68128570e-01 2.50452592e-01 7.55010862e-04 1.28041475e+02] [-2.50452539e-01 9.68128864e-01 -1.66263738e-04 -9.34766808e+00] [-7.72588993e-04 -2.81297121e-05 9.99999701e-01 -3.12579730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.07, Y:-9.35, Z:-0.31 [[ 9.68714012e-01 2.48178551e-01 7.55038355e-04 1.28069303e+02] [-2.48178497e-01 9.68714306e-01 -1.66138795e-04 -9.35073881e+00] [-7.72648541e-04 -2.64433049e-05 9.99999701e-01 -3.12342891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.10, Y:-9.35, Z:-0.31 [[ 9.69255452e-01 2.46055477e-01 7.55069755e-04 1.28097340e+02] [-2.46055422e-01 9.69255746e-01 -1.65995965e-04 -9.35410729e+00] [-7.72699915e-04 -2.48965128e-05 9.99999701e-01 -3.10524584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.664203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:128.13, Y:-9.36, Z:-0.31 [[ 9.70454163e-01 2.41284369e-01 7.55101782e-04 1.28125564e+02] [-2.41284313e-01 9.70454457e-01 -1.65850148e-04 -9.35658690e+00] [-7.72808938e-04 -2.12442481e-05 9.99999701e-01 -3.11406211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.15, Y:-9.36, Z:-0.31 [[ 9.71080051e-01 2.38752935e-01 7.55133891e-04 1.28154074e+02] [-2.38752878e-01 9.71080345e-01 -1.65703821e-04 -9.36113131e+00] [-7.72857953e-04 -1.93787148e-05 9.99999701e-01 -3.12195985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.18, Y:-9.36, Z:-0.31 [[ 9.71700559e-01 2.36214845e-01 7.55161963e-04 1.28182057e+02] [-2.36214787e-01 9.71700853e-01 -1.65575794e-04 -9.36491163e+00] [-7.72902983e-04 -1.74903307e-05 9.99999701e-01 -3.14360447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.21, Y:-9.37, Z:-0.32 [[ 9.72824670e-01 2.31541769e-01 7.55189840e-04 1.28210706e+02] [-2.31541710e-01 9.72824963e-01 -1.65448547e-04 -9.36572266e+00] [-7.72975778e-04 -1.39055190e-05 9.99999701e-01 -3.15138984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.24, Y:-9.37, Z:-0.31 [[ 9.73391469e-01 2.29147284e-01 7.55199657e-04 1.28239269e+02] [-2.29147225e-01 9.73391762e-01 -1.65403726e-04 -9.36960575e+00] [-7.73006939e-04 -1.20493304e-05 9.99999701e-01 -3.14200189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.27, Y:-9.37, Z:-0.32 [[ 9.73895462e-01 2.26995722e-01 7.55227340e-04 1.28267211e+02] [-2.26995662e-01 9.73895755e-01 -1.65277228e-04 -9.37370678e+00] [-7.73029924e-04 -1.04705877e-05 9.99999701e-01 -3.17454529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.30, Y:-9.38, Z:-0.32 [[ 9.74601813e-01 2.23943600e-01 7.55237156e-04 1.28296713e+02] [-2.23943540e-01 9.74602105e-01 -1.65232364e-04 -9.37586657e+00] [-7.73058452e-04 -8.09472085e-06 9.99999701e-01 -3.17998748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.32, Y:-9.38, Z:-0.32 [[ 9.74863661e-01 2.22800971e-01 7.55252119e-04 1.28323789e+02] [-2.22800910e-01 9.74863953e-01 -1.65163939e-04 -9.37979227e+00] [-7.73066753e-04 -7.25853686e-06 9.99999701e-01 -3.18503940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.35, Y:-9.38, Z:-0.31 [[ 9.75171204e-01 2.21451015e-01 7.55263871e-04 1.28352447e+02] [-2.21450954e-01 9.75171497e-01 -1.65110181e-04 -9.38161337e+00] [-7.73075617e-04 -6.24321067e-06 9.99999701e-01 -3.11889137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.38, Y:-9.39, Z:-0.32 [[ 9.75349897e-01 2.20662654e-01 7.55292694e-04 1.28379615e+02] [-2.20662593e-01 9.75350190e-01 -1.64978225e-04 -9.38565065e+00] [-7.73079406e-04 -5.75334945e-06 9.99999701e-01 -3.15189903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.41, Y:-9.39, Z:-0.31 [[ 9.75689759e-01 2.19155024e-01 7.55302926e-04 1.28408208e+02] [-2.19154962e-01 9.75690051e-01 -1.64931371e-04 -9.39105917e+00] [-7.73087089e-04 -4.60653431e-06 9.99999701e-01 -3.14365136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.44, Y:-9.39, Z:-0.32 [[ 9.76341546e-01 2.16232781e-01 7.55330648e-04 1.28435884e+02] [-2.16232719e-01 9.76341838e-01 -1.64804314e-04 -9.39353650e+00] [-7.73097008e-04 -2.42190035e-06 9.99999701e-01 -3.16205548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.47, Y:-9.40, Z:-0.32 [[ 9.76703564e-01 2.14591651e-01 7.55345065e-04 1.28465264e+02] [-2.14591588e-01 9.76703856e-01 -1.64738209e-04 -9.39599365e+00] [-7.73099883e-04 -1.19030161e-06 9.99999701e-01 -3.15638913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.49, Y:-9.40, Z:-0.32 [[ 9.77123989e-01 2.12669085e-01 7.55371103e-04 1.28492608e+02] [-2.12669021e-01 9.77124281e-01 -1.64618732e-04 -9.40006091e+00] [-7.73100761e-04 2.08879179e-07 9.99999701e-01 -3.18484504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.52, Y:-9.41, Z:-0.32 [[ 9.77582488e-01 2.10551441e-01 7.55381072e-04 1.28520336e+02] [-2.10551376e-01 9.77582780e-01 -1.64572974e-04 -9.40708978e+00] [-7.73098605e-04 1.83713324e-06 9.99999701e-01 -3.17439490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.55, Y:-9.41, Z:-0.31 [[ 9.78113649e-01 2.08069985e-01 7.55408383e-04 1.28547731e+02] [-2.08069920e-01 9.78113941e-01 -1.64447517e-04 -9.41493511e+00] [-7.73092063e-04 3.67059930e-06 9.99999701e-01 -3.12080286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.58, Y:-9.42, Z:-0.31 [[ 9.78065698e-01 2.08295269e-01 7.55436532e-04 1.28575922e+02] [-2.08295204e-01 9.78065990e-01 -1.64318106e-04 -9.41889013e+00] [-7.73093464e-04 3.36009691e-06 9.99999701e-01 -3.10044421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.60, Y:-9.42, Z:-0.32 [[ 9.77554688e-01 2.10680473e-01 7.55464817e-04 1.28603547e+02] [-2.10680409e-01 9.77554980e-01 -1.64187961e-04 -9.42057074e+00] [-7.73099591e-04 1.34107427e-06 9.99999701e-01 -3.18848683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.63, Y:-9.42, Z:-0.31 [[ 9.77170076e-01 2.12457226e-01 7.55479735e-04 1.28632078e+02] [-2.12457162e-01 9.77170368e-01 -1.64119292e-04 -9.42487837e+00] [-7.73100739e-04 -1.34619662e-07 9.99999701e-01 -3.13396408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.66, Y:-9.43, Z:-0.31 [[ 9.76709377e-01 2.14565193e-01 7.55507486e-04 1.28659832e+02] [-2.14565130e-01 9.76709669e-01 -1.63991443e-04 -9.42861618e+00] [-7.73098322e-04 -1.93358221e-06 9.99999701e-01 -3.12276993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.69, Y:-9.43, Z:-0.32 [[ 9.75725977e-01 2.18993713e-01 7.55539816e-04 1.28687904e+02] [-2.18993652e-01 9.75726270e-01 -1.63842354e-04 -9.43148456e+00] [-7.73080492e-04 -5.59318296e-06 9.99999701e-01 -3.15624259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.72, Y:-9.44, Z:-0.32 [[ 9.75768584e-01 2.18803790e-01 7.55549831e-04 1.28715750e+02] [-2.18803729e-01 9.75768877e-01 -1.63796158e-04 -9.43732638e+00] [-7.73081230e-04 -5.48997526e-06 9.99999701e-01 -3.15646260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.74, Y:-9.44, Z:-0.32 [[ 9.75388195e-01 2.20493307e-01 7.55581684e-04 1.28743553e+02] [-2.20493246e-01 9.75388488e-01 -1.63649089e-04 -9.44275208e+00] [-7.73069205e-04 -6.97926915e-06 9.99999701e-01 -3.23063591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.77, Y:-9.45, Z:-0.32 [[ 9.75069571e-01 2.21898086e-01 7.55609360e-04 1.28771198e+02] [-2.21898026e-01 9.75069864e-01 -1.63521203e-04 -9.44774953e+00] [-7.73056958e-04 -8.22367638e-06 9.99999701e-01 -3.16400635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:-9.45, Z:-0.32 [[ 9.74655076e-01 2.23711671e-01 7.55641532e-04 1.28799208e+02] [-2.23711612e-01 9.74655369e-01 -1.63372400e-04 -9.44954097e+00] [-7.73038389e-04 -9.81404606e-06 9.99999701e-01 -3.18715659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.83, Y:-9.45, Z:-0.32 [[ 9.74675296e-01 2.23623558e-01 7.55651521e-04 1.28827253e+02] [-2.23623499e-01 9.74675589e-01 -1.63326185e-04 -9.45407769e+00] [-7.73038674e-04 -9.79143938e-06 9.99999701e-01 -3.15886806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.86, Y:-9.46, Z:-0.32 [[ 9.74953439e-01 2.22407781e-01 7.55683019e-04 1.28855286e+02] [-2.22407721e-01 9.74953732e-01 -1.63180316e-04 -9.45768026e+00] [-7.73048552e-04 -8.97652840e-06 9.99999701e-01 -3.16005262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.88, Y:-9.46, Z:-0.31 [[ 9.75211209e-01 2.21274778e-01 7.55692817e-04 1.28883457e+02] [-2.21274718e-01 9.75211501e-01 -1.63134930e-04 -9.46159064e+00] [-7.73057972e-04 -8.12470272e-06 9.99999701e-01 -3.14106842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.91, Y:-9.47, Z:-0.31 [[ 9.75490428e-01 2.20040572e-01 7.55719416e-04 1.28911343e+02] [-2.20040511e-01 9.75490721e-01 -1.63011619e-04 -9.46658943e+00] [-7.73066448e-04 -7.27261305e-06 9.99999701e-01 -3.13790870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.94, Y:-9.48, Z:-0.32 [[ 9.76245975e-01 2.16663853e-01 7.55749872e-04 1.28938255e+02] [-2.16663792e-01 9.76246268e-01 -1.62870296e-04 -9.47685377e+00] [-7.73086098e-04 -4.74216183e-06 9.99999701e-01 -3.17327273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.97, Y:-9.48, Z:-0.32 [[ 9.76605310e-01 2.15038364e-01 7.55776404e-04 1.28965915e+02] [-2.15038302e-01 9.76605602e-01 -1.62747085e-04 -9.48486865e+00] [-7.73092337e-04 -3.58120742e-06 9.99999701e-01 -3.17948429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.99, Y:-9.49, Z:-0.32 [[ 9.76838406e-01 2.13977001e-01 7.55803266e-04 1.28993252e+02] [-2.13976939e-01 9.76838699e-01 -1.62622241e-04 -9.49052691e+00] [-7.73095298e-04 -2.86881853e-06 9.99999701e-01 -3.23268742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.02, Y:-9.50, Z:-0.32 [[ 9.77010720e-01 2.13188843e-01 7.55812791e-04 1.29022235e+02] [-2.13188781e-01 9.77011012e-01 -1.62577958e-04 -9.49515287e+00] [-7.73097227e-04 -2.29039968e-06 9.99999701e-01 -3.19874976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.05, Y:-9.50, Z:-0.32 [[ 9.77023580e-01 2.13129898e-01 7.55837560e-04 1.29050311e+02] [-2.13129836e-01 9.77023872e-01 -1.62462726e-04 -9.50282764e+00] [-7.73097004e-04 -2.36162148e-06 9.99999701e-01 -3.19484323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.08, Y:-9.51, Z:-0.32 [[ 9.76669029e-01 2.14748775e-01 7.55864705e-04 1.29078298e+02] [-2.14748714e-01 9.76669322e-01 -1.62336333e-04 -9.50831345e+00] [-7.73091397e-04 -3.77210425e-06 9.99999701e-01 -3.20688669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.714203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.11, Y:-9.51, Z:-0.32 [[ 9.76395912e-01 2.15987155e-01 7.55891937e-04 1.29106935e+02] [-2.15987094e-01 9.76396205e-01 -1.62209435e-04 -9.51220223e+00] [-7.73085173e-04 -4.88227385e-06 9.99999701e-01 -3.16469147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.14, Y:-9.52, Z:-0.31 [[ 9.76035972e-01 2.17607928e-01 7.55920065e-04 1.29135198e+02] [-2.17607868e-01 9.76036264e-01 -1.62078244e-04 -9.51729591e+00] [-7.73074908e-04 -6.29995726e-06 9.99999701e-01 -3.14467339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.16, Y:-9.52, Z:-0.32 [[ 9.75668464e-01 2.19249805e-01 7.55948372e-04 1.29162725e+02] [-2.19249745e-01 9.75668757e-01 -1.61946111e-04 -9.52333422e+00] [-7.73061862e-04 -7.73577445e-06 9.99999701e-01 -3.22534447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.19, Y:-9.53, Z:-0.31 [[ 9.75254175e-01 2.21085329e-01 7.55958450e-04 1.29191503e+02] [-2.21085270e-01 9.75254468e-01 -1.61899055e-04 -9.52698600e+00] [-7.73045362e-04 -9.23854854e-06 9.99999701e-01 -3.13895868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.22, Y:-9.53, Z:-0.32 [[ 9.75280478e-01 2.20969268e-01 7.55985939e-04 1.29218793e+02] [-2.20969209e-01 9.75280771e-01 -1.61770591e-04 -9.53069466e+00] [-7.73044879e-04 -9.27791523e-06 9.99999701e-01 -3.19450825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.25, Y:-9.53, Z:-0.32 [[ 9.75556402e-01 2.19747889e-01 7.55995724e-04 1.29246575e+02] [-2.19747830e-01 9.75556695e-01 -1.61724851e-04 -9.53369431e+00] [-7.73055385e-04 -8.35670570e-06 9.99999701e-01 -3.17300623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.894203822 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:129.27, Y:-9.54, Z:-0.32 [[ 9.75746906e-01 2.18900444e-01 7.56025811e-04 1.29274498e+02] [-2.18900384e-01 9.75747199e-01 -1.61584082e-04 -9.53736590e+00] [-7.73060894e-04 -7.82917212e-06 9.99999701e-01 -3.19724484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.30, Y:-9.54, Z:-0.32 [[ 9.75976389e-01 2.17875000e-01 7.56035149e-04 1.29302471e+02] [-2.17874941e-01 9.75976682e-01 -1.61540376e-04 -9.54146456e+00] [-7.73068286e-04 -7.06152029e-06 9.99999701e-01 -3.18105390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.33, Y:-9.55, Z:-0.32 [[ 9.76351855e-01 2.16186226e-01 7.56065662e-04 1.29329614e+02] [-2.16186166e-01 9.76352147e-01 -1.61397439e-04 -9.54698363e+00] [-7.73078236e-04 -5.87024716e-06 9.99999701e-01 -3.18442756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.36, Y:-9.55, Z:-0.32 [[ 9.76566072e-01 2.15216485e-01 7.56075112e-04 1.29357754e+02] [-2.15216425e-01 9.76566365e-01 -1.61353156e-04 -9.55329014e+00] [-7.73083383e-04 -5.14776473e-06 9.99999701e-01 -3.16512028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.39, Y:-9.56, Z:-0.32 [[ 9.76746545e-01 2.14395933e-01 7.56102134e-04 1.29386053e+02] [-2.14395872e-01 9.76746837e-01 -1.61226435e-04 -9.55855502e+00] [-7.73086659e-04 -4.62781317e-06 9.99999701e-01 -3.17534264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.41, Y:-9.56, Z:-0.32 [[ 9.76897434e-01 2.13707351e-01 7.56128690e-04 1.29414689e+02] [-2.13707290e-01 9.76897727e-01 -1.61101792e-04 -9.56348705e+00] [-7.73089036e-04 -4.21028593e-06 9.99999701e-01 -3.18495209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.44, Y:-9.57, Z:-0.32 [[ 9.76871010e-01 2.13828105e-01 7.56156465e-04 1.29442334e+02] [-2.13828044e-01 9.76871302e-01 -1.60971323e-04 -9.56768035e+00] [-7.73087743e-04 -4.43923943e-06 9.99999701e-01 -3.18189143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.47, Y:-9.57, Z:-0.32 [[ 9.76848614e-01 2.13930392e-01 7.56166344e-04 1.29470779e+02] [-2.13930332e-01 9.76848907e-01 -1.60924899e-04 -9.57187682e+00] [-7.73086994e-04 -4.56765203e-06 9.99999701e-01 -3.16127630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.50, Y:-9.58, Z:-0.31 [[ 9.77157875e-01 2.12513330e-01 7.56193355e-04 1.29498232e+02] [-2.12513269e-01 9.77158168e-01 -1.60797872e-04 -9.57835772e+00] [-7.73092205e-04 -3.57621481e-06 9.99999701e-01 -3.13933550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.53, Y:-9.59, Z:-0.31 [[ 9.77509420e-01 2.10890402e-01 7.56202942e-04 1.29525791e+02] [-2.10890341e-01 9.77509713e-01 -1.60752774e-04 -9.58644766e+00] [-7.73096938e-04 -2.33854536e-06 9.99999701e-01 -3.11784956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.55, Y:-9.59, Z:-0.31 [[ 9.78177474e-01 2.07769724e-01 7.56229777e-04 1.29552933e+02] [-2.07769662e-01 9.78177766e-01 -1.60626436e-04 -9.59487546e+00] [-7.73100464e-04 -4.44109574e-10 9.99999701e-01 -3.06120657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.58, Y:-9.60, Z:-0.30 [[ 9.78523469e-01 2.06134057e-01 7.56237411e-04 1.29580712e+02] [-2.06133995e-01 9.78523761e-01 -1.60590487e-04 -9.60101055e+00] [-7.73099444e-04 1.25532147e-06 9.99999701e-01 -3.03185567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.61, Y:-9.61, Z:-0.30 [[ 9.78859815e-01 2.04530904e-01 7.56264272e-04 1.29608625e+02] [-2.04530841e-01 9.78860107e-01 -1.60463893e-04 -9.60723418e+00] [-7.73096751e-04 2.39228846e-06 9.99999701e-01 -3.01879440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.63, Y:-9.62, Z:-0.30 [[ 9.79556527e-01 2.01167689e-01 7.56290937e-04 1.29634841e+02] [-2.01167625e-01 9.79556819e-01 -1.60338118e-04 -9.61563290e+00] [-7.73084793e-04 4.91899826e-06 9.99999701e-01 -3.02156486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:-9.62, Z:-0.30 [[ 9.79994624e-01 1.99022524e-01 7.56300393e-04 1.29662363e+02] [-1.99022460e-01 9.79994916e-01 -1.60293502e-04 -9.62450738e+00] [-7.73072557e-04 6.56600546e-06 9.99999701e-01 -3.00952315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.69, Y:-9.63, Z:-0.30 [[ 9.80524068e-01 1.96397503e-01 7.56326555e-04 1.29689678e+02] [-1.96397438e-01 9.80524360e-01 -1.60169963e-04 -9.63393067e+00] [-7.73053592e-04 8.50990611e-06 9.99999701e-01 -3.00642774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.71, Y:-9.65, Z:-0.30 [[ 9.81479931e-01 1.91563496e-01 7.56352539e-04 1.29714924e+02] [-1.91563430e-01 9.81480222e-01 -1.60047168e-04 -9.64789847e+00] [-7.73004253e-04 1.21935972e-05 9.99999701e-01 -2.97544710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.74, Y:-9.66, Z:-0.30 [[ 9.81803690e-01 1.89897187e-01 7.56383118e-04 1.29741019e+02] [-1.89897120e-01 9.81803982e-01 -1.59902522e-04 -9.65826047e+00] [-7.72984996e-04 1.33579103e-05 9.99999701e-01 -2.98565468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.77, Y:-9.67, Z:-0.30 [[ 9.81982958e-01 1.88967980e-01 7.56397254e-04 1.29766154e+02] [-1.88967913e-01 9.81983249e-01 -1.59835625e-04 -9.67165899e+00] [-7.72973249e-04 1.40210491e-05 9.99999701e-01 -2.96081223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.79, Y:-9.68, Z:-0.30 [[ 9.81820159e-01 1.89812018e-01 7.56408352e-04 1.29794012e+02] [-1.89811952e-01 9.81820451e-01 -1.59783085e-04 -9.67981546e+00] [-7.72985939e-04 1.33029089e-05 9.99999701e-01 -2.95830979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.82, Y:-9.69, Z:-0.30 [[ 9.81443271e-01 1.91751227e-01 7.56434258e-04 1.29821843e+02] [-1.91751161e-01 9.81443563e-01 -1.59660350e-04 -9.68810448e+00] [-7.73012601e-04 1.16504291e-05 9.99999701e-01 -2.97544462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.85, Y:-9.70, Z:-0.30 [[ 9.80329853e-01 1.97364655e-01 7.56460363e-04 1.29849423e+02] [-1.97364590e-01 9.80330145e-01 -1.59536569e-04 -9.69985549e+00] [-7.73067777e-04 7.09997146e-06 9.99999701e-01 -3.01593842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.88, Y:-9.71, Z:-0.30 [[ 9.79621610e-01 2.00850514e-01 7.56484898e-04 1.29877373e+02] [-2.00850451e-01 9.79621902e-01 -1.59420146e-04 -9.70775646e+00] [-7.73088793e-04 4.23108715e-06 9.99999701e-01 -3.02156156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.91, Y:-9.72, Z:-0.30 [[ 9.78878376e-01 2.04442053e-01 7.56511837e-04 1.29905538e+02] [-2.04441991e-01 9.78878668e-01 -1.59292206e-04 -9.71573241e+00] [-7.73099325e-04 1.26490977e-06 9.99999701e-01 -3.01921135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.93, Y:-9.72, Z:-0.30 [[ 9.78167001e-01 2.07819019e-01 7.56539282e-04 1.29932636e+02] [-2.07818959e-01 9.78167294e-01 -1.59161753e-04 -9.72428129e+00] [-7.73098822e-04 -1.53643146e-06 9.99999701e-01 -3.03318096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.96, Y:-9.73, Z:-0.30 [[ 9.77075454e-01 2.12891955e-01 7.56549023e-04 1.29959194e+02] [-2.12891896e-01 9.77075747e-01 -1.59115439e-04 -9.73469970e+00] [-7.73080099e-04 -5.59536600e-06 9.99999701e-01 -3.00466384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.99, Y:-9.74, Z:-0.31 [[ 9.76553873e-01 2.15271829e-01 7.56581636e-04 1.29986666e+02] [-2.15271770e-01 9.76554166e-01 -1.58960214e-04 -9.74050351e+00] [-7.73062605e-04 -7.63745549e-06 9.99999701e-01 -3.05381946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.01, Y:-9.75, Z:-0.30 [[ 9.75770868e-01 2.18793605e-01 7.56596819e-04 1.30014642e+02] [-2.18793548e-01 9.75771161e-01 -1.58887915e-04 -9.74764112e+00] [-7.73029016e-04 -1.05003040e-05 9.99999701e-01 -3.01951855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.04, Y:-9.75, Z:-0.30 [[ 9.75504936e-01 2.19976242e-01 7.56623731e-04 1.30041618e+02] [-2.19976185e-01 9.75505229e-01 -1.58759659e-04 -9.75453678e+00] [-7.73013759e-04 -1.15683709e-05 9.99999701e-01 -3.02250857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.07, Y:-9.76, Z:-0.30 [[ 9.75273597e-01 2.20999635e-01 7.56654564e-04 1.30068085e+02] [-2.20999579e-01 9.75273890e-01 -1.58612568e-04 -9.76147102e+00] [-7.72998760e-04 -1.25296906e-05 9.99999701e-01 -3.04303622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.10, Y:-9.77, Z:-0.30 [[ 9.74834953e-01 2.22926538e-01 7.56667954e-04 1.30095485e+02] [-2.22926482e-01 9.74835247e-01 -1.58548669e-04 -9.77087260e+00] [-7.72971297e-04 -1.41225408e-05 9.99999701e-01 -3.02129002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.12, Y:-9.78, Z:-0.31 [[ 9.74627252e-01 2.23832855e-01 7.56695016e-04 1.30121900e+02] [-2.23832799e-01 9.74627546e-01 -1.58419405e-04 -9.77850667e+00] [-7.72955274e-04 -1.49732942e-05 9.99999701e-01 -3.05861062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.15, Y:-9.79, Z:-0.30 [[ 9.74554942e-01 2.24147477e-01 7.56704607e-04 1.30149470e+02] [-2.24147422e-01 9.74555236e-01 -1.58373580e-04 -9.78559995e+00] [-7.72949475e-04 -1.52696316e-05 9.99999701e-01 -3.04600212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.18, Y:-9.79, Z:-0.30 [[ 9.74582201e-01 2.24028931e-01 7.56731572e-04 1.30177841e+02] [-2.24028875e-01 9.74582494e-01 -1.58244631e-04 -9.79259569e+00] [-7.72948718e-04 -1.53073224e-05 9.99999701e-01 -3.03799665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.20, Y:-9.80, Z:-0.31 [[ 9.74605802e-01 2.23926236e-01 7.56758819e-04 1.30204493e+02] [-2.23926180e-01 9.74606095e-01 -1.58114222e-04 -9.79865502e+00] [-7.72947680e-04 -1.53590739e-05 9.99999701e-01 -3.08458803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.23, Y:-9.80, Z:-0.31 [[ 9.74682479e-01 2.23592247e-01 7.56772323e-04 1.30232349e+02] [-2.23592191e-01 9.74682773e-01 -1.58049562e-04 -9.80471940e+00] [-7.72951603e-04 -1.51602430e-05 9.99999701e-01 -3.06408053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:-9.81, Z:-0.31 [[ 9.74969219e-01 2.22338593e-01 7.56798358e-04 1.30259075e+02] [-2.22338538e-01 9.74969512e-01 -1.57924797e-04 -9.81168677e+00] [-7.72968104e-04 -1.42936240e-05 9.99999701e-01 -3.08228518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.29, Y:-9.82, Z:-0.31 [[ 9.75168384e-01 2.21463428e-01 7.56807562e-04 1.30285584e+02] [-2.21463372e-01 9.75168678e-01 -1.57880681e-04 -9.81947499e+00] [-7.72979826e-04 -1.36449063e-05 9.99999701e-01 -3.08194004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.31, Y:-9.83, Z:-0.31 [[ 9.75250212e-01 2.21102809e-01 7.56837432e-04 1.30312063e+02] [-2.21102753e-01 9.75250505e-01 -1.57737363e-04 -9.82905591e+00] [-7.72982261e-04 -1.35054429e-05 9.99999701e-01 -3.12020583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.34, Y:-9.84, Z:-0.31 [[ 9.75174685e-01 2.21435682e-01 7.56846717e-04 1.30340498e+02] [-2.21435626e-01 9.75174978e-01 -1.57692795e-04 -9.83585734e+00] [-7.72976793e-04 -1.38148049e-05 9.99999701e-01 -3.10254132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.37, Y:-9.84, Z:-0.31 [[ 9.75103130e-01 2.21750567e-01 7.56873675e-04 1.30367633e+02] [-2.21750511e-01 9.75103423e-01 -1.57563299e-04 -9.84215676e+00] [-7.72969863e-04 -1.41966582e-05 9.99999701e-01 -3.10335978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.39, Y:-9.85, Z:-0.31 [[ 9.74969792e-01 2.22336078e-01 7.56904626e-04 1.30394652e+02] [-2.22336023e-01 9.74970086e-01 -1.57414477e-04 -9.84848137e+00] [-7.72958286e-04 -1.48128049e-05 9.99999701e-01 -3.12132783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.42, Y:-9.85, Z:-0.31 [[ 9.74677660e-01 2.23613250e-01 7.56914177e-04 1.30423436e+02] [-2.23613195e-01 9.74677954e-01 -1.57368541e-04 -9.85399085e+00] [-7.72937252e-04 -1.58723964e-05 9.99999701e-01 -3.12574406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.45, Y:-9.86, Z:-0.31 [[ 9.74721079e-01 2.23423915e-01 7.56939049e-04 1.30451345e+02] [-2.23423860e-01 9.74721373e-01 -1.57248816e-04 -9.85959227e+00] [-7.72937815e-04 -1.58445083e-05 9.99999701e-01 -3.12596416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.48, Y:-9.86, Z:-0.31 [[ 9.74537693e-01 2.24222460e-01 7.56969566e-04 1.30478552e+02] [-2.24222405e-01 9.74537987e-01 -1.57101775e-04 -9.86440501e+00] [-7.72921343e-04 -1.66279352e-05 9.99999701e-01 -3.13369193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.51, Y:-9.87, Z:-0.31 [[ 9.74444437e-01 2.24627393e-01 7.56979033e-04 1.30505972e+02] [-2.24627339e-01 9.74444731e-01 -1.57056145e-04 -9.87318795e+00] [-7.72913343e-04 -1.69956990e-05 9.99999701e-01 -3.11637151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.274203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:130.53, Y:-9.88, Z:-0.31 [[ 9.74614983e-01 2.23886271e-01 7.57004769e-04 1.30533627e+02] [-2.23886217e-01 9.74615277e-01 -1.56931998e-04 -9.88053925e+00] [-7.72923333e-04 -1.65346577e-05 9.99999701e-01 -3.13561005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.56, Y:-9.89, Z:-0.31 [[ 9.74912026e-01 2.22589235e-01 7.57030482e-04 1.30560664e+02] [-2.22589180e-01 9.74912320e-01 -1.56807865e-04 -9.88791852e+00] [-7.72942086e-04 -1.56329213e-05 9.99999701e-01 -3.13028518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.334203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:130.59, Y:-9.89, Z:-0.31 [[ 9.75518354e-01 2.19916728e-01 7.57039576e-04 1.30588833e+02] [-2.19916672e-01 9.75518648e-01 -1.56763945e-04 -9.89463013e+00] [-7.72981238e-04 -1.35595188e-05 9.99999701e-01 -3.07147680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.62, Y:-9.90, Z:-0.31 [[ 9.75587480e-01 2.19609872e-01 7.57065848e-04 1.30616471e+02] [-2.19609817e-01 9.75587773e-01 -1.56636966e-04 -9.90070605e+00] [-7.72983210e-04 -1.34460297e-05 9.99999701e-01 -3.08157143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.64, Y:-9.91, Z:-0.31 [[ 9.75676628e-01 2.19213467e-01 7.57075190e-04 1.30644037e+02] [-2.19213412e-01 9.75676922e-01 -1.56591803e-04 -9.90692382e+00] [-7.72987823e-04 -1.31780731e-05 9.99999701e-01 -3.06746727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.67, Y:-9.91, Z:-0.30 [[ 9.75660662e-01 2.19284519e-01 7.57104994e-04 1.30671460e+02] [-2.19284463e-01 9.75660955e-01 -1.56447570e-04 -9.91472065e+00] [-7.72984312e-04 -1.33816231e-05 9.99999701e-01 -3.01835253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.70, Y:-9.92, Z:-0.30 [[ 9.75557603e-01 2.19742555e-01 7.57131776e-04 1.30698662e+02] [-2.19742500e-01 9.75557897e-01 -1.56317848e-04 -9.92090582e+00] [-7.72975567e-04 -1.38769637e-05 9.99999701e-01 -3.02705675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.73, Y:-9.93, Z:-0.30 [[ 9.75375448e-01 2.20549683e-01 7.57141245e-04 1.30727214e+02] [-2.20549628e-01 9.75375742e-01 -1.56271971e-04 -9.92775628e+00] [-7.72962937e-04 -1.45633767e-05 9.99999701e-01 -3.02784639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.75, Y:-9.93, Z:-0.31 [[ 9.75305445e-01 2.20859041e-01 7.57166676e-04 1.30754464e+02] [-2.20858986e-01 9.75305739e-01 -1.56148657e-04 -9.93416223e+00] [-7.72955847e-04 -1.49344294e-05 9.99999701e-01 -3.08944500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.78, Y:-9.94, Z:-0.31 [[ 9.75264099e-01 2.21041543e-01 7.57176360e-04 1.30782865e+02] [-2.21041488e-01 9.75264393e-01 -1.56101687e-04 -9.94009583e+00] [-7.72952100e-04 -1.51270186e-05 9.99999701e-01 -3.07485263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.81, Y:-9.94, Z:-0.31 [[ 9.75182203e-01 2.21402570e-01 7.57201925e-04 1.30811580e+02] [-2.21402515e-01 9.75182497e-01 -1.55977581e-04 -9.94287284e+00] [-7.72943900e-04 -1.55398498e-05 9.99999701e-01 -3.05762475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.84, Y:-9.95, Z:-0.31 [[ 9.75131567e-01 2.21625481e-01 7.57227280e-04 1.30840057e+02] [-2.21625427e-01 9.75131861e-01 -1.55854389e-04 -9.94807659e+00] [-7.72937751e-04 -1.58422843e-05 9.99999701e-01 -3.05344642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.87, Y:-9.95, Z:-0.30 [[ 9.75243065e-01 2.21134327e-01 7.57234614e-04 1.30867802e+02] [-2.21134273e-01 9.75243359e-01 -1.55818748e-04 -9.95451626e+00] [-7.72944903e-04 -1.54893718e-05 9.99999701e-01 -3.03872557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.89, Y:-9.96, Z:-0.30 [[ 9.75464326e-01 2.20156250e-01 7.57264434e-04 1.30894442e+02] [-2.20156195e-01 9.75464620e-01 -1.55673693e-04 -9.96081861e+00] [-7.72957200e-04 -1.48623226e-05 9.99999701e-01 -3.03554604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.92, Y:-9.97, Z:-0.30 [[ 9.75569064e-01 2.19691666e-01 7.57275578e-04 1.30922871e+02] [-2.19691612e-01 9.75569358e-01 -1.55619462e-04 -9.96593758e+00] [-7.72963148e-04 -1.45495590e-05 9.99999701e-01 -3.02980409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.95, Y:-9.97, Z:-0.30 [[ 9.75848005e-01 2.18449300e-01 7.57282855e-04 1.30951049e+02] [-2.18449245e-01 9.75848299e-01 -1.55584042e-04 -9.97021909e+00] [-7.72980411e-04 -1.36014910e-05 9.99999701e-01 -3.00367102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:-9.98, Z:-0.30 [[ 9.76023707e-01 2.17662927e-01 7.57309602e-04 1.30979900e+02] [-2.17662872e-01 9.76024001e-01 -1.55453742e-04 -9.97502961e+00] [-7.72988864e-04 -1.31116457e-05 9.99999701e-01 -2.99889177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.01, Y:-9.98, Z:-0.30 [[ 9.76285928e-01 2.16483749e-01 7.57336293e-04 1.31007715e+02] [-2.16483694e-01 9.76286221e-01 -1.55323600e-04 -9.97906246e+00] [-7.73002023e-04 -1.23107130e-05 9.99999701e-01 -3.01811217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.04, Y:-9.98, Z:-0.30 [[ 9.77182556e-01 2.12399807e-01 7.57345758e-04 1.31036484e+02] [-2.12399750e-01 9.77182850e-01 -1.55277437e-04 -9.98435649e+00] [-7.73046183e-04 -9.12564665e-06 9.99999701e-01 -3.03699629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.06, Y:-9.99, Z:-0.30 [[ 9.77740830e-01 2.09814910e-01 7.57370299e-04 1.31063750e+02] [-2.09814853e-01 9.77741123e-01 -1.55157645e-04 -9.99137852e+00] [-7.73066474e-04 -7.20357375e-06 9.99999701e-01 -3.04177752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.09, Y:-10.00, Z:-0.31 [[ 9.78276435e-01 2.07303262e-01 7.57400596e-04 1.31090720e+02] [-2.07303204e-01 9.78276729e-01 -1.55009609e-04 -9.99799185e+00] [-7.73081375e-04 -5.36932204e-06 9.99999701e-01 -3.10060077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.12, Y:-10.00, Z:-0.31 [[ 9.78798917e-01 2.04822132e-01 7.57410009e-04 1.31119386e+02] [-2.04822073e-01 9.78799210e-01 -1.54963601e-04 -1.00028722e+01] [-7.73092294e-04 -3.45608398e-06 9.99999701e-01 -3.05261865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.15, Y:-10.01, Z:-0.31 [[ 9.79601357e-01 2.00949266e-01 7.57436007e-04 1.31147496e+02] [-2.00949206e-01 9.79601650e-01 -1.54836424e-04 -1.00074489e+01] [-7.73099828e-04 -5.28193863e-07 9.99999701e-01 -3.06124893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.18, Y:-10.01, Z:-0.31 [[ 9.79880134e-01 1.99585443e-01 7.57443583e-04 1.31175080e+02] [-1.99585383e-01 9.79880427e-01 -1.54799352e-04 -1.00139268e+01] [-7.73099839e-04 5.10142500e-07 9.99999701e-01 -3.10895590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.20, Y:-10.02, Z:-0.31 [[ 9.80164373e-01 1.98184832e-01 7.57451134e-04 1.31202344e+02] [-1.98184771e-01 9.80164666e-01 -1.54762398e-04 -1.00191435e+01] [-7.73098397e-04 1.57730860e-06 9.99999701e-01 -3.08096765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.23, Y:-10.02, Z:-0.31 [[ 9.80124268e-01 1.98383077e-01 7.57462212e-04 1.31229902e+02] [-1.98383016e-01 9.80124561e-01 -1.54708157e-04 -1.00240689e+01] [-7.73098798e-04 1.36558050e-06 9.99999701e-01 -3.08032842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.26, Y:-10.03, Z:-0.31 [[ 9.80081250e-01 1.98595492e-01 7.57475913e-04 1.31258532e+02] [-1.98595432e-01 9.80081543e-01 -1.54641044e-04 -1.00295970e+01] [-7.73099176e-04 1.12953139e-06 9.99999701e-01 -3.06386053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.29, Y:-10.04, Z:-0.30 [[ 9.80048899e-01 1.98755078e-01 7.57483431e-04 1.31286370e+02] [-1.98755018e-01 9.80049192e-01 -1.54604212e-04 -1.00350192e+01] [-7.73099397e-04 9.66054236e-07 9.99999701e-01 -3.02705064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.31, Y:-10.04, Z:-0.31 [[ 9.80110926e-01 1.98448981e-01 7.57493122e-04 1.31313816e+02] [-1.98448921e-01 9.80111219e-01 -1.54556713e-04 -1.00396676e+01] [-7.73099130e-04 1.15902987e-06 9.99999701e-01 -3.05291352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.34, Y:-10.04, Z:-0.30 [[ 9.80162334e-01 1.98194917e-01 7.57502753e-04 1.31341535e+02] [-1.98194857e-01 9.80162627e-01 -1.54509498e-04 -1.00447180e+01] [-7.73098885e-04 1.31124072e-06 9.99999701e-01 -3.03385498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.174203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.37, Y:-10.05, Z:-0.31 [[ 9.80158884e-01 1.98211978e-01 7.57514178e-04 1.31368788e+02] [-1.98211918e-01 9.80159177e-01 -1.54453466e-04 -1.00512828e+01] [-7.73099000e-04 1.24059815e-06 9.99999701e-01 -3.06148864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.40, Y:-10.06, Z:-0.30 [[ 9.80157333e-01 1.98219648e-01 7.57523660e-04 1.31397154e+02] [-1.98219588e-01 9.80157626e-01 -1.54406945e-04 -1.00581981e+01] [-7.73099082e-04 1.18707163e-06 9.99999701e-01 -3.03923221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.43, Y:-10.06, Z:-0.30 [[ 9.79797134e-01 1.99992505e-01 7.57530980e-04 1.31425869e+02] [-1.99992446e-01 9.79797427e-01 -1.54371024e-04 -1.00627840e+01] [-7.73099953e-04 -2.48186128e-07 9.99999701e-01 -2.99274786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.45, Y:-10.07, Z:-0.30 [[ 9.79468526e-01 2.01595718e-01 7.57538579e-04 1.31452825e+02] [-2.01595659e-01 9.79468819e-01 -1.54333726e-04 -1.00673951e+01] [-7.73098435e-04 -1.55146207e-06 9.99999701e-01 -2.99611264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.48, Y:-10.07, Z:-0.30 [[ 9.79081870e-01 2.03465277e-01 7.57549970e-04 1.31481522e+02] [-2.03465218e-01 9.79082163e-01 -1.54277793e-04 -1.00725266e+01] [-7.73093837e-04 -3.08448031e-06 9.99999701e-01 -2.98354793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.51, Y:-10.08, Z:-0.30 [[ 9.77913086e-01 2.09010582e-01 7.57557586e-04 1.31509743e+02] [-2.09010525e-01 9.77913379e-01 -1.54240388e-04 -1.00752144e+01] [-7.73063571e-04 -7.50381514e-06 9.99999701e-01 -2.96596668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.54, Y:-10.08, Z:-0.30 [[ 9.77318341e-01 2.11774140e-01 7.57584081e-04 1.31538054e+02] [-2.11774084e-01 9.77318635e-01 -1.54110142e-04 -1.00779505e+01] [-7.73037582e-04 -9.82200641e-06 9.99999701e-01 -2.97800959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.57, Y:-10.08, Z:-0.30 [[ 9.76862402e-01 2.13867421e-01 7.57593381e-04 1.31567124e+02] [-2.13867365e-01 9.76862696e-01 -1.54064406e-04 -1.00815444e+01] [-7.73014070e-04 -1.15247743e-05 9.99999701e-01 -2.98062132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.59, Y:-10.09, Z:-0.30 [[ 9.76407612e-01 2.15934254e-01 7.57619181e-04 1.31593236e+02] [-2.15934199e-01 9.76407905e-01 -1.53937431e-04 -1.00862212e+01] [-7.72985722e-04 -1.32902116e-05 9.99999701e-01 -3.01051754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.62, Y:-10.09, Z:-0.30 [[ 9.76573540e-01 2.15182589e-01 7.57631955e-04 1.31621163e+02] [-2.15182534e-01 9.76573834e-01 -1.53874535e-04 -1.00900733e+01] [-7.72994664e-04 -1.27593651e-05 9.99999701e-01 -3.01265419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.65, Y:-10.09, Z:-0.30 [[ 9.76885114e-01 2.13763655e-01 7.57645365e-04 1.31650102e+02] [-2.13763600e-01 9.76885408e-01 -1.53808479e-04 -1.00928703e+01] [-7.73011364e-04 -1.17037869e-05 9.99999701e-01 -3.00049042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.68, Y:-10.10, Z:-0.30 [[ 9.77893218e-01 2.09103515e-01 7.57671264e-04 1.31678261e+02] [-2.09103459e-01 9.77893512e-01 -1.53680795e-04 -1.00953586e+01] [-7.73057007e-04 -8.14827491e-06 9.99999701e-01 -3.02583409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.71, Y:-10.10, Z:-0.30 [[ 9.78509634e-01 2.06199713e-01 7.57680454e-04 1.31705947e+02] [-2.06199656e-01 9.78509928e-01 -1.53635472e-04 -1.01013495e+01] [-7.73077436e-04 -5.89965927e-06 9.99999701e-01 -2.98246750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.73, Y:-10.11, Z:-0.29 [[ 9.79619880e-01 2.00858949e-01 7.57689836e-04 1.31733868e+02] [-2.00858890e-01 9.79620173e-01 -1.53589188e-04 -1.01059140e+01] [-7.73098011e-04 -1.72971719e-06 9.99999701e-01 -2.94515463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.76, Y:-10.11, Z:-0.30 [[ 9.80092420e-01 1.98540357e-01 7.57697268e-04 1.31759961e+02] [-1.98540297e-01 9.80092713e-01 -1.53552514e-04 -1.01108275e+01] [-7.73099942e-04 6.22142852e-08 9.99999701e-01 -2.96146064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.79, Y:-10.12, Z:-0.30 [[ 9.80549505e-01 1.96270460e-01 7.57709972e-04 1.31788251e+02] [-1.96270400e-01 9.80549798e-01 -1.53489799e-04 -1.01175997e+01] [-7.73097874e-04 1.78830725e-06 9.99999701e-01 -2.97369399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.82, Y:-10.12, Z:-0.30 [[ 9.80918951e-01 1.94415628e-01 7.57735101e-04 1.31816716e+02] [-1.94415568e-01 9.80919244e-01 -1.53365643e-04 -1.01248004e+01] [-7.73093621e-04 3.12376583e-06 9.99999701e-01 -2.95597139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.84, Y:-10.13, Z:-0.30 [[ 9.81213175e-01 1.92925196e-01 7.57759617e-04 1.31843946e+02] [-1.92925135e-01 9.81213467e-01 -1.53244419e-04 -1.01294167e+01] [-7.73088651e-04 4.17456646e-06 9.99999701e-01 -2.99310060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:-10.13, Z:-0.30 [[ 9.81307444e-01 1.92445125e-01 7.57769001e-04 1.31871575e+02] [-1.92445064e-01 9.81307737e-01 -1.53198001e-04 -1.01340263e+01] [-7.73086792e-04 4.50543483e-06 9.99999701e-01 -2.99351577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.90, Y:-10.14, Z:-0.30 [[ 9.81301522e-01 1.92475320e-01 7.57797669e-04 1.31898843e+02] [-1.92475259e-01 9.81301815e-01 -1.53056065e-04 -1.01412020e+01] [-7.73087743e-04 4.33684722e-06 9.99999701e-01 -2.98560559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.93, Y:-10.15, Z:-0.29 [[ 9.81208773e-01 1.92947582e-01 7.57806546e-04 1.31927043e+02] [-1.92947522e-01 9.81209066e-01 -1.53012098e-04 -1.01470026e+01] [-7.73089968e-04 3.91991828e-06 9.99999701e-01 -2.94634811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.96, Y:-10.15, Z:-0.29 [[ 9.80989975e-01 1.94056938e-01 7.57814038e-04 1.31955341e+02] [-1.94056878e-01 9.80990267e-01 -1.52974987e-04 -1.01517744e+01] [-7.73094053e-04 3.00790313e-06 9.99999701e-01 -2.93845711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.98, Y:-10.16, Z:-0.30 [[ 9.80450446e-01 1.96764703e-01 7.57821516e-04 1.31982970e+02] [-1.96764644e-01 9.80450739e-01 -1.52937932e-04 -1.01570481e+01] [-7.73099452e-04 8.35583369e-07 9.99999701e-01 -2.98635263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:-10.16, Z:-0.30 [[ 9.80112631e-01 1.98440560e-01 7.57830812e-04 1.32011717e+02] [-1.98440501e-01 9.80112924e-01 -1.52891855e-04 -1.01627295e+01] [-7.73099718e-04 -5.33087041e-07 9.99999701e-01 -2.98661825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.04, Y:-10.17, Z:-0.30 [[ 9.79716059e-01 2.00389294e-01 7.57854272e-04 1.32039827e+02] [-2.00389236e-01 9.79716352e-01 -1.52775481e-04 -1.01677350e+01] [-7.73096793e-04 -2.18924568e-06 9.99999701e-01 -2.97950528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.07, Y:-10.17, Z:-0.30 [[ 9.78897852e-01 2.04348771e-01 7.57880376e-04 1.32067851e+02] [-2.04348714e-01 9.78898146e-01 -1.52645874e-04 -1.01701920e+01] [-7.73080692e-04 -5.44716209e-06 9.99999701e-01 -3.02648538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.10, Y:-10.17, Z:-0.30 [[ 9.78615842e-01 2.05695064e-01 7.57889686e-04 1.32096869e+02] [-2.05695007e-01 9.78616136e-01 -1.52599635e-04 -1.01740735e+01] [-7.73072068e-04 -6.55770393e-06 9.99999701e-01 -3.04228818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.12, Y:-10.18, Z:-0.30 [[ 9.78406094e-01 2.06690446e-01 7.57914699e-04 1.32124586e+02] [-2.06690390e-01 9.78406388e-01 -1.52475301e-04 -1.01776630e+01] [-7.73063771e-04 -7.47092069e-06 9.99999701e-01 -2.99876582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.15, Y:-10.18, Z:-0.30 [[ 9.78067281e-01 2.08287827e-01 7.57944939e-04 1.32152099e+02] [-2.08287771e-01 9.78067575e-01 -1.52324835e-04 -1.01830777e+01] [-7.73048777e-04 -8.88672442e-06 9.99999701e-01 -2.98903907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.18, Y:-10.19, Z:-0.30 [[ 9.77991662e-01 2.08642598e-01 7.57954308e-04 1.32178867e+02] [-2.08642543e-01 9.77991956e-01 -1.52278201e-04 -1.01889401e+01] [-7.73044936e-04 -9.21470326e-06 9.99999701e-01 -3.01126970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.21, Y:-10.19, Z:-0.30 [[ 9.77871822e-01 2.09203550e-01 7.57967330e-04 1.32206870e+02] [-2.09203495e-01 9.77872116e-01 -1.52213356e-04 -1.01928356e+01] [-7.73038691e-04 -9.72426283e-06 9.99999701e-01 -2.99071259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.23, Y:-10.20, Z:-0.30 [[ 9.77911017e-01 2.09020256e-01 7.57976245e-04 1.32234820e+02] [-2.09020201e-01 9.77911311e-01 -1.52168946e-04 -1.01982388e+01] [-7.73039936e-04 -9.62465895e-06 9.99999701e-01 -2.99093269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.26, Y:-10.20, Z:-0.30 [[ 9.78002880e-01 2.08590010e-01 7.58004741e-04 1.32263478e+02] [-2.08589955e-01 9.78003174e-01 -1.52026867e-04 -1.02024947e+01] [-7.73042328e-04 -9.42946070e-06 9.99999701e-01 -2.97751510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.29, Y:-10.21, Z:-0.30 [[ 9.78103857e-01 2.08116001e-01 7.58030068e-04 1.32291635e+02] [-2.08115946e-01 9.78104151e-01 -1.51900478e-04 -1.02060659e+01] [-7.73045276e-04 -9.18370156e-06 9.99999701e-01 -2.96501326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:-10.21, Z:-0.30 [[ 9.78147166e-01 2.07912355e-01 7.58059346e-04 1.32319265e+02] [-2.07912299e-01 9.78147460e-01 -1.51754225e-04 -1.02094979e+01] [-7.73045402e-04 -9.17189711e-06 9.99999701e-01 -2.96296204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.35, Y:-10.21, Z:-0.30 [[ 9.78190454e-01 2.07708595e-01 7.58068396e-04 1.32347854e+02] [-2.07708540e-01 9.78190748e-01 -1.51709002e-04 -1.02128646e+01] [-7.73046755e-04 -9.05698189e-06 9.99999701e-01 -2.97724924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.37, Y:-10.22, Z:-0.30 [[ 9.78184851e-01 2.07734984e-01 7.58094150e-04 1.32374891e+02] [-2.07734929e-01 9.78185144e-01 -1.51580200e-04 -1.02187876e+01] [-7.73044946e-04 -9.20917882e-06 9.99999701e-01 -3.04830100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.40, Y:-10.22, Z:-0.30 [[ 9.78280761e-01 2.07282847e-01 7.58103290e-04 1.32402698e+02] [-2.07282792e-01 9.78281054e-01 -1.51534476e-04 -1.02248771e+01] [-7.73048583e-04 -8.89850388e-06 9.99999701e-01 -3.00109412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.43, Y:-10.23, Z:-0.30 [[ 9.78271595e-01 2.07326101e-01 7.58129649e-04 1.32430060e+02] [-2.07326046e-01 9.78271888e-01 -1.51402486e-04 -1.02282890e+01] [-7.73046610e-04 -9.06727117e-06 9.99999701e-01 -3.02467062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.46, Y:-10.23, Z:-0.30 [[ 9.78224145e-01 2.07549865e-01 7.58139003e-04 1.32459023e+02] [-2.07549810e-01 9.78224439e-01 -1.51355633e-04 -1.02312841e+01] [-7.73043942e-04 -9.29187071e-06 9.99999701e-01 -3.02972083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.374203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.49, Y:-10.23, Z:-0.30 [[ 9.78127891e-01 2.08003015e-01 7.58164096e-04 1.32487260e+02] [-2.08002960e-01 9.78128185e-01 -1.51229833e-04 -1.02315724e+01] [-7.73037932e-04 -9.77825873e-06 9.99999701e-01 -3.01958877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.52, Y:-10.24, Z:-0.30 [[ 9.78145001e-01 2.07922538e-01 7.58193330e-04 1.32515824e+02] [-2.07922483e-01 9.78145295e-01 -1.51083123e-04 -1.02353943e+01] [-7.73036825e-04 -9.86423809e-06 9.99999701e-01 -3.01432898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.54, Y:-10.24, Z:-0.30 [[ 9.78162469e-01 2.07840344e-01 7.58219045e-04 1.32542912e+02] [-2.07840290e-01 9.78162763e-01 -1.50953960e-04 -1.02400808e+01] [-7.73035959e-04 -9.93096766e-06 9.99999701e-01 -3.04207363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.57, Y:-10.25, Z:-0.30 [[ 9.78312571e-01 2.07132662e-01 7.58228181e-04 1.32570946e+02] [-2.07132607e-01 9.78312864e-01 -1.50908059e-04 -1.02458843e+01] [-7.73042371e-04 -9.41852838e-06 9.99999701e-01 -3.02971711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.60, Y:-10.25, Z:-0.30 [[ 9.78477284e-01 2.06353168e-01 7.58253556e-04 1.32598605e+02] [-2.06353113e-01 9.78477578e-01 -1.50780452e-04 -1.02506205e+01] [-7.73048126e-04 -8.93273468e-06 9.99999701e-01 -2.99154740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.524203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:132.63, Y:-10.26, Z:-0.30 [[ 9.78539778e-01 2.06056615e-01 7.58284393e-04 1.32625832e+02] [-2.06056561e-01 9.78540071e-01 -1.50625210e-04 -1.02552129e+01] [-7.73048985e-04 -8.85671479e-06 9.99999701e-01 -3.00602730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.65, Y:-10.26, Z:-0.30 [[ 9.78813271e-01 2.04753526e-01 7.58293969e-04 1.32653631e+02] [-2.04753470e-01 9.78813564e-01 -1.50576985e-04 -1.02564484e+01] [-7.73059591e-04 -7.87657054e-06 9.99999701e-01 -3.01277939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.68, Y:-10.26, Z:-0.30 [[ 9.78828276e-01 2.04681781e-01 7.58303219e-04 1.32681143e+02] [-2.04681726e-01 9.78828570e-01 -1.50530387e-04 -1.02587545e+01] [-7.73059683e-04 -7.86741276e-06 9.99999701e-01 -3.01560411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.71, Y:-10.26, Z:-0.30 [[ 9.78982935e-01 2.03940772e-01 7.58315595e-04 1.32709537e+02] [-2.03940716e-01 9.78983228e-01 -1.50468016e-04 -1.02604574e+01] [-7.73064813e-04 -7.34580611e-06 9.99999701e-01 -2.99546737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.74, Y:-10.27, Z:-0.30 [[ 9.79072118e-01 2.03512195e-01 7.58324390e-04 1.32738183e+02] [-2.03512140e-01 9.79072411e-01 -1.50423680e-04 -1.02658949e+01] [-7.73067542e-04 -7.05258837e-06 9.99999701e-01 -2.98178671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.77, Y:-10.27, Z:-0.30 [[ 9.79246761e-01 2.02670189e-01 7.58348849e-04 1.32766028e+02] [-2.02670133e-01 9.79247055e-01 -1.50300269e-04 -1.02714957e+01] [-7.73072261e-04 -6.51361056e-06 9.99999701e-01 -2.96516880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.79, Y:-10.28, Z:-0.29 [[ 9.79486734e-01 2.01507228e-01 7.58373651e-04 1.32793707e+02] [-2.01507172e-01 9.79487028e-01 -1.50175019e-04 -1.02768314e+01] [-7.73078505e-04 -5.72329043e-06 9.99999701e-01 -2.91489825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.82, Y:-10.28, Z:-0.29 [[ 9.79945551e-01 1.99264002e-01 7.58404259e-04 1.32821206e+02] [-1.99263946e-01 9.79945844e-01 -1.50020289e-04 -1.02816361e+01] [-7.73088745e-04 -4.11090993e-06 9.99999701e-01 -2.94634658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.85, Y:-10.29, Z:-0.29 [[ 9.80208355e-01 1.97967184e-01 7.58413742e-04 1.32849469e+02] [-1.97967127e-01 9.80208648e-01 -1.49972333e-04 -1.02861464e+01] [-7.73093309e-04 -3.13685552e-06 9.99999701e-01 -2.94527558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.88, Y:-10.29, Z:-0.30 [[ 9.80734550e-01 1.95343718e-01 7.58439017e-04 1.32877566e+02] [-1.95343660e-01 9.80734843e-01 -1.49844402e-04 -1.02900509e+01] [-7.73098733e-04 -1.19867184e-06 9.99999701e-01 -2.99014110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82420382200002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:132.90, Y:-10.30, Z:-0.30 [[ 9.81081426e-01 1.93594060e-01 7.58464106e-04 1.32904761e+02] [-1.93594002e-01 9.81081719e-01 -1.49717304e-04 -1.02951463e+01] [-7.73099649e-04 5.07648482e-08 9.99999701e-01 -2.95740086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.93, Y:-10.30, Z:-0.30 [[ 9.81392285e-01 1.92011996e-01 7.58493290e-04 1.32930945e+02] [-1.92011938e-01 9.81392579e-01 -1.49569306e-04 -1.03009200e+01] [-7.73098786e-04 1.14639662e-06 9.99999701e-01 -2.97794942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.96, Y:-10.31, Z:-0.30 [[ 9.81951944e-01 1.89129069e-01 7.58505977e-04 1.32958140e+02] [-1.89129010e-01 9.81952237e-01 -1.49504937e-04 -1.03083586e+01] [-7.73092370e-04 3.35117869e-06 9.99999701e-01 -3.02087059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.99, Y:-10.32, Z:-0.30 [[ 9.82166972e-01 1.88009213e-01 7.58514749e-04 1.32985920e+02] [-1.88009153e-01 9.82167265e-01 -1.49460419e-04 -1.03154746e+01] [-7.73088292e-04 4.18737123e-06 9.99999701e-01 -3.03219937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.01, Y:-10.32, Z:-0.30 [[ 9.82074273e-01 1.88492830e-01 7.58539127e-04 1.33014080e+02] [-1.88492770e-01 9.82074566e-01 -1.49336592e-04 -1.03227164e+01] [-7.73090861e-04 3.68048395e-06 9.99999701e-01 -2.97944577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.974203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.04, Y:-10.33, Z:-0.30 [[ 9.81855105e-01 1.89631163e-01 7.58564751e-04 1.33041311e+02] [-1.89631104e-01 9.81855398e-01 -1.49206321e-04 -1.03284578e+01] [-7.73095064e-04 2.65151626e-06 9.99999701e-01 -2.95717286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.07, Y:-10.33, Z:-0.30 [[ 9.81614486e-01 1.90872799e-01 7.58594695e-04 1.33068203e+02] [-1.90872741e-01 9.81614779e-01 -1.49053927e-04 -1.03340755e+01] [-7.73098104e-04 1.51844559e-06 9.99999701e-01 -2.96503879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.10, Y:-10.34, Z:-0.29 [[ 9.81339616e-01 1.92281000e-01 7.58604002e-04 1.33095399e+02] [-1.92280942e-01 9.81339909e-01 -1.49006540e-04 -1.03394466e+01] [-7.73099509e-04 3.60928578e-07 9.99999701e-01 -2.94155088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.12, Y:-10.34, Z:-0.30 [[ 9.80619257e-01 1.95921662e-01 7.58633848e-04 1.33122639e+02] [-1.95921606e-01 9.80619550e-01 -1.48854431e-04 -1.03445599e+01] [-7.73094991e-04 -2.66324046e-06 9.99999701e-01 -2.98310449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.15, Y:-10.35, Z:-0.30 [[ 9.80328596e-01 1.97370892e-01 7.58643088e-04 1.33150179e+02] [-1.97370836e-01 9.80328889e-01 -1.48807328e-04 -1.03500016e+01] [-7.73089970e-04 -3.85394091e-06 9.99999701e-01 -2.98481775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.18, Y:-10.36, Z:-0.30 [[ 9.80099583e-01 1.98504993e-01 7.58671128e-04 1.33177000e+02] [-1.98504938e-01 9.80099876e-01 -1.48664228e-04 -1.03553301e+01] [-7.73084071e-04 -4.89421668e-06 9.99999701e-01 -2.97999740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.21, Y:-10.36, Z:-0.30 [[ 9.79941425e-01 1.99284288e-01 7.58681624e-04 1.33205104e+02] [-1.99284233e-01 9.79941719e-01 -1.48610649e-04 -1.03603086e+01] [-7.73079542e-04 -5.56355418e-06 9.99999701e-01 -2.95773903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.23, Y:-10.37, Z:-0.30 [[ 9.79750136e-01 2.00222613e-01 7.58706517e-04 1.33231899e+02] [-2.00222558e-01 9.79750430e-01 -1.48483452e-04 -1.03660582e+01] [-7.73072781e-04 -6.43347697e-06 9.99999701e-01 -2.96625245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.26, Y:-10.37, Z:-0.30 [[ 9.79814112e-01 1.99909304e-01 7.58715356e-04 1.33260263e+02] [-1.99909249e-01 9.79814406e-01 -1.48438274e-04 -1.03722309e+01] [-7.73074427e-04 -6.23230115e-06 9.99999701e-01 -2.95897593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.29, Y:-10.38, Z:-0.29 [[ 9.79953523e-01 1.99224793e-01 7.58740073e-04 1.33287302e+02] [-1.99224738e-01 9.79953816e-01 -1.48311824e-04 -1.03817717e+01] [-7.73077622e-04 -5.82109756e-06 9.99999701e-01 -2.92846141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.274203822 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:133.31, Y:-10.39, Z:-0.30 [[ 9.80056469e-01 1.98717743e-01 7.58749238e-04 1.33314173e+02] [-1.98717687e-01 9.80056763e-01 -1.48264920e-04 -1.03883293e+01] [-7.73080193e-04 -5.46889949e-06 9.99999701e-01 -2.95968098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.34, Y:-10.39, Z:-0.29 [[ 9.80183280e-01 1.98091296e-01 7.58762869e-04 1.33342639e+02] [-1.98091241e-01 9.80183574e-01 -1.48195131e-04 -1.03939008e+01] [-7.73083066e-04 -5.04588823e-06 9.99999701e-01 -2.90421692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.37, Y:-10.40, Z:-0.29 [[ 9.80295121e-01 1.97537085e-01 7.58788049e-04 1.33369553e+02] [-1.97537030e-01 9.80295415e-01 -1.48066092e-04 -1.04002841e+01] [-7.73084989e-04 -4.74027042e-06 9.99999701e-01 -2.91382691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.40, Y:-10.41, Z:-0.29 [[ 9.80395777e-01 1.97036910e-01 7.58796977e-04 1.33396332e+02] [-1.97036854e-01 9.80396071e-01 -1.48020322e-04 -1.04071419e+01] [-7.73087042e-04 -4.39247049e-06 9.99999701e-01 -2.90374752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.42, Y:-10.41, Z:-0.29 [[ 9.80456297e-01 1.96735544e-01 7.58825417e-04 1.33423544e+02] [-1.96735488e-01 9.80456590e-01 -1.47874385e-04 -1.04135060e+01] [-7.73087528e-04 -4.30351704e-06 9.99999701e-01 -2.88029082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.45, Y:-10.42, Z:-0.29 [[ 9.80434995e-01 1.96841673e-01 7.58854989e-04 1.33450929e+02] [-1.96841617e-01 9.80435289e-01 -1.47722469e-04 -1.04188238e+01] [-7.73086149e-04 -4.54196563e-06 9.99999701e-01 -2.91182963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.48, Y:-10.43, Z:-0.29 [[ 9.80225392e-01 1.97882804e-01 7.58864164e-04 1.33478135e+02] [-1.97882749e-01 9.80225686e-01 -1.47675321e-04 -1.04263706e+01] [-7.73080553e-04 -5.41102688e-06 9.99999701e-01 -2.91729314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.51, Y:-10.44, Z:-0.29 [[ 9.80126876e-01 1.98370187e-01 7.58891851e-04 1.33505248e+02] [-1.98370132e-01 9.80127170e-01 -1.47532902e-04 -1.04352451e+01] [-7.73076652e-04 -5.94051377e-06 9.99999701e-01 -2.93565671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.53, Y:-10.44, Z:-0.29 [[ 9.79728802e-01 2.00326977e-01 7.58915872e-04 1.33532371e+02] [-2.00326923e-01 9.79729096e-01 -1.47409235e-04 -1.04448362e+01] [-7.73062008e-04 -7.61020844e-06 9.99999701e-01 -2.90000071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.56, Y:-10.45, Z:-0.29 [[ 9.79313101e-01 2.02349388e-01 7.58940888e-04 1.33559108e+02] [-2.02349335e-01 9.79313395e-01 -1.47280329e-04 -1.04492632e+01] [-7.73043061e-04 -9.33762837e-06 9.99999701e-01 -2.92459644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.59, Y:-10.45, Z:-0.29 [[ 9.78976285e-01 2.03972685e-01 7.59108522e-04 1.33588999e+02] [-2.03972633e-01 9.78976580e-01 -1.46416113e-04 -1.04545189e+01] [-7.73014352e-04 -1.14994612e-05 9.99999701e-01 -2.88354258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.62, Y:-10.46, Z:-0.29 [[ 9.78061937e-01 2.08312916e-01 7.58958711e-04 1.33616565e+02] [-2.08312864e-01 9.78062232e-01 -1.47188591e-04 -1.04610658e+01] [-7.72970135e-04 -1.41413043e-05 9.99999701e-01 -2.92282323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.65, Y:-10.47, Z:-0.29 [[ 9.77696941e-01 2.10019322e-01 7.58965909e-04 1.33645194e+02] [-2.10019271e-01 9.77697235e-01 -1.47151467e-04 -1.04667283e+01] [-7.72943522e-04 -1.55279276e-05 9.99999701e-01 -2.92204206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.67, Y:-10.47, Z:-0.29 [[ 9.77244857e-01 2.12112975e-01 7.58991142e-04 1.33671217e+02] [-2.12112925e-01 9.77245151e-01 -1.47021204e-04 -1.04723232e+01] [-7.72905518e-04 -1.73161158e-05 9.99999701e-01 -2.92863636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.70, Y:-10.48, Z:-0.30 [[ 9.77125388e-01 2.12662641e-01 7.59010792e-04 1.33698630e+02] [-2.12662591e-01 9.77125683e-01 -1.46919689e-04 -1.04784219e+01] [-7.72893268e-04 -1.78542439e-05 9.99999701e-01 -2.97831020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.724203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:133.73, Y:-10.48, Z:-0.29 [[ 9.77130191e-01 2.12640573e-01 7.59019659e-04 1.33725707e+02] [-2.12640523e-01 9.77130486e-01 -1.46873864e-04 -1.04841834e+01] [-7.72892591e-04 -1.78834505e-05 9.99999701e-01 -2.92939096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.75, Y:-10.49, Z:-0.30 [[ 9.77164678e-01 2.12482037e-01 7.59048736e-04 1.33752416e+02] [-2.12481987e-01 9.77164973e-01 -1.46723438e-04 -1.04899700e+01] [-7.72891933e-04 -1.79112229e-05 9.99999701e-01 -2.95356221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.78, Y:-10.49, Z:-0.29 [[ 9.77284532e-01 2.11930101e-01 7.59063343e-04 1.33781416e+02] [-2.11930051e-01 9.77284826e-01 -1.46647831e-04 -1.04940472e+01] [-7.72900177e-04 -1.75516764e-05 9.99999701e-01 -2.93746786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.81, Y:-10.50, Z:-0.29 [[ 9.77348229e-01 2.11636157e-01 7.59088043e-04 1.33808953e+02] [-2.11636107e-01 9.77348524e-01 -1.46519868e-04 -1.04989280e+01] [-7.72902480e-04 -1.74495044e-05 9.99999701e-01 -2.92698893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.83, Y:-10.50, Z:-0.29 [[ 9.77473053e-01 2.11058887e-01 7.59116778e-04 1.33834986e+02] [-2.11058837e-01 9.77473348e-01 -1.46370839e-04 -1.05045210e+01] [-7.72909285e-04 -1.71447537e-05 9.99999701e-01 -2.94417029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.86, Y:-10.51, Z:-0.29 [[ 9.77595934e-01 2.10488986e-01 7.59129264e-04 1.33862888e+02] [-2.10488936e-01 9.77596229e-01 -1.46306057e-04 -1.05110759e+01] [-7.72917719e-04 -1.67601046e-05 9.99999701e-01 -2.94216909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.89, Y:-10.52, Z:-0.29 [[ 9.77872847e-01 2.09198756e-01 7.59153461e-04 1.33891335e+02] [-2.09198706e-01 9.77873141e-01 -1.46180395e-04 -1.05162238e+01] [-7.72936536e-04 -1.58680830e-05 9.99999701e-01 -2.88285533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.92, Y:-10.52, Z:-0.29 [[ 9.78076471e-01 2.08244666e-01 7.59178815e-04 1.33918876e+02] [-2.08244616e-01 9.78076765e-01 -1.46048598e-04 -1.05209139e+01] [-7.72949002e-04 -1.52482038e-05 9.99999701e-01 -2.88501597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.95, Y:-10.53, Z:-0.29 [[ 9.78745159e-01 2.05078855e-01 7.59187829e-04 1.33947564e+02] [-2.05078804e-01 9.78745454e-01 -1.46001728e-04 -1.05260969e+01] [-7.72993503e-04 -1.27948473e-05 9.99999701e-01 -2.87520521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.98, Y:-10.53, Z:-0.29 [[ 9.78784794e-01 2.04889608e-01 7.59212503e-04 1.33975559e+02] [-2.04889557e-01 9.78785088e-01 -1.45873311e-04 -1.05312758e+01] [-7.72993802e-04 -1.27761342e-05 9.99999701e-01 -2.87542537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.00, Y:-10.54, Z:-0.29 [[ 9.79184395e-01 2.02971291e-01 7.59240679e-04 1.34003227e+02] [-2.02971239e-01 9.79184689e-01 -1.45726510e-04 -1.05363155e+01] [-7.73015146e-04 -1.14108971e-05 9.99999701e-01 -2.88591646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.03, Y:-10.54, Z:-0.29 [[ 9.79602901e-01 2.00941734e-01 7.59249421e-04 1.34031008e+02] [-2.00941681e-01 9.79603195e-01 -1.45680952e-04 -1.05420758e+01] [-7.73036541e-04 -9.85537156e-06 9.99999701e-01 -2.87738398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.06, Y:-10.55, Z:-0.29 [[ 9.80501528e-01 1.96509994e-01 7.59277101e-04 1.34057079e+02] [-1.96509940e-01 9.80501822e-01 -1.45536544e-04 -1.05523864e+01] [-7.73071966e-04 -6.50669439e-06 9.99999701e-01 -2.88597394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.08, Y:-10.56, Z:-0.29 [[ 9.80892748e-01 1.94547783e-01 7.59304644e-04 1.34084683e+02] [-1.94547729e-01 9.80893042e-01 -1.45392700e-04 -1.05594651e+01] [-7.73082470e-04 -5.10634862e-06 9.99999701e-01 -2.88901747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.11, Y:-10.56, Z:-0.29 [[ 9.81172881e-01 1.93130011e-01 7.59332001e-04 1.34110882e+02] [-1.93129956e-01 9.81173175e-01 -1.45249686e-04 -1.05646512e+01] [-7.73088263e-04 -4.13470302e-06 9.99999701e-01 -2.89445220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.14, Y:-10.57, Z:-0.29 [[ 9.81353230e-01 1.92211499e-01 7.59343853e-04 1.34139126e+02] [-1.92211444e-01 9.81353524e-01 -1.45187697e-04 -1.05703588e+01] [-7.73091511e-04 -3.47416305e-06 9.99999701e-01 -2.90246104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.17, Y:-10.58, Z:-0.29 [[ 9.81306840e-01 1.92448200e-01 7.59350699e-04 1.34167594e+02] [-1.92448146e-01 9.81307133e-01 -1.45151882e-04 -1.05765509e+01] [-7.73090476e-04 -3.69709924e-06 9.99999701e-01 -2.87520200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.19, Y:-10.58, Z:-0.29 [[ 9.81189660e-01 1.93044748e-01 7.59357907e-04 1.34194294e+02] [-1.93044694e-01 9.81189954e-01 -1.45114167e-04 -1.05823400e+01] [-7.73087877e-04 -4.20549490e-06 9.99999701e-01 -2.92259752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.22, Y:-10.59, Z:-0.29 [[ 9.80999110e-01 1.94010747e-01 7.59370456e-04 1.34222860e+02] [-1.94010693e-01 9.80999404e-01 -1.45048470e-04 -1.05886863e+01] [-7.73082926e-04 -5.03356845e-06 9.99999701e-01 -2.93000015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.25, Y:-10.60, Z:-0.29 [[ 9.80424757e-01 1.96892658e-01 7.59393981e-04 1.34249337e+02] [-1.96892605e-01 9.80425051e-01 -1.44925199e-04 -1.05967906e+01] [-7.73063590e-04 -7.43080575e-06 9.99999701e-01 -2.94644222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.28, Y:-10.60, Z:-0.29 [[ 9.80124238e-01 1.98383219e-01 7.59402354e-04 1.34277244e+02] [-1.98383167e-01 9.80124532e-01 -1.44881310e-04 -1.06028778e+01] [-7.73050898e-04 -8.65096023e-06 9.99999701e-01 -2.94529501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.31, Y:-10.61, Z:-0.29 [[ 9.79709061e-01 2.00423500e-01 7.59415349e-04 1.34305442e+02] [-2.00423448e-01 9.79709355e-01 -1.44813166e-04 -1.06076065e+01] [-7.73030283e-04 -1.03298721e-05 9.99999701e-01 -2.90796787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.33, Y:-10.61, Z:-0.29 [[ 9.79637008e-01 2.00775388e-01 7.59439091e-04 1.34333792e+02] [-2.00775336e-01 9.79637302e-01 -1.44688545e-04 -1.06134552e+01] [-7.73024761e-04 -1.07343855e-05 9.99999701e-01 -2.86710799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.36, Y:-10.62, Z:-0.29 [[ 9.79685860e-01 2.00536877e-01 7.59464203e-04 1.34360642e+02] [-2.00536825e-01 9.79686154e-01 -1.44556615e-04 -1.06200604e+01] [-7.73025496e-04 -1.06804690e-05 9.99999701e-01 -2.87019492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.39, Y:-10.63, Z:-0.28 [[ 9.79975620e-01 1.99116067e-01 7.59473099e-04 1.34388289e+02] [-1.99116015e-01 9.79975914e-01 -1.44509860e-04 -1.06293391e+01] [-7.73039580e-04 -9.60711751e-06 9.99999701e-01 -2.83277062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.42, Y:-10.64, Z:-0.29 [[ 9.80193344e-01 1.98041487e-01 7.59480488e-04 1.34415652e+02] [-1.98041435e-01 9.80193639e-01 -1.44471019e-04 -1.06365569e+01] [-7.73049198e-04 -8.79907451e-06 9.99999701e-01 -2.86698101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.44, Y:-10.64, Z:-0.29 [[ 9.80368922e-01 1.97170483e-01 7.59489652e-04 1.34442934e+02] [-1.97170430e-01 9.80369217e-01 -1.44422826e-04 -1.06437652e+01] [-7.73056194e-04 -8.16125104e-06 9.99999701e-01 -2.85928068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.47, Y:-10.65, Z:-0.30 [[ 9.80556939e-01 1.96233312e-01 7.59500079e-04 1.34470140e+02] [-1.96233259e-01 9.80557233e-01 -1.44367974e-04 -1.06520697e+01] [-7.73063101e-04 -7.47815713e-06 9.99999701e-01 -2.95315625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.50, Y:-10.66, Z:-0.29 [[ 9.80565103e-01 1.96192513e-01 7.59506986e-04 1.34498423e+02] [-1.96192460e-01 9.80565397e-01 -1.44331627e-04 -1.06573150e+01] [-7.73063054e-04 -7.48298718e-06 9.99999701e-01 -2.90286956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.53, Y:-10.66, Z:-0.29 [[ 9.80457511e-01 1.96729492e-01 7.59514070e-04 1.34526914e+02] [-1.96729440e-01 9.80457805e-01 -1.44294340e-04 -1.06626184e+01] [-7.73058450e-04 -7.94430850e-06 9.99999701e-01 -2.89263728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.55, Y:-10.67, Z:-0.29 [[ 9.80094088e-01 1.98532118e-01 7.59521152e-04 1.34553759e+02] [-1.98532066e-01 9.80094382e-01 -1.44257051e-04 -1.06721984e+01] [-7.73042072e-04 -9.40382010e-06 9.99999701e-01 -2.90404681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.58, Y:-10.68, Z:-0.29 [[ 9.79878666e-01 1.99592644e-01 7.59529961e-04 1.34581449e+02] [-1.99592592e-01 9.79878960e-01 -1.44210655e-04 -1.06805538e+01] [-7.73030814e-04 -1.02876093e-05 9.99999701e-01 -2.88644102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.61, Y:-10.69, Z:-0.29 [[ 9.79537987e-01 2.01257932e-01 7.59536917e-04 1.34609247e+02] [-2.01257881e-01 9.79538281e-01 -1.44174009e-04 -1.06872766e+01] [-7.73011649e-04 -1.16388720e-05 9.99999701e-01 -2.85970130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.64, Y:-10.69, Z:-0.29 [[ 9.79103870e-01 2.03359375e-01 7.59544018e-04 1.34636961e+02] [-2.03359324e-01 9.79104164e-01 -1.44136590e-04 -1.06925330e+01] [-7.72984238e-04 -1.33356654e-05 9.99999701e-01 -2.86709365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.66, Y:-10.70, Z:-0.29 [[ 9.78377250e-01 2.06826930e-01 7.59552814e-04 1.34663856e+02] [-2.06826881e-01 9.78377545e-01 -1.44090223e-04 -1.06989325e+01] [-7.72931156e-04 -1.61213437e-05 9.99999701e-01 -2.90989839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.69, Y:-10.70, Z:-0.29 [[ 9.78133942e-01 2.07974550e-01 7.59561292e-04 1.34691810e+02] [-2.07974501e-01 9.78134237e-01 -1.44045520e-04 -1.07042754e+01] [-7.72910707e-04 -1.70735688e-05 9.99999701e-01 -2.88170189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.72, Y:-10.71, Z:-0.29 [[ 9.77718423e-01 2.09919290e-01 7.59568402e-04 1.34719430e+02] [-2.09919241e-01 9.77718718e-01 -1.44008015e-04 -1.07072947e+01] [-7.72874305e-04 -1.86487329e-05 9.99999701e-01 -2.89234626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.75, Y:-10.71, Z:-0.29 [[ 9.77535541e-01 2.10769279e-01 7.59577232e-04 1.34746738e+02] [-2.10769230e-01 9.77535836e-01 -1.43961426e-04 -1.07125757e+01] [-7.72856611e-04 -1.93680979e-05 9.99999701e-01 -2.91544720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.77, Y:-10.72, Z:-0.29 [[ 9.77318354e-01 2.11774074e-01 7.59585802e-04 1.34774832e+02] [-2.11774026e-01 9.77318649e-01 -1.43916193e-04 -1.07192225e+01] [-7.72835089e-04 -2.02086064e-05 9.99999701e-01 -2.89791774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.80, Y:-10.72, Z:-0.29 [[ 9.76567998e-01 2.15207734e-01 7.59592879e-04 1.34802169e+02] [-2.15207687e-01 9.76568293e-01 -1.43878831e-04 -1.07232854e+01] [-7.72758159e-04 -2.29627646e-05 9.99999701e-01 -2.93508006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.83, Y:-10.73, Z:-0.29 [[ 9.76184112e-01 2.16942395e-01 7.59601696e-04 1.34829858e+02] [-2.16942349e-01 9.76184407e-01 -1.43832271e-04 -1.07256054e+01] [-7.72714648e-04 -2.43829987e-05 9.99999701e-01 -2.93407811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.86, Y:-10.73, Z:-0.29 [[ 9.75781946e-01 2.18744183e-01 7.59628818e-04 1.34859112e+02] [-2.18744137e-01 9.75782241e-01 -1.43688885e-04 -1.07276451e+01] [-7.72663418e-04 -2.59553311e-05 9.99999701e-01 -2.90705657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.89, Y:-10.73, Z:-0.29 [[ 9.75403535e-01 2.20425422e-01 7.59653093e-04 1.34887087e+02] [-2.20425377e-01 9.75403830e-01 -1.43560433e-04 -1.07292609e+01] [-7.72612906e-04 -2.74174661e-05 9.99999701e-01 -2.91365744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.92, Y:-10.73, Z:-0.29 [[ 9.75244782e-01 2.21126748e-01 7.59661689e-04 1.34916471e+02] [-2.21126703e-01 9.75245077e-01 -1.43514934e-04 -1.07288232e+01] [-7.72591313e-04 -2.80192941e-05 9.99999701e-01 -2.87319777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.95, Y:-10.73, Z:-0.29 [[ 9.75580711e-01 2.19639931e-01 7.59686050e-04 1.34945502e+02] [-2.19639886e-01 9.75581006e-01 -1.43385861e-04 -1.07313408e+01] [-7.72628542e-04 -2.69728772e-05 9.99999701e-01 -2.85866651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.97, Y:-10.73, Z:-0.29 [[ 9.76785720e-01 2.14217366e-01 7.59710595e-04 1.34973719e+02] [-2.14217319e-01 9.76786015e-01 -1.43255698e-04 -1.07305175e+01] [-7.72762543e-04 -2.28130470e-05 9.99999701e-01 -2.86149655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.00, Y:-10.73, Z:-0.28 [[ 9.77615266e-01 2.10399177e-01 7.59719335e-04 1.35001865e+02] [-2.10399129e-01 9.77615561e-01 -1.43209334e-04 -1.07344009e+01] [-7.72844570e-04 -1.98406553e-05 9.99999701e-01 -2.84315124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.03, Y:-10.74, Z:-0.29 [[ 9.78480127e-01 2.06339682e-01 7.59747410e-04 1.35029091e+02] [-2.06339633e-01 9.78480422e-01 -1.43060232e-04 -1.07381244e+01] [-7.72916969e-04 -1.67844076e-05 9.99999701e-01 -2.87373591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.06, Y:-10.74, Z:-0.28 [[ 9.79312310e-01 2.02353209e-01 7.59759644e-04 1.35056796e+02] [-2.02353159e-01 9.79312605e-01 -1.42995233e-04 -1.07405237e+01] [-7.72977740e-04 -1.37027717e-05 9.99999701e-01 -2.84954515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.09, Y:-10.74, Z:-0.29 [[ 9.80801490e-01 1.95007335e-01 7.59787661e-04 1.35085118e+02] [-1.95007282e-01 9.80801784e-01 -1.42846212e-04 -1.07407315e+01] [-7.73057152e-04 -8.06034941e-06 9.99999701e-01 -2.86051306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.11, Y:-10.75, Z:-0.29 [[ 9.81452105e-01 1.91705993e-01 7.59815766e-04 1.35113045e+02] [-1.91705940e-01 9.81452399e-01 -1.42696562e-04 -1.07451397e+01] [-7.73078793e-04 -5.61135517e-06 9.99999701e-01 -2.85657112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.14, Y:-10.75, Z:-0.28 [[ 9.82469348e-01 1.86422648e-01 7.59828787e-04 1.35141158e+02] [-1.86422594e-01 9.82469641e-01 -1.42627194e-04 -1.07472795e+01] [-7.73097655e-04 -1.52240653e-06 9.99999701e-01 -2.82918400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.17, Y:-10.75, Z:-0.28 [[ 9.82987225e-01 1.83672368e-01 7.59837437e-04 1.35168764e+02] [-1.83672313e-01 9.82987518e-01 -1.42581094e-04 -1.07497139e+01] [-7.73098924e-04 5.94294790e-07 9.99999701e-01 -2.81521265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.20, Y:-10.75, Z:-0.28 [[ 9.83541014e-01 1.80683417e-01 7.59847588e-04 1.35197695e+02] [-1.80683361e-01 9.83541307e-01 -1.42526979e-04 -1.07532492e+01] [-7.73093752e-04 2.88931334e-06 9.99999701e-01 -2.81249453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.23, Y:-10.76, Z:-0.28 [[ 9.84100730e-01 1.77609616e-01 7.59854590e-04 1.35225272e+02] [-1.77609559e-01 9.84101023e-01 -1.42489639e-04 -1.07578293e+01] [-7.73081210e-04 5.26671916e-06 9.99999701e-01 -2.84836243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.25, Y:-10.76, Z:-0.29 [[ 9.85141983e-01 1.71740202e-01 7.59863278e-04 1.35253429e+02] [-1.71740143e-01 9.85142276e-01 -1.42443296e-04 -1.07622243e+01] [-7.73036679e-04 9.82784345e-06 9.99999701e-01 -2.87607065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.28, Y:-10.77, Z:-0.29 [[ 9.85552980e-01 1.69365720e-01 7.59870126e-04 1.35281219e+02] [-1.69365661e-01 9.85553272e-01 -1.42406755e-04 -1.07664336e+01] [-7.73011312e-04 1.16534961e-05 9.99999701e-01 -2.87862524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.31, Y:-10.77, Z:-0.29 [[ 9.85850123e-01 1.67627438e-01 7.59878613e-04 1.35308789e+02] [-1.67627378e-01 9.85850416e-01 -1.42361451e-04 -1.07711850e+01] [-7.72990332e-04 1.29705938e-05 9.99999701e-01 -2.86980474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.34, Y:-10.78, Z:-0.29 [[ 9.86162842e-01 1.65777777e-01 7.59886966e-04 1.35337450e+02] [-1.65777716e-01 9.86163135e-01 -1.42316852e-04 -1.07775387e+01] [-7.72965484e-04 1.43752652e-05 9.99999701e-01 -2.85145313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.37, Y:-10.78, Z:-0.29 [[ 9.86120547e-01 1.66029181e-01 7.59900286e-04 1.35365040e+02] [-1.66029120e-01 9.86120840e-01 -1.42245694e-04 -1.07813150e+01] [-7.72970444e-04 1.41058254e-05 9.99999701e-01 -2.86282474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.39, Y:-10.78, Z:-0.29 [[ 9.85844107e-01 1.67662817e-01 7.59908951e-04 1.35393078e+02] [-1.67662757e-01 9.85844399e-01 -1.42199391e-04 -1.07839676e+01] [-7.72993533e-04 1.27780019e-05 9.99999701e-01 -2.86761869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.42, Y:-10.79, Z:-0.29 [[ 9.85683703e-01 1.68603263e-01 7.59917532e-04 1.35419337e+02] [-1.68603204e-01 9.85683996e-01 -1.42153515e-04 -1.07888907e+01] [-7.73006096e-04 1.19938727e-05 9.99999701e-01 -2.88862212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.45, Y:-10.79, Z:-0.29 [[ 9.85484631e-01 1.69762963e-01 7.59929346e-04 1.35447477e+02] [-1.69762904e-01 9.85484924e-01 -1.42090331e-04 -1.07935230e+01] [-7.73020590e-04 1.10200245e-05 9.99999701e-01 -2.86790240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.48, Y:-10.79, Z:-0.29 [[ 9.84911421e-01 1.73057550e-01 7.59936271e-04 1.35475199e+02] [-1.73057492e-01 9.84911714e-01 -1.42053287e-04 -1.07943213e+01] [-7.73053529e-04 8.39723951e-06 9.99999701e-01 -2.89302243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.50, Y:-10.80, Z:-0.29 [[ 9.84674108e-01 1.74402764e-01 7.59944884e-04 1.35504307e+02] [-1.74402706e-01 9.84674401e-01 -1.42007193e-04 -1.07980543e+01] [-7.73064721e-04 7.29436197e-06 9.99999701e-01 -2.88424483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.53, Y:-10.80, Z:-0.29 [[ 9.84452911e-01 1.75647054e-01 7.59951716e-04 1.35531545e+02] [-1.75646997e-01 9.84453205e-01 -1.41970625e-04 -1.08022011e+01] [-7.73073624e-04 6.28015858e-06 9.99999701e-01 -2.92432108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.56, Y:-10.80, Z:-0.29 [[ 9.84128833e-01 1.77453830e-01 7.59964364e-04 1.35560171e+02] [-1.77453774e-01 9.84129127e-01 -1.41902886e-04 -1.08046840e+01] [-7.73084277e-04 4.79217737e-06 9.99999701e-01 -2.90424172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.59, Y:-10.81, Z:-0.29 [[ 9.84011667e-01 1.78102389e-01 7.59971147e-04 1.35588780e+02] [-1.78102333e-01 9.84011961e-01 -1.41866551e-04 -1.08075935e+01] [-7.73087470e-04 4.24570717e-06 9.99999701e-01 -2.88815887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.764203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.62, Y:-10.81, Z:-0.29 [[ 9.83928458e-01 1.78561509e-01 7.59995177e-04 1.35616289e+02] [-1.78561453e-01 9.83928751e-01 -1.41737704e-04 -1.08108077e+01] [-7.73090004e-04 3.75391741e-06 9.99999701e-01 -2.90376749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.64, Y:-10.82, Z:-0.29 [[ 9.84031934e-01 1.77990381e-01 7.60007967e-04 1.35644915e+02] [-1.77990325e-01 9.84032227e-01 -1.41669086e-04 -1.08165199e+01] [-7.73088068e-04 4.13284006e-06 9.99999701e-01 -2.89923776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.67, Y:-10.82, Z:-0.29 [[ 9.84249770e-01 1.76781824e-01 7.60031422e-04 1.35672391e+02] [-1.76781767e-01 9.84250063e-01 -1.41543146e-04 -1.08214212e+01] [-7.73083230e-04 4.95411149e-06 9.99999701e-01 -2.89882683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.70, Y:-10.82, Z:-0.29 [[ 9.84752600e-01 1.73959014e-01 7.60039704e-04 1.35700128e+02] [-1.73958957e-01 9.84752894e-01 -1.41498658e-04 -1.08235753e+01] [-7.73066265e-04 7.12545775e-06 9.99999701e-01 -2.88892485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.73, Y:-10.83, Z:-0.29 [[ 9.85052373e-01 1.72253429e-01 7.60066077e-04 1.35728295e+02] [-1.72253372e-01 9.85052667e-01 -1.41356852e-04 -1.08285508e+01] [-7.73054319e-04 8.31995757e-06 9.99999701e-01 -2.90036827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.76, Y:-10.83, Z:-0.29 [[ 9.85084551e-01 1.72069315e-01 7.60089170e-04 1.35756317e+02] [-1.72069258e-01 9.85084844e-01 -1.41232569e-04 -1.08335614e+01] [-7.73054114e-04 8.33804270e-06 9.99999701e-01 -2.90058843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.78, Y:-10.84, Z:-0.29 [[ 9.85384388e-01 1.70343860e-01 7.60115541e-04 1.35784147e+02] [-1.70343802e-01 9.85384681e-01 -1.41090500e-04 -1.08394675e+01] [-7.73040110e-04 9.54740493e-06 9.99999701e-01 -2.87927731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.81, Y:-10.85, Z:-0.29 [[ 9.85659879e-01 1.68742479e-01 7.60122505e-04 1.35811665e+02] [-1.68742421e-01 9.85660172e-01 -1.41052971e-04 -1.08452193e+01] [-7.73024107e-04 1.07653429e-05 9.99999701e-01 -2.86584894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.84, Y:-10.85, Z:-0.29 [[ 9.86106148e-01 1.66114679e-01 7.60133193e-04 1.35838675e+02] [-1.66114620e-01 9.86106441e-01 -1.40995350e-04 -1.08519189e+01] [-7.72993635e-04 1.27671455e-05 9.99999701e-01 -2.86879054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.034203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.87, Y:-10.86, Z:-0.29 [[ 9.86232673e-01 1.65361837e-01 7.60142042e-04 1.35866199e+02] [-1.65361777e-01 9.86232966e-01 -1.40947625e-04 -1.08580710e+01] [-7.72984499e-04 1.33087143e-05 9.99999701e-01 -2.86422682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.89, Y:-10.86, Z:-0.29 [[ 9.86132303e-01 1.65959340e-01 7.60154777e-04 1.35892984e+02] [-1.65959281e-01 9.86132596e-01 -1.40878910e-04 -1.08637083e+01] [-7.72993575e-04 1.27705041e-05 9.99999701e-01 -2.86310876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.92, Y:-10.87, Z:-0.28 [[ 9.85952414e-01 1.67024725e-01 7.60164890e-04 1.35920179e+02] [-1.67024666e-01 9.85952707e-01 -1.40824323e-04 -1.08689980e+01] [-7.73007775e-04 1.18797945e-05 9.99999701e-01 -2.82990444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.95, Y:-10.88, Z:-0.29 [[ 9.85695351e-01 1.68535153e-01 7.60175094e-04 1.35947176e+02] [-1.68535094e-01 9.85695644e-01 -1.40769220e-04 -1.08750195e+01] [-7.73025840e-04 1.06393841e-05 9.99999701e-01 -2.87080074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.154203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.98, Y:-10.88, Z:-0.28 [[ 9.85121647e-01 1.71856809e-01 7.60183573e-04 1.35975005e+02] [-1.71856752e-01 9.85121940e-01 -1.40723412e-04 -1.08823067e+01] [-7.73057793e-04 7.98699990e-06 9.99999701e-01 -2.84429779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.00, Y:-10.89, Z:-0.29 [[ 9.84845625e-01 1.73431592e-01 7.60190354e-04 1.36001125e+02] [-1.73431535e-01 9.84845918e-01 -1.40686775e-04 -1.08869360e+01] [-7.73069898e-04 6.71377563e-06 9.99999701e-01 -2.85706537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.03, Y:-10.89, Z:-0.28 [[ 9.84583175e-01 1.74915392e-01 7.60208875e-04 1.36028332e+02] [-1.74915336e-01 9.84583468e-01 -1.40586623e-04 -1.08922428e+01] [-7.73079855e-04 5.44703267e-06 9.99999701e-01 -2.83912011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.06, Y:-10.90, Z:-0.29 [[ 9.84020932e-01 1.78051194e-01 7.60219132e-04 1.36055389e+02] [-1.78051138e-01 9.84021226e-01 -1.40531138e-04 -1.09001226e+01] [-7.73093499e-04 2.92769936e-06 9.99999701e-01 -2.85111125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.08, Y:-10.91, Z:-0.28 [[ 9.83784173e-01 1.79354738e-01 7.60227661e-04 1.36083653e+02] [-1.79354683e-01 9.83784467e-01 -1.40484984e-04 -1.09073116e+01] [-7.73096812e-04 1.85651298e-06 9.99999701e-01 -2.82224890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.11, Y:-10.92, Z:-0.28 [[ 9.83272402e-01 1.82139522e-01 7.60251460e-04 1.36111658e+02] [-1.82139468e-01 9.83272696e-01 -1.40356075e-04 -1.09156897e+01] [-7.73098891e-04 -4.63541735e-07 9.99999701e-01 -2.80810200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.14, Y:-10.92, Z:-0.28 [[ 9.83040709e-01 1.83385894e-01 7.60275481e-04 1.36138723e+02] [-1.83385840e-01 9.83041003e-01 -1.40225835e-04 -1.09221374e+01] [-7.73097412e-04 -1.57605359e-06 9.99999701e-01 -2.80710000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.17, Y:-10.93, Z:-0.28 [[ 9.82819629e-01 1.84567056e-01 7.60285750e-04 1.36166325e+02] [-1.84567003e-01 9.82819923e-01 -1.40170138e-04 -1.09287107e+01] [-7.73094772e-04 -2.56169905e-06 9.99999701e-01 -2.79998034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.19, Y:-10.93, Z:-0.28 [[ 9.82639071e-01 1.85525951e-01 7.60294363e-04 1.36193476e+02] [-1.85525898e-01 9.82639365e-01 -1.40123404e-04 -1.09344921e+01] [-7.73091698e-04 -3.36356330e-06 9.99999701e-01 -2.79204995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.22, Y:-10.94, Z:-0.28 [[ 9.82332455e-01 1.87142644e-01 7.60302939e-04 1.36220962e+02] [-1.87142591e-01 9.82332750e-01 -1.40076857e-04 -1.09400258e+01] [-7.73084830e-04 -4.68301927e-06 9.99999701e-01 -2.78941647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.25, Y:-10.95, Z:-0.28 [[ 9.82345245e-01 1.87075497e-01 7.60311364e-04 1.36247671e+02] [-1.87075445e-01 9.82345539e-01 -1.40031110e-04 -1.09466294e+01] [-7.73084866e-04 -4.67669152e-06 9.99999701e-01 -2.80244584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.28, Y:-10.96, Z:-0.28 [[ 9.82627762e-01 1.85585839e-01 7.60337994e-04 1.36275132e+02] [-1.85585786e-01 9.82628056e-01 -1.39886368e-04 -1.09589495e+01] [-7.73090374e-04 -3.65169546e-06 9.99999701e-01 -2.80985884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.30, Y:-10.97, Z:-0.28 [[ 9.82887774e-01 1.84203816e-01 7.60344912e-04 1.36301543e+02] [-1.84203763e-01 9.82888068e-01 -1.39848755e-04 -1.09677319e+01] [-7.73094616e-04 -2.60276264e-06 9.99999701e-01 -2.84182107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.33, Y:-10.98, Z:-0.28 [[ 9.83179257e-01 1.82641642e-01 7.60357865e-04 1.36329350e+02] [-1.82641589e-01 9.83179551e-01 -1.39778292e-04 -1.09761752e+01] [-7.73097642e-04 -1.44585148e-06 9.99999701e-01 -2.84594055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.36, Y:-10.98, Z:-0.28 [[ 9.83426711e-01 1.81304514e-01 7.60364553e-04 1.36356532e+02] [-1.81304460e-01 9.83427005e-01 -1.39741905e-04 -1.09839243e+01] [-7.73098872e-04 -4.31562846e-07 9.99999701e-01 -2.84188660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.38, Y:-10.99, Z:-0.28 [[ 9.83864788e-01 1.78911990e-01 7.60372879e-04 1.36383732e+02] [-1.78911936e-01 9.83865082e-01 -1.39696583e-04 -1.09946894e+01] [-7.73097719e-04 1.40276567e-06 9.99999701e-01 -2.79329444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.41, Y:-11.00, Z:-0.28 [[ 9.84101376e-01 1.77606036e-01 7.60379742e-04 1.36411301e+02] [-1.77605981e-01 9.84101670e-01 -1.39659218e-04 -1.10034265e+01] [-7.73095294e-04 2.39083829e-06 9.99999701e-01 -2.78969971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.44, Y:-11.02, Z:-0.28 [[ 9.84513863e-01 1.75305094e-01 7.60386556e-04 1.36437545e+02] [-1.75305039e-01 9.84514156e-01 -1.39622107e-04 -1.10167340e+01] [-7.73087795e-04 4.16030477e-06 9.99999701e-01 -2.83514614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.46, Y:-11.03, Z:-0.28 [[ 9.84665521e-01 1.74451237e-01 7.60395017e-04 1.36463439e+02] [-1.74451181e-01 9.84665814e-01 -1.39576015e-04 -1.10261225e+01] [-7.73084187e-04 4.78388088e-06 9.99999701e-01 -2.84884121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.49, Y:-11.04, Z:-0.28 [[ 9.84734537e-01 1.74061234e-01 7.60411325e-04 1.36490522e+02] [-1.74061178e-01 9.84734831e-01 -1.39487111e-04 -1.10360577e+01] [-7.73082816e-04 4.99968389e-06 9.99999701e-01 -2.84410478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.52, Y:-11.05, Z:-0.29 [[ 9.84663061e-01 1.74465122e-01 7.60421119e-04 1.36515805e+02] [-1.74465066e-01 9.84663354e-01 -1.39433699e-04 -1.10498516e+01] [-7.73085127e-04 4.62829238e-06 9.99999701e-01 -2.85505462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.54, Y:-11.06, Z:-0.28 [[ 9.84601703e-01 1.74811062e-01 7.60429220e-04 1.36542788e+02] [-1.74811006e-01 9.84601997e-01 -1.39389505e-04 -1.10581651e+01] [-7.73086956e-04 4.31174653e-06 9.99999701e-01 -2.83941859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.57, Y:-11.07, Z:-0.28 [[ 9.84468824e-01 1.75557842e-01 7.60439161e-04 1.36570403e+02] [-1.75557786e-01 9.84469118e-01 -1.39335248e-04 -1.10665436e+01] [-7.73090266e-04 3.67019248e-06 9.99999701e-01 -2.82292833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.844203822 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:136.60, Y:-11.08, Z:-0.28 [[ 9.84301052e-01 1.76496066e-01 7.60445920e-04 1.36597449e+02] [-1.76496011e-01 9.84301346e-01 -1.39298351e-04 -1.10755193e+01] [-7.73093553e-04 2.89584239e-06 9.99999701e-01 -2.83342241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.62, Y:-11.09, Z:-0.28 [[ 9.83886526e-01 1.78792412e-01 7.60454314e-04 1.36623433e+02] [-1.78792358e-01 9.83886819e-01 -1.39252511e-04 -1.10878536e+01] [-7.73098269e-04 1.04524982e-06 9.99999701e-01 -2.83138598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.65, Y:-11.10, Z:-0.28 [[ 9.83664317e-01 1.80010926e-01 7.60462282e-04 1.36650857e+02] [-1.80010872e-01 9.83664611e-01 -1.39208984e-04 -1.10961414e+01] [-7.73098973e-04 4.34310319e-08 9.99999701e-01 -2.80676298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.68, Y:-11.11, Z:-0.28 [[ 9.83182241e-01 1.82625578e-01 7.60472476e-04 1.36676661e+02] [-1.82625525e-01 9.83182535e-01 -1.39153273e-04 -1.11081382e+01] [-7.73096204e-04 -2.06865862e-06 9.99999701e-01 -2.82500822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.70, Y:-11.12, Z:-0.28 [[ 9.82946891e-01 1.83888095e-01 7.60481729e-04 1.36704139e+02] [-1.83888043e-01 9.82947185e-01 -1.39102687e-04 -1.11163397e+01] [-7.73092703e-04 -3.11294253e-06 9.99999701e-01 -2.79970711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.73, Y:-11.12, Z:-0.28 [[ 9.82725661e-01 1.85066737e-01 7.60488539e-04 1.36731103e+02] [-1.85066685e-01 9.82725955e-01 -1.39065446e-04 -1.11237563e+01] [-7.73088214e-04 -4.07791107e-06 9.99999701e-01 -2.80531716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.76, Y:-11.13, Z:-0.28 [[ 9.82551759e-01 1.85987800e-01 7.60496986e-04 1.36756834e+02] [-1.85987748e-01 9.82552054e-01 -1.39019236e-04 -1.11305674e+01] [-7.73083758e-04 -4.84952663e-06 9.99999701e-01 -2.83194265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.78, Y:-11.14, Z:-0.28 [[ 9.82303746e-01 1.87293279e-01 7.60508445e-04 1.36784644e+02] [-1.87293227e-01 9.82304040e-01 -1.38956520e-04 -1.11400309e+01] [-7.73076141e-04 -5.94057071e-06 9.99999701e-01 -2.82396944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.81, Y:-11.15, Z:-0.28 [[ 9.82222648e-01 1.87718118e-01 7.60515241e-04 1.36811540e+02] [-1.87718066e-01 9.82222942e-01 -1.38919320e-04 -1.11474240e+01] [-7.73073191e-04 -6.31274798e-06 9.99999701e-01 -2.84222666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.84, Y:-11.16, Z:-0.28 [[ 9.82255414e-01 1.87546590e-01 7.60523679e-04 1.36839285e+02] [-1.87546538e-01 9.82255708e-01 -1.38873106e-04 -1.11558067e+01] [-7.73073903e-04 -6.22472340e-06 9.99999701e-01 -2.83897713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.87, Y:-11.16, Z:-0.28 [[ 9.82383921e-01 1.86872292e-01 7.60530257e-04 1.36866736e+02] [-1.86872241e-01 9.82384215e-01 -1.38837075e-04 -1.11621884e+01] [-7.73077722e-04 -5.73068305e-06 9.99999701e-01 -2.84780161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.89, Y:-11.17, Z:-0.28 [[ 9.82560623e-01 1.85940967e-01 7.60538459e-04 1.36894688e+02] [-1.85940915e-01 9.82560918e-01 -1.38792128e-04 -1.11689714e+01] [-7.73082509e-04 -5.04353687e-06 9.99999701e-01 -2.83406580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.92, Y:-11.18, Z:-0.28 [[ 9.82762624e-01 1.84870353e-01 7.60545267e-04 1.36921975e+02] [-1.84870301e-01 9.82762918e-01 -1.38754814e-04 -1.11763892e+01] [-7.73087337e-04 -4.23918746e-06 9.99999701e-01 -2.84899766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.95, Y:-11.19, Z:-0.28 [[ 9.83174772e-01 1.82665783e-01 7.60553750e-04 1.36949605e+02] [-1.82665731e-01 9.83175067e-01 -1.38708299e-04 -1.11857174e+01] [-7.73094744e-04 -2.55260658e-06 9.99999701e-01 -2.82820730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.98, Y:-11.19, Z:-0.28 [[ 9.83334747e-01 1.81802633e-01 7.60560266e-04 1.36977436e+02] [-1.81802580e-01 9.83335041e-01 -1.38672565e-04 -1.11918963e+01] [-7.73096597e-04 -1.91026638e-06 9.99999701e-01 -2.81141267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.01, Y:-11.20, Z:-0.28 [[ 9.83401802e-01 1.81439572e-01 7.60567057e-04 1.37005352e+02] [-1.81439519e-01 9.83402096e-01 -1.38635306e-04 -1.11983650e+01] [-7.73097169e-04 -1.66271100e-06 9.99999701e-01 -2.80868566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.03, Y:-11.21, Z:-0.28 [[ 9.83474647e-01 1.81044307e-01 7.60573887e-04 1.37032836e+02] [-1.81044254e-01 9.83474941e-01 -1.38597826e-04 -1.12083399e+01] [-7.73097706e-04 -1.39008407e-06 9.99999701e-01 -2.81607585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.06, Y:-11.22, Z:-0.28 [[ 9.83468637e-01 1.81076947e-01 7.60577210e-04 1.37060396e+02] [-1.81076894e-01 9.83468932e-01 -1.38579589e-04 -1.12151428e+01] [-7.73097625e-04 -1.43427879e-06 9.99999701e-01 -2.83723125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.09, Y:-11.22, Z:-0.29 [[ 9.83639845e-01 1.80144599e-01 7.60583926e-04 1.37089174e+02] [-1.80144546e-01 9.83640139e-01 -1.38542720e-04 -1.12221335e+01] [-7.73098601e-04 -7.38906796e-07 9.99999701e-01 -2.86162848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.12, Y:-11.23, Z:-0.29 [[ 9.83843321e-01 1.79030000e-01 7.60587278e-04 1.37116729e+02] [-1.79029946e-01 9.83843615e-01 -1.38524314e-04 -1.12295631e+01] [-7.73098945e-04 1.18321999e-07 9.99999701e-01 -2.87963325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.15, Y:-11.24, Z:-0.28 [[ 9.84404040e-01 1.75920740e-01 7.60592298e-04 1.37145647e+02] [-1.75920685e-01 9.84404334e-01 -1.38496747e-04 -1.12407042e+01] [-7.73094805e-04 2.53283914e-06 9.99999701e-01 -2.83694558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.474203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:137.17, Y:-11.25, Z:-0.28 [[ 9.84775956e-01 1.73826744e-01 7.60592298e-04 1.37174808e+02] [-1.73826689e-01 9.84776250e-01 -1.38496747e-04 -1.12482427e+01] [-7.73087670e-04 4.17702562e-06 9.99999701e-01 -2.82571625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.504203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:137.20, Y:-11.26, Z:-0.28 [[ 9.85194105e-01 1.71440941e-01 7.60592298e-04 1.37204169e+02] [-1.71440885e-01 9.85194399e-01 -1.38496747e-04 -1.12566581e+01] [-7.73075284e-04 6.04956237e-06 9.99999701e-01 -2.83887961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.23, Y:-11.27, Z:-0.28 [[ 9.85587379e-01 1.69165424e-01 7.60590554e-04 1.37234553e+02] [-1.69165368e-01 9.85587672e-01 -1.38506321e-04 -1.12662905e+01] [-7.73059154e-04 7.84450114e-06 9.99999701e-01 -2.83384182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.26, Y:-11.28, Z:-0.28 [[ 9.86155445e-01 1.65821771e-01 7.60587126e-04 1.37264877e+02] [-1.65821713e-01 9.86155738e-01 -1.38525146e-04 -1.12797090e+01] [-7.73027844e-04 1.04854670e-05 9.99999701e-01 -2.82560857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.29, Y:-11.29, Z:-0.28 [[ 9.86187224e-01 1.65632666e-01 7.60563021e-04 1.37294699e+02] [-1.65632608e-01 9.86187518e-01 -1.38657363e-04 -1.12871942e+01] [-7.73023947e-04 1.07680832e-05 9.99999701e-01 -2.81226714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.32, Y:-11.29, Z:-0.28 [[ 9.86027191e-01 1.66582711e-01 7.60550997e-04 1.37324179e+02] [-1.66582654e-01 9.86027485e-01 -1.38723287e-04 -1.12945069e+01] [-7.73033088e-04 1.00903299e-05 9.99999701e-01 -2.80869770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.35, Y:-11.30, Z:-0.28 [[ 9.85309993e-01 1.70773651e-01 7.60547629e-04 1.37353079e+02] [-1.70773595e-01 9.85310286e-01 -1.38741749e-04 -1.13037675e+01] [-7.73068837e-04 6.82217938e-06 9.99999701e-01 -2.83094497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.38, Y:-11.31, Z:-0.28 [[ 9.84778738e-01 1.73810985e-01 7.60545952e-04 1.37382371e+02] [-1.73810930e-01 9.84779032e-01 -1.38750942e-04 -1.13105337e+01] [-7.73086144e-04 4.44777883e-06 9.99999701e-01 -2.84999843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.41, Y:-11.32, Z:-0.28 [[ 9.84227641e-01 1.76904979e-01 7.60544294e-04 1.37412600e+02] [-1.76904925e-01 9.84227935e-01 -1.38760032e-04 -1.13169911e+01] [-7.73096280e-04 2.02742747e-06 9.99999701e-01 -2.83042428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.44, Y:-11.32, Z:-0.28 [[ 9.83191157e-01 1.82577573e-01 7.60540868e-04 1.37443138e+02] [-1.82577520e-01 9.83191451e-01 -1.38778807e-04 -1.13244253e+01] [-7.73095177e-04 -2.41156973e-06 9.99999701e-01 -2.84019196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.47, Y:-11.33, Z:-0.29 [[ 9.82714437e-01 1.85126328e-01 7.60537409e-04 1.37473959e+02] [-1.85126276e-01 9.82714731e-01 -1.38797760e-04 -1.13310405e+01] [-7.73086435e-04 -4.39689510e-06 9.99999701e-01 -2.88991843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.50, Y:-11.34, Z:-0.28 [[ 9.82150020e-01 1.88097740e-01 7.60515120e-04 1.37504853e+02] [-1.88097689e-01 9.82150314e-01 -1.38919780e-04 -1.13379485e+01] [-7.73070661e-04 -6.61107208e-06 9.99999701e-01 -2.83965031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.54, Y:-11.34, Z:-0.28 [[ 9.82145441e-01 1.88121649e-01 7.60511736e-04 1.37536156e+02] [-1.88121598e-01 9.82145735e-01 -1.38938304e-04 -1.13437123e+01] [-7.73070661e-04 -6.61106126e-06 9.99999701e-01 -2.83989640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.57, Y:-11.35, Z:-0.28 [[ 9.82058051e-01 1.88577320e-01 7.60508353e-04 1.37565844e+02] [-1.88577269e-01 9.82058346e-01 -1.38956818e-04 -1.13493320e+01] [-7.73067679e-04 -6.95092663e-06 9.99999701e-01 -2.84945166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.60, Y:-11.36, Z:-0.28 [[ 9.82030776e-01 1.88719309e-01 7.60506670e-04 1.37596676e+02] [-1.88719258e-01 9.82031070e-01 -1.38966025e-04 -1.13557758e+01] [-7.73066751e-04 -7.05334107e-06 9.99999701e-01 -2.84768770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.63, Y:-11.36, Z:-0.29 [[ 9.82056945e-01 1.88583082e-01 7.60503315e-04 1.37627684e+02] [-1.88583031e-01 9.82057239e-01 -1.38984385e-04 -1.13630424e+01] [-7.73067890e-04 -6.92744016e-06 9.99999701e-01 -2.85308944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.66, Y:-11.37, Z:-0.29 [[ 9.82008822e-01 1.88833513e-01 7.60479344e-04 1.37657537e+02] [-1.88833462e-01 9.82009116e-01 -1.39115426e-04 -1.13705106e+01] [-7.73067303e-04 -6.99137088e-06 9.99999701e-01 -2.85977670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.69, Y:-11.38, Z:-0.29 [[ 9.81940068e-01 1.89190708e-01 7.60457112e-04 1.37688170e+02] [-1.89190657e-01 9.81940363e-01 -1.39236846e-04 -1.13761281e+01] [-7.73065850e-04 -7.14914267e-06 9.99999701e-01 -2.88102347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.72, Y:-11.38, Z:-0.29 [[ 9.81900307e-01 1.89396961e-01 7.60435126e-04 1.37719979e+02] [-1.89396910e-01 9.81900601e-01 -1.39356816e-04 -1.13824744e+01] [-7.73065465e-04 -7.18956238e-06 9.99999701e-01 -2.86559952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.75, Y:-11.39, Z:-0.29 [[ 9.81876457e-01 1.89520568e-01 7.60411506e-04 1.37750568e+02] [-1.89520517e-01 9.81876751e-01 -1.39485586e-04 -1.13902184e+01] [-7.73065766e-04 -7.15596840e-06 9.99999701e-01 -2.86513458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.78, Y:-11.40, Z:-0.28 [[ 9.81980654e-01 1.88979940e-01 7.60389623e-04 1.37781197e+02] [-1.88979889e-01 9.81980948e-01 -1.39604776e-04 -1.13957030e+01] [-7.73070625e-04 -6.60915740e-06 9.99999701e-01 -2.84237384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.81, Y:-11.40, Z:-0.28 [[ 9.82089709e-01 1.88412380e-01 7.60386364e-04 1.37811996e+02] [-1.88412329e-01 9.82090003e-01 -1.39622522e-04 -1.14006643e+01] [-7.73074459e-04 -6.14432322e-06 9.99999701e-01 -2.82332257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.84, Y:-11.41, Z:-0.28 [[ 9.82421955e-01 1.86672237e-01 7.60383087e-04 1.37842896e+02] [-1.86672185e-01 9.82422249e-01 -1.39640368e-04 -1.14068693e+01] [-7.73084242e-04 -4.75660916e-06 9.99999701e-01 -2.83189688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.87, Y:-11.41, Z:-0.28 [[ 9.82586768e-01 1.85802757e-01 7.60379820e-04 1.37874086e+02] [-1.85802704e-01 9.82587063e-01 -1.39658156e-04 -1.14128769e+01] [-7.73088244e-04 -4.05437092e-06 9.99999701e-01 -2.84107883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.91, Y:-11.42, Z:-0.29 [[ 9.82931168e-01 1.83972119e-01 7.60356089e-04 1.37906292e+02] [-1.83972066e-01 9.82931462e-01 -1.39787234e-04 -1.14172014e+01] [-7.73094877e-04 -2.48305099e-06 9.99999701e-01 -2.85532581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.94, Y:-11.42, Z:-0.29 [[ 9.83125713e-01 1.82929642e-01 7.60332175e-04 1.37937157e+02] [-1.82929589e-01 9.83126007e-01 -1.39917192e-04 -1.14234978e+01] [-7.73097337e-04 -1.53106322e-06 9.99999701e-01 -2.86997070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.97, Y:-11.43, Z:-0.29 [[ 9.83306399e-01 1.81955895e-01 7.60318860e-04 1.37968252e+02] [-1.81955841e-01 9.83306693e-01 -1.39989508e-04 -1.14302230e+01] [-7.73098540e-04 -6.91878482e-07 9.99999701e-01 -2.87408944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.00, Y:-11.44, Z:-0.29 [[ 9.83443195e-01 1.81215076e-01 7.60295407e-04 1.38000355e+02] [-1.81215022e-01 9.83443489e-01 -1.40116769e-04 -1.14366659e+01] [-7.73098838e-04 1.99338182e-08 9.99999701e-01 -2.87314599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.03, Y:-11.44, Z:-0.29 [[ 9.83688468e-01 1.79878902e-01 7.60268118e-04 1.38031260e+02] [-1.79878848e-01 9.83688762e-01 -1.40264680e-04 -1.14406711e+01] [-7.73097860e-04 1.22059524e-06 9.99999701e-01 -2.91293712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.06, Y:-11.45, Z:-0.29 [[ 9.83787775e-01 1.79334985e-01 7.60244405e-04 1.38062632e+02] [-1.79334930e-01 9.83788068e-01 -1.40393086e-04 -1.14458569e+01] [-7.73096767e-04 1.77862417e-06 9.99999701e-01 -2.91544330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.09, Y:-11.45, Z:-0.29 [[ 9.83936993e-01 1.78514470e-01 7.60220316e-04 1.38093952e+02] [-1.78514415e-01 9.83937287e-01 -1.40523409e-04 -1.14513759e+01] [-7.73094576e-04 2.55589543e-06 9.99999701e-01 -2.93450136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.12, Y:-11.46, Z:-0.30 [[ 9.84310867e-01 1.76441317e-01 7.60196245e-04 1.38124736e+02] [-1.76441261e-01 9.84311161e-01 -1.40653505e-04 -1.14585827e+01] [-7.73086738e-04 4.31678937e-06 9.99999701e-01 -2.95405629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.16, Y:-11.47, Z:-0.29 [[ 9.84437960e-01 1.75730833e-01 7.60173991e-04 1.38155715e+02] [-1.75730777e-01 9.84438253e-01 -1.40773674e-04 -1.14654253e+01] [-7.73082631e-04 4.99698208e-06 9.99999701e-01 -2.94371562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.464203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:138.19, Y:-11.47, Z:-0.29 [[ 9.84716048e-01 1.74165805e-01 7.60150027e-04 1.38188128e+02] [-1.74165749e-01 9.84716341e-01 -1.40902957e-04 -1.14720041e+01] [-7.73072630e-04 6.35730434e-06 9.99999701e-01 -2.94109834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.22, Y:-11.48, Z:-0.30 [[ 9.84772649e-01 1.73845486e-01 7.60122123e-04 1.38219010e+02] [-1.73845429e-01 9.84772942e-01 -1.41053329e-04 -1.14778789e+01] [-7.73069184e-04 6.76170401e-06 9.99999701e-01 -2.95258648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.25, Y:-11.48, Z:-0.29 [[ 9.84813919e-01 1.73611542e-01 7.60099615e-04 1.38251376e+02] [-1.73611485e-01 9.84814212e-01 -1.41174517e-04 -1.14838453e+01] [-7.73066429e-04 7.06860658e-06 9.99999701e-01 -2.94973749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.28, Y:-11.49, Z:-0.29 [[ 9.84821035e-01 1.73571171e-01 7.60072001e-04 1.38283012e+02] [-1.73571113e-01 9.84821328e-01 -1.41323029e-04 -1.14904352e+01] [-7.73064721e-04 7.25134854e-06 9.99999701e-01 -2.93568009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.31, Y:-11.50, Z:-0.29 [[ 9.84815636e-01 1.73601799e-01 7.60047884e-04 1.38312619e+02] [-1.73601741e-01 9.84815930e-01 -1.41452616e-04 -1.15005626e+01] [-7.73063692e-04 7.35911195e-06 9.99999701e-01 -2.90485315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.34, Y:-11.51, Z:-0.29 [[ 9.84782540e-01 1.73789445e-01 7.60025593e-04 1.38344964e+02] [-1.73789387e-01 9.84782833e-01 -1.41572282e-04 -1.15082687e+01] [-7.73063925e-04 7.33352970e-06 9.99999701e-01 -2.89384327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.38, Y:-11.51, Z:-0.29 [[ 9.84708713e-01 1.74207271e-01 7.59998435e-04 1.38376313e+02] [-1.74207214e-01 9.84709006e-01 -1.41717927e-04 -1.15140561e+01] [-7.73065597e-04 7.15366751e-06 9.99999701e-01 -2.89404891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.41, Y:-11.52, Z:-0.29 [[ 9.84679717e-01 1.74371090e-01 7.59973123e-04 1.38408335e+02] [-1.74371032e-01 9.84680010e-01 -1.41853532e-04 -1.15196371e+01] [-7.73065498e-04 7.16299800e-06 9.99999701e-01 -2.88295857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.44, Y:-11.53, Z:-0.29 [[ 9.84747021e-01 1.73990593e-01 7.59949559e-04 1.38439585e+02] [-1.73990535e-01 9.84747315e-01 -1.41979660e-04 -1.15277879e+01] [-7.73061413e-04 7.59001661e-06 9.99999701e-01 -2.88810320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.47, Y:-11.54, Z:-0.29 [[ 9.85110156e-01 1.71922664e-01 7.59924467e-04 1.38469873e+02] [-1.71922605e-01 9.85110449e-01 -1.42113835e-04 -1.15390961e+01] [-7.73042122e-04 9.34958876e-06 9.99999701e-01 -2.89827523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.50, Y:-11.55, Z:-0.29 [[ 9.85313502e-01 1.70753404e-01 7.59901071e-04 1.38500673e+02] [-1.70753345e-01 9.85313795e-01 -1.42238823e-04 -1.15482425e+01] [-7.73028772e-04 1.03941828e-05 9.99999701e-01 -2.89193038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.53, Y:-11.56, Z:-0.29 [[ 9.85447839e-01 1.69976411e-01 7.59876585e-04 1.38530125e+02] [-1.69976351e-01 9.85448131e-01 -1.42369515e-04 -1.15580150e+01] [-7.73018420e-04 1.11366814e-05 9.99999701e-01 -2.91814112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.56, Y:-11.57, Z:-0.29 [[ 9.85442006e-01 1.70010222e-01 7.59853994e-04 1.38560368e+02] [-1.70010162e-01 9.85442299e-01 -1.42489987e-04 -1.15693520e+01] [-7.73017021e-04 1.12327174e-05 9.99999701e-01 -2.90913121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85420382200002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.59, Y:-11.58, Z:-0.29 [[ 9.85215687e-01 1.71316880e-01 7.59829142e-04 1.38593145e+02] [-1.71316821e-01 9.85215980e-01 -1.42622390e-04 -1.15760391e+01] [-7.73029435e-04 1.03423028e-05 9.99999701e-01 -2.91171914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.62, Y:-11.58, Z:-0.29 [[ 9.84808411e-01 1.73642783e-01 7.59800219e-04 1.38624060e+02] [-1.73642724e-01 9.84808704e-01 -1.42776306e-04 -1.15837108e+01] [-7.73049944e-04 8.67352712e-06 9.99999701e-01 -2.94795251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.65, Y:-11.60, Z:-0.29 [[ 9.84029696e-01 1.78002754e-01 7.59773289e-04 1.38654021e+02] [-1.78002697e-01 9.84029989e-01 -1.42919467e-04 -1.15964927e+01] [-7.73079760e-04 5.39530561e-06 9.99999701e-01 -2.91281906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.68, Y:-11.61, Z:-0.29 [[ 9.83576440e-01 1.80490472e-01 7.59747939e-04 1.38683775e+02] [-1.80490415e-01 9.83576733e-01 -1.43054097e-04 -1.16055229e+01] [-7.73090297e-04 3.57741845e-06 9.99999701e-01 -2.91791441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.71, Y:-11.61, Z:-0.29 [[ 9.83122945e-01 1.82944523e-01 7.59734294e-04 1.38714988e+02] [-1.82944468e-01 9.83123238e-01 -1.43126530e-04 -1.16139207e+01] [-7.73096654e-04 1.72179018e-06 9.99999701e-01 -2.89234607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.75, Y:-11.62, Z:-0.29 [[ 9.82620491e-01 1.85624335e-01 7.59710057e-04 1.38745688e+02] [-1.85624280e-01 9.82620785e-01 -1.43255063e-04 -1.16225186e+01] [-7.73098518e-04 -2.55271765e-07 9.99999701e-01 -2.90329943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.78, Y:-11.63, Z:-0.29 [[ 9.81547132e-01 1.91218853e-01 7.59684240e-04 1.38776851e+02] [-1.91218799e-01 9.81547426e-01 -1.43391838e-04 -1.16330229e+01] [-7.73085334e-04 -4.52006083e-06 9.99999701e-01 -2.89841926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.81, Y:-11.64, Z:-0.29 [[ 9.80860164e-01 1.94711994e-01 7.59660610e-04 1.38806846e+02] [-1.94711941e-01 9.80860459e-01 -1.43516917e-04 -1.16403407e+01] [-7.73065519e-04 -7.14496587e-06 9.99999701e-01 -2.89908508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.84, Y:-11.65, Z:-0.29 [[ 9.80086916e-01 1.98567519e-01 7.59638880e-04 1.38838346e+02] [-1.98567468e-01 9.80087211e-01 -1.43631843e-04 -1.16478373e+01] [-7.73032969e-04 -1.00678786e-05 9.99999701e-01 -2.87796947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.87, Y:-11.66, Z:-0.29 [[ 9.79305387e-01 2.02386716e-01 7.59615139e-04 1.38870122e+02] [-2.02386666e-01 9.79305681e-01 -1.43757290e-04 -1.16552139e+01] [-7.72989987e-04 -1.29536868e-05 9.99999701e-01 -2.86777354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.90, Y:-11.66, Z:-0.29 [[ 9.77914728e-01 2.09002890e-01 7.59587956e-04 1.38901480e+02] [-2.09002841e-01 9.77915023e-01 -1.43900779e-04 -1.16630530e+01] [-7.72888151e-04 -1.80333494e-05 9.99999701e-01 -2.85438581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.93, Y:-11.67, Z:-0.29 [[ 9.77329429e-01 2.11722958e-01 7.59563035e-04 1.38932314e+02] [-2.11722909e-01 9.77329724e-01 -1.44032199e-04 -1.16691627e+01] [-7.72838454e-04 -2.00499892e-05 9.99999701e-01 -2.88730739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.96, Y:-11.67, Z:-0.29 [[ 9.76513959e-01 2.15452804e-01 7.59539972e-04 1.38963325e+02] [-2.15452757e-01 9.76514254e-01 -1.44153718e-04 -1.16741705e+01] [-7.72759932e-04 -2.28768633e-05 9.99999701e-01 -2.91916247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.00, Y:-11.68, Z:-0.29 [[ 9.76278557e-01 2.16516977e-01 7.59518181e-04 1.38995418e+02] [-2.16516930e-01 9.76278853e-01 -1.44268438e-04 -1.16802690e+01] [-7.72738104e-04 -2.36023627e-05 9.99999701e-01 -2.91286083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.03, Y:-11.69, Z:-0.29 [[ 9.76116084e-01 2.17248279e-01 7.59509728e-04 1.39026318e+02] [-2.17248232e-01 9.76116379e-01 -1.44312926e-04 -1.16871262e+01] [-7.72721620e-04 -2.41359777e-05 9.99999701e-01 -2.92207880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.06, Y:-11.69, Z:-0.29 [[ 9.76297937e-01 2.16429577e-01 7.59486176e-04 1.39057332e+02] [-2.16429530e-01 9.76298232e-01 -1.44436770e-04 -1.16942388e+01] [-7.72745400e-04 -2.33619151e-05 9.99999701e-01 -2.92643317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.09, Y:-11.70, Z:-0.29 [[ 9.76456129e-01 2.15714746e-01 7.59462708e-04 1.39089774e+02] [-2.15714699e-01 9.76456424e-01 -1.44560063e-04 -1.16997706e+01] [-7.72765977e-04 -2.26707103e-05 9.99999701e-01 -2.92270533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.12, Y:-11.70, Z:-0.29 [[ 9.76894473e-01 2.13720872e-01 7.59435549e-04 1.39122528e+02] [-2.13720824e-01 9.76894768e-01 -1.44702599e-04 -1.17041333e+01] [-7.72814580e-04 -2.09480217e-05 9.99999701e-01 -2.90330102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.15, Y:-11.71, Z:-0.29 [[ 9.77168691e-01 2.12463578e-01 7.59407618e-04 1.39153755e+02] [-2.12463529e-01 9.77168986e-01 -1.44849033e-04 -1.17101108e+01] [-7.72844716e-04 -1.98044829e-05 9.99999701e-01 -2.90408117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.19, Y:-11.72, Z:-0.29 [[ 9.77453575e-01 2.11149075e-01 7.59390176e-04 1.39185766e+02] [-2.11149026e-01 9.77453870e-01 -1.44940416e-04 -1.17168333e+01] [-7.72872901e-04 -1.86719685e-05 9.99999701e-01 -2.89184070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.22, Y:-11.72, Z:-0.29 [[ 9.77815947e-01 2.09464550e-01 7.59362188e-04 1.39216564e+02] [-2.09464501e-01 9.77816241e-01 -1.45086901e-04 -1.17233912e+01] [-7.72907243e-04 -1.71911361e-05 9.99999701e-01 -2.90062546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.25, Y:-11.73, Z:-0.29 [[ 9.78694828e-01 2.05318917e-01 7.59337775e-04 1.39247874e+02] [-2.05318866e-01 9.78695122e-01 -1.45214557e-04 -1.17301504e+01] [-7.72975473e-04 -1.37856346e-05 9.99999701e-01 -2.90478300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.28, Y:-11.74, Z:-0.29 [[ 9.79166293e-01 2.03058597e-01 7.59312551e-04 1.39278990e+02] [-2.03058546e-01 9.79166587e-01 -1.45346332e-04 -1.17369092e+01] [-7.73007302e-04 -1.18666732e-05 9.99999701e-01 -2.88364805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.31, Y:-11.74, Z:-0.28 [[ 9.80076438e-01 1.98619232e-01 7.59288724e-04 1.39310135e+02] [-1.98619179e-01 9.80076732e-01 -1.45470698e-04 -1.17428472e+01] [-7.73054490e-04 -8.23689995e-06 9.99999701e-01 -2.84795652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.34, Y:-11.75, Z:-0.28 [[ 9.80488024e-01 1.96577359e-01 7.59266133e-04 1.39342836e+02] [-1.96577305e-01 9.80488318e-01 -1.45588517e-04 -1.17491555e+01] [-7.73070980e-04 -6.50669249e-06 9.99999701e-01 -2.83457196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.37, Y:-11.76, Z:-0.28 [[ 9.80869661e-01 1.94664150e-01 7.59237346e-04 1.39373538e+02] [-1.94664095e-01 9.80869955e-01 -1.45738483e-04 -1.17555952e+01] [-7.73083159e-04 -4.84579488e-06 9.99999701e-01 -2.84787055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.41, Y:-11.76, Z:-0.29 [[ 9.81102760e-01 1.93485913e-01 7.59214097e-04 1.39405233e+02] [-1.93485858e-01 9.81103053e-01 -1.45859494e-04 -1.17629444e+01] [-7.73089027e-04 -3.79403889e-06 9.99999701e-01 -2.86191373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.44, Y:-11.77, Z:-0.29 [[ 9.81065337e-01 1.93675573e-01 7.59189557e-04 1.39435057e+02] [-1.93675518e-01 9.81065631e-01 -1.45987114e-04 -1.17709967e+01] [-7.73088920e-04 -3.81353317e-06 9.99999701e-01 -2.90287428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.47, Y:-11.78, Z:-0.29 [[ 9.81028535e-01 1.93861905e-01 7.59166778e-04 1.39467898e+02] [-1.93861850e-01 9.81028828e-01 -1.46105475e-04 -1.17775080e+01] [-7.73088780e-04 -3.83983629e-06 9.99999701e-01 -2.90313332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.50, Y:-11.78, Z:-0.29 [[ 9.80836086e-01 1.94833253e-01 7.59139001e-04 1.39498784e+02] [-1.94833198e-01 9.80836380e-01 -1.46249659e-04 -1.17834657e+01] [-7.73085446e-04 -4.45853594e-06 9.99999701e-01 -2.91816518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.53, Y:-11.79, Z:-0.29 [[ 9.80157418e-01 1.98219219e-01 7.59116554e-04 1.39530943e+02] [-1.98219165e-01 9.80157712e-01 -1.46366075e-04 -1.17890909e+01] [-7.73066514e-04 -7.00965499e-06 9.99999701e-01 -2.89938397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.56, Y:-11.79, Z:-0.29 [[ 9.79654263e-01 2.00691179e-01 7.59088451e-04 1.39561395e+02] [-2.00691125e-01 9.79654557e-01 -1.46511679e-04 -1.17944863e+01] [-7.73048062e-04 -8.81152497e-06 9.99999701e-01 -2.89844863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.59, Y:-11.80, Z:-0.29 [[ 9.79089616e-01 2.03427991e-01 7.59065677e-04 1.39593246e+02] [-2.03427938e-01 9.79089910e-01 -1.46629575e-04 -1.17995992e+01] [-7.73022106e-04 -1.08516718e-05 9.99999701e-01 -2.87167331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.62, Y:-11.80, Z:-0.29 [[ 9.78490918e-01 2.06288503e-01 7.59041423e-04 1.39624021e+02] [-2.06288451e-01 9.78491213e-01 -1.46755021e-04 -1.18042115e+01] [-7.72989236e-04 -1.29830241e-05 9.99999701e-01 -2.86290252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.66, Y:-11.81, Z:-0.29 [[ 9.77373788e-01 2.11518089e-01 7.59019024e-04 1.39655210e+02] [-2.11518039e-01 9.77374083e-01 -1.46870780e-04 -1.18065273e+01] [-7.72911349e-04 -1.69985647e-05 9.99999701e-01 -2.87327140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.69, Y:-11.81, Z:-0.29 [[ 9.76807961e-01 2.14115930e-01 7.58996862e-04 1.39687595e+02] [-2.14115880e-01 9.76808256e-01 -1.46985218e-04 -1.18106288e+01] [-7.72866277e-04 -1.89369498e-05 9.99999701e-01 -2.86145758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.72, Y:-11.81, Z:-0.29 [[ 9.75716130e-01 2.19037571e-01 7.58969048e-04 1.39719411e+02] [-2.19037523e-01 9.75716425e-01 -1.47128696e-04 -1.18108206e+01] [-7.72765279e-04 -2.26868586e-05 9.99999701e-01 -2.85420439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.75, Y:-11.81, Z:-0.29 [[ 9.75329465e-01 2.20752935e-01 7.58955892e-04 1.39750288e+02] [-2.20752888e-01 9.75329760e-01 -1.47196528e-04 -1.18133801e+01] [-7.72726334e-04 -2.39765935e-05 9.99999701e-01 -2.86571847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.78, Y:-11.82, Z:-0.28 [[ 9.75018821e-01 2.22120964e-01 7.58942872e-04 1.39783444e+02] [-2.22120917e-01 9.75019116e-01 -1.47263631e-04 -1.18171979e+01] [-7.72694148e-04 -2.49922742e-05 9.99999701e-01 -2.84871917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.82, Y:-11.82, Z:-0.29 [[ 9.75116593e-01 2.21691348e-01 7.58915398e-04 1.39816207e+02] [-2.21691300e-01 9.75116888e-01 -1.47405079e-04 -1.18195292e+01] [-7.72709652e-04 -2.45078023e-05 9.99999701e-01 -2.85925090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.85, Y:-11.82, Z:-0.29 [[ 9.75485683e-01 2.20061597e-01 7.58891445e-04 1.39848494e+02] [-2.20061548e-01 9.75485978e-01 -1.47528297e-04 -1.18237987e+01] [-7.72753276e-04 -2.30910848e-05 9.99999701e-01 -2.87153043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.88, Y:-11.83, Z:-0.29 [[ 9.76058202e-01 2.17508183e-01 7.58867278e-04 1.39879454e+02] [-2.17508134e-01 9.76058497e-01 -1.47652501e-04 -1.18278888e+01] [-7.72814483e-04 -2.09423709e-05 9.99999701e-01 -2.89646770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.91, Y:-11.83, Z:-0.29 [[ 9.76703835e-01 2.14590408e-01 7.58844843e-04 1.39910233e+02] [-2.14590358e-01 9.76704129e-01 -1.47767717e-04 -1.18316799e+01] [-7.72876426e-04 -1.85154907e-05 9.99999701e-01 -2.91921945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.94, Y:-11.83, Z:-0.29 [[ 9.77752618e-01 2.09759965e-01 7.58822565e-04 1.39943690e+02] [-2.09759913e-01 9.77752912e-01 -1.47882028e-04 -1.18324936e+01] [-7.72960702e-04 -1.45785156e-05 9.99999701e-01 -2.90558536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.97, Y:-11.84, Z:-0.29 [[ 9.78238797e-01 2.07480796e-01 7.58794608e-04 1.39974451e+02] [-2.07480744e-01 9.78239091e-01 -1.48025343e-04 -1.18358021e+01] [-7.72994963e-04 -1.26311361e-05 9.99999701e-01 -2.94214610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.01, Y:-11.84, Z:-0.29 [[ 9.79285617e-01 2.02482356e-01 7.58771909e-04 1.40006881e+02] [-2.02482302e-01 9.79285911e-01 -1.48141602e-04 -1.18404134e+01] [-7.73050701e-04 -8.56494324e-06 9.99999701e-01 -2.89107095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.04, Y:-11.85, Z:-0.29 [[ 9.79872391e-01 1.99623452e-01 7.58743181e-04 1.40037211e+02] [-1.99623397e-01 9.79872684e-01 -1.48288595e-04 -1.18466149e+01] [-7.73073599e-04 -6.15899074e-06 9.99999701e-01 -2.90397050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.07, Y:-11.85, Z:-0.29 [[ 9.80476772e-01 1.96633477e-01 7.58719847e-04 1.40068523e+02] [-1.96633421e-01 9.80477065e-01 -1.48407887e-04 -1.18532303e+01] [-7.73089368e-04 -3.67919334e-06 9.99999701e-01 -2.90772604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.10, Y:-11.86, Z:-0.29 [[ 9.81910525e-01 1.89343986e-01 7.58693967e-04 1.40099638e+02] [-1.89343928e-01 9.81910818e-01 -1.48540076e-04 -1.18592203e+01] [-7.73094984e-04 2.19896803e-06 9.99999701e-01 -2.88019046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.13, Y:-11.87, Z:-0.29 [[ 9.82554693e-01 1.85972309e-01 7.58670711e-04 1.40130884e+02] [-1.85972249e-01 9.82554986e-01 -1.48658760e-04 -1.18652259e+01] [-7.73082103e-04 4.97366388e-06 9.99999701e-01 -2.89446295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.16, Y:-11.87, Z:-0.29 [[ 9.83061287e-01 1.83275558e-01 7.58643946e-04 1.40162848e+02] [-1.83275498e-01 9.83061580e-01 -1.48795222e-04 -1.18714499e+01] [-7.73064244e-04 7.23397604e-06 9.99999701e-01 -2.88928081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.19, Y:-11.88, Z:-0.29 [[ 9.83519546e-01 1.80800242e-01 7.58617983e-04 1.40193135e+02] [-1.80800181e-01 9.83519838e-01 -1.48927478e-04 -1.18784814e+01] [-7.73041960e-04 9.31481695e-06 9.99999701e-01 -2.91619833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.22, Y:-11.89, Z:-0.29 [[ 9.83379999e-01 1.81557711e-01 7.58593890e-04 1.40224209e+02] [-1.81557650e-01 9.83380291e-01 -1.49050096e-04 -1.18862535e+01] [-7.73047475e-04 8.84435872e-06 9.99999701e-01 -2.91788859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.25, Y:-11.89, Z:-0.29 [[ 9.83053258e-01 1.83318619e-01 7.58568659e-04 1.40254100e+02] [-1.83318558e-01 9.83053551e-01 -1.49178395e-04 -1.18934806e+01] [-7.73060791e-04 7.59059453e-06 9.99999701e-01 -2.93458895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.29, Y:-11.90, Z:-0.29 [[ 9.81925059e-01 1.89268602e-01 7.58554472e-04 1.40285507e+02] [-1.89268543e-01 9.81925352e-01 -1.49250501e-04 -1.18999377e+01] [-7.73092300e-04 2.98230744e-06 9.99999701e-01 -2.94070604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.32, Y:-11.91, Z:-0.29 [[ 9.81290524e-01 1.92531381e-01 7.58529533e-04 1.40317642e+02] [-1.92531323e-01 9.81290817e-01 -1.49377139e-04 -1.19057376e+01] [-7.73097852e-04 5.41676098e-07 9.99999701e-01 -2.93239187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.35, Y:-11.91, Z:-0.30 [[ 9.80570177e-01 1.96167157e-01 7.58520308e-04 1.40349047e+02] [-1.96167100e-01 9.80570470e-01 -1.49423971e-04 -1.19111308e+01] [-7.73094690e-04 -2.27603934e-06 9.99999701e-01 -2.96030020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.38, Y:-11.92, Z:-0.29 [[ 9.79484832e-01 2.01516474e-01 7.58492851e-04 1.40379498e+02] [-2.01516418e-01 9.79485125e-01 -1.49563213e-04 -1.19152379e+01] [-7.73071917e-04 -6.35386461e-06 9.99999701e-01 -2.93313278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.41, Y:-11.92, Z:-0.29 [[ 9.79125287e-01 2.03256235e-01 7.58492851e-04 1.40411183e+02] [-2.03256180e-01 9.79125581e-01 -1.49563213e-04 -1.19218191e+01] [-7.73059409e-04 -7.72723606e-06 9.99999701e-01 -2.91548309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.44, Y:-11.93, Z:-0.29 [[ 9.78945753e-01 2.04119175e-01 7.58467475e-04 1.40442299e+02] [-2.04119121e-01 9.78946047e-01 -1.49691792e-04 -1.19280877e+01] [-7.73053701e-04 -8.27756992e-06 9.99999701e-01 -2.92973598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.47, Y:-11.93, Z:-0.29 [[ 9.78846839e-01 2.04592989e-01 7.58440362e-04 1.40473577e+02] [-2.04592934e-01 9.78847133e-01 -1.49829038e-04 -1.19331536e+01] [-7.73051144e-04 -8.51185848e-06 9.99999701e-01 -2.91897414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.50, Y:-11.94, Z:-0.29 [[ 9.78807120e-01 2.04782926e-01 7.58426469e-04 1.40504790e+02] [-2.04782871e-01 9.78807414e-01 -1.49899331e-04 -1.19388288e+01] [-7.73050274e-04 -8.59021696e-06 9.99999701e-01 -2.91580458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.54, Y:-11.94, Z:-0.29 [[ 9.78734929e-01 2.05127675e-01 7.58401234e-04 1.40535558e+02] [-2.05127620e-01 9.78735223e-01 -1.50026896e-04 -1.19444903e+01] [-7.73048669e-04 -8.73247661e-06 9.99999701e-01 -2.93246853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.56, Y:-11.95, Z:-0.30 [[ 9.78568349e-01 2.05920886e-01 7.58377886e-04 1.40564922e+02] [-2.05920832e-01 9.78568643e-01 -1.50144826e-04 -1.19506892e+01] [-7.73042774e-04 -9.23883044e-06 9.99999701e-01 -2.96017335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.60, Y:-11.96, Z:-0.30 [[ 9.78467603e-01 2.06399069e-01 7.58376116e-04 1.40595330e+02] [-2.06399014e-01 9.78467896e-01 -1.50153765e-04 -1.19571358e+01] [-7.73038280e-04 -9.60748865e-06 9.99999701e-01 -2.96083697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.63, Y:-11.96, Z:-0.30 [[ 9.78401209e-01 2.06713567e-01 7.58372607e-04 1.40626194e+02] [-2.06713512e-01 9.78401503e-01 -1.50171484e-04 -1.19639027e+01] [-7.73035382e-04 -9.83790422e-06 9.99999701e-01 -2.95602752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.66, Y:-11.97, Z:-0.30 [[ 9.78350708e-01 2.06952449e-01 7.58369042e-04 1.40655748e+02] [-2.06952395e-01 9.78351002e-01 -1.50189488e-04 -1.19694112e+01] [-7.73033195e-04 -1.00082975e-05 9.99999701e-01 -2.98546382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.69, Y:-11.97, Z:-0.30 [[ 9.78369041e-01 2.06865764e-01 7.58359488e-04 1.40687008e+02] [-2.06865709e-01 9.78369335e-01 -1.50237716e-04 -1.19740275e+01] [-7.73034707e-04 -9.89064353e-06 9.99999701e-01 -2.98562611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.72, Y:-11.98, Z:-0.30 [[ 9.78398610e-01 2.06725868e-01 7.58355948e-04 1.40716619e+02] [-2.06725813e-01 9.78398904e-01 -1.50255579e-04 -1.19790031e+01] [-7.73036344e-04 -9.76190053e-06 9.99999701e-01 -3.00395521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.75, Y:-11.99, Z:-0.30 [[ 9.78732746e-01 2.05138091e-01 7.58347706e-04 1.40747897e+02] [-2.05138036e-01 9.78733040e-01 -1.50297167e-04 -1.19881774e+01] [-7.73051629e-04 -8.46520025e-06 9.99999701e-01 -2.96497717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.78, Y:-12.00, Z:-0.30 [[ 9.78933587e-01 2.04177516e-01 7.58322295e-04 1.40778350e+02] [-2.04177461e-01 9.78933880e-01 -1.50425267e-04 -1.19956523e+01] [-7.73060844e-04 -7.57597461e-06 9.99999701e-01 -2.95766486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.81, Y:-12.00, Z:-0.29 [[ 9.79228001e-01 2.02760811e-01 7.58298849e-04 1.40809762e+02] [-2.02760755e-01 9.79228295e-01 -1.50543367e-04 -1.20004412e+01] [-7.73071984e-04 -6.33696695e-06 9.99999701e-01 -2.92505157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.84, Y:-12.01, Z:-0.29 [[ 9.79319085e-01 2.02320426e-01 7.58273459e-04 1.40841128e+02] [-2.02320370e-01 9.79319379e-01 -1.50671145e-04 -1.20061077e+01] [-7.73075743e-04 -5.85903894e-06 9.99999701e-01 -2.92881308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.87, Y:-12.01, Z:-0.30 [[ 9.79376210e-01 2.02043720e-01 7.58247563e-04 1.40872143e+02] [-2.02043664e-01 9.79376503e-01 -1.50801354e-04 -1.20124310e+01] [-7.73078313e-04 -5.50785750e-06 9.99999701e-01 -2.95455959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.90, Y:-12.02, Z:-0.30 [[ 9.79515521e-01 2.01367250e-01 7.58221798e-04 1.40901634e+02] [-2.01367194e-01 9.79515814e-01 -1.50930789e-04 -1.20226036e+01] [-7.73082760e-04 -4.84194523e-06 9.99999701e-01 -2.95360886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.93, Y:-12.03, Z:-0.29 [[ 9.79496144e-01 2.01461483e-01 7.58207987e-04 1.40933364e+02] [-2.01461426e-01 9.79496437e-01 -1.51000138e-04 -1.20310856e+01] [-7.73082734e-04 -4.84560905e-06 9.99999701e-01 -2.92437168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:140.96, Y:-12.04, Z:-0.29 [[ 9.79367421e-01 2.02086319e-01 7.58178152e-04 1.40964063e+02] [-2.02086263e-01 9.79367714e-01 -1.51149791e-04 -1.20377411e+01] [-7.73080509e-04 -5.18620798e-06 9.99999701e-01 -2.93490617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.99, Y:-12.04, Z:-0.30 [[ 9.79091187e-01 2.03420435e-01 7.58154060e-04 1.40994386e+02] [-2.03420379e-01 9.79091480e-01 -1.51270538e-04 -1.20428414e+01] [-7.73073699e-04 -6.11633533e-06 9.99999701e-01 -2.96607548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.03, Y:-12.05, Z:-0.30 [[ 9.78312089e-01 2.07134938e-01 7.58130323e-04 1.41026159e+02] [-2.07134882e-01 9.78312382e-01 -1.51389408e-04 -1.20457270e+01] [-7.73046318e-04 -8.92914784e-06 9.99999701e-01 -2.95693288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.06, Y:-12.05, Z:-0.29 [[ 9.77882768e-01 2.09152378e-01 7.58126736e-04 1.41056664e+02] [-2.09152324e-01 9.77883062e-01 -1.51407367e-04 -1.20509989e+01] [-7.73026505e-04 -1.05053132e-05 9.99999701e-01 -2.94674215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.09, Y:-12.06, Z:-0.29 [[ 9.77243087e-01 2.12121130e-01 7.58123157e-04 1.41087930e+02] [-2.12121076e-01 9.77243381e-01 -1.51425289e-04 -1.20565870e+01] [-7.72991341e-04 -1.28345833e-05 9.99999701e-01 -2.94621533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.12, Y:-12.06, Z:-0.30 [[ 9.77015502e-01 2.13166918e-01 7.58119594e-04 1.41117773e+02] [-2.13166865e-01 9.77015796e-01 -1.51443124e-04 -1.20627557e+01] [-7.72977482e-04 -1.36436970e-05 9.99999701e-01 -2.95444267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.15, Y:-12.07, Z:-0.29 [[ 9.76928223e-01 2.13566551e-01 7.58117825e-04 1.41148657e+02] [-2.13566498e-01 9.76928517e-01 -1.51451977e-04 -1.20695408e+01] [-7.72972000e-04 -1.39508582e-05 9.99999701e-01 -2.94083398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.18, Y:-12.07, Z:-0.29 [[ 9.76899446e-01 2.13698148e-01 7.58114257e-04 1.41178327e+02] [-2.13698095e-01 9.76899740e-01 -1.51469840e-04 -1.20743174e+01] [-7.72970444e-04 -1.40367698e-05 9.99999701e-01 -2.91944051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.21, Y:-12.08, Z:-0.29 [[ 9.76951479e-01 2.13460142e-01 7.58112479e-04 1.41209703e+02] [-2.13460089e-01 9.76951773e-01 -1.51478735e-04 -1.20767065e+01] [-7.72974003e-04 -1.38393828e-05 9.99999701e-01 -2.89788066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.24, Y:-12.08, Z:-0.29 [[ 9.77007074e-01 2.13205539e-01 7.58108928e-04 1.41240936e+02] [-2.13205486e-01 9.77007368e-01 -1.51496508e-04 -1.20792042e+01] [-7.72977903e-04 -1.36198224e-05 9.99999701e-01 -2.88164973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.27, Y:-12.08, Z:-0.29 [[ 9.77092368e-01 2.12814308e-01 7.58105260e-04 1.41271369e+02] [-2.12814255e-01 9.77092662e-01 -1.51514859e-04 -1.20848990e+01] [-7.72983616e-04 -1.32915933e-05 9.99999701e-01 -2.87901521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.30, Y:-12.09, Z:-0.29 [[ 9.77130148e-01 2.12640777e-01 7.58101585e-04 1.41301331e+02] [-2.12640723e-01 9.77130442e-01 -1.51533245e-04 -1.20919922e+01] [-7.72986283e-04 -1.31355677e-05 9.99999701e-01 -2.92126373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.33, Y:-12.10, Z:-0.29 [[ 9.77204962e-01 2.12296696e-01 7.58099760e-04 1.41330836e+02] [-2.12296642e-01 9.77205256e-01 -1.51542374e-04 -1.20971806e+01] [-7.72991015e-04 -1.28540734e-05 9.99999701e-01 -2.92568062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.36, Y:-12.10, Z:-0.29 [[ 9.77262393e-01 2.12032168e-01 7.58103168e-04 1.41361626e+02] [-2.12032114e-01 9.77262687e-01 -1.51525322e-04 -1.20994236e+01] [-7.72994182e-04 -1.26622190e-05 9.99999701e-01 -2.89042648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.39, Y:-12.10, Z:-0.30 [[ 9.77355366e-01 2.11603200e-01 7.58103168e-04 1.41391391e+02] [-2.11603146e-01 9.77355660e-01 -1.51525322e-04 -1.21026326e+01] [-7.72999665e-04 -1.23229293e-05 9.99999701e-01 -2.95091755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.42, Y:-12.10, Z:-0.29 [[ 9.77766003e-01 2.09697564e-01 7.57995911e-04 1.41421174e+02] [-2.09697509e-01 9.77766297e-01 -1.52061744e-04 -1.21045938e+01] [-7.73029832e-04 -1.02690507e-05 9.99999701e-01 -2.92795075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.45, Y:-12.11, Z:-0.29 [[ 9.78147453e-01 2.07911005e-01 7.58087015e-04 1.41450156e+02] [-2.07910950e-01 9.78147746e-01 -1.51606189e-04 -1.21101881e+01] [-7.73041701e-04 -9.32138408e-06 9.99999701e-01 -2.93620129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.48, Y:-12.12, Z:-0.29 [[ 9.78152404e-01 2.07887707e-01 7.58090622e-04 1.41479741e+02] [-2.07887652e-01 9.78152698e-01 -1.51588150e-04 -1.21160589e+01] [-7.73041701e-04 -9.32136610e-06 9.99999701e-01 -2.93643445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.51, Y:-12.12, Z:-0.29 [[ 9.78633077e-01 2.05613047e-01 7.58094232e-04 1.41509700e+02] [-2.05612992e-01 9.78633371e-01 -1.51570094e-04 -1.21224588e+01] [-7.73061103e-04 -7.54251563e-06 9.99999701e-01 -2.93854758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.54, Y:-12.13, Z:-0.29 [[ 9.79120607e-01 2.03278778e-01 7.58094232e-04 1.41539068e+02] [-2.03278721e-01 9.79120901e-01 -1.51570094e-04 -1.21284222e+01] [-7.73076891e-04 -5.69902389e-06 9.99999701e-01 -2.93968485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.57, Y:-12.13, Z:-0.30 [[ 9.79992582e-01 1.99032572e-01 7.58096041e-04 1.41568020e+02] [-1.99032514e-01 9.79992875e-01 -1.51561049e-04 -1.21328769e+01] [-7.73094304e-04 -2.35705672e-06 9.99999701e-01 -2.96703221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.60, Y:-12.14, Z:-0.29 [[ 9.80399384e-01 1.97018965e-01 7.58094090e-04 1.41598767e+02] [-1.97018906e-01 9.80399677e-01 -1.51570804e-04 -1.21383212e+01] [-7.73097525e-04 -7.58945924e-07 9.99999701e-01 -2.92629900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.63, Y:-12.14, Z:-0.29 [[ 9.81028763e-01 1.93860752e-01 7.58090387e-04 1.41629089e+02] [-1.93860692e-01 9.81029056e-01 -1.51589322e-04 -1.21433892e+01] [-7.73095917e-04 1.74955768e-06 9.99999701e-01 -2.90803295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.66, Y:-12.15, Z:-0.29 [[ 9.81288939e-01 1.92539459e-01 7.58090387e-04 1.41658864e+02] [-1.92539399e-01 9.81289232e-01 -1.51589322e-04 -1.21497397e+01] [-7.73092860e-04 2.79065714e-06 9.99999701e-01 -2.90522984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.69, Y:-12.16, Z:-0.29 [[ 9.81434438e-01 1.91796426e-01 7.58088523e-04 1.41688982e+02] [-1.91796366e-01 9.81434731e-01 -1.51598646e-04 -1.21561758e+01] [-7.73090484e-04 3.38550823e-06 9.99999701e-01 -2.88401561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.72, Y:-12.16, Z:-0.29 [[ 9.81300313e-01 1.92481484e-01 7.58088523e-04 1.41719247e+02] [-1.92481424e-01 9.81300605e-01 -1.51598646e-04 -1.21620113e+01] [-7.73092659e-04 2.84583983e-06 9.99999701e-01 -2.88715484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.75, Y:-12.17, Z:-0.29 [[ 9.80969064e-01 1.94162612e-01 7.58088523e-04 1.41748812e+02] [-1.94162553e-01 9.80969357e-01 -1.51598646e-04 -1.21673909e+01] [-7.73096400e-04 1.52117856e-06 9.99999701e-01 -2.89588885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.78, Y:-12.17, Z:-0.29 [[ 9.80500013e-01 1.96517554e-01 7.58088523e-04 1.41778031e+02] [-1.96517495e-01 9.80500307e-01 -1.51598646e-04 -1.21725269e+01] [-7.73097824e-04 -3.35183235e-07 9.99999701e-01 -2.92184505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.81, Y:-12.18, Z:-0.29 [[ 9.79330093e-01 2.02267138e-01 7.58090382e-04 1.41807732e+02] [-2.02267081e-01 9.79330386e-01 -1.51589350e-04 -1.21773268e+01] [-7.73082490e-04 -4.88071692e-06 9.99999701e-01 -2.92074653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.004203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:141.84, Y:-12.18, Z:-0.29 [[ 9.78008921e-01 2.08561682e-01 7.58094096e-04 1.41837055e+02] [-2.08561627e-01 9.78009215e-01 -1.51570775e-04 -1.21796166e+01] [-7.73034867e-04 -9.87176802e-06 9.99999701e-01 -2.93588672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.87, Y:-12.18, Z:-0.29 [[ 9.77395420e-01 2.11418113e-01 7.58097789e-04 1.41865942e+02] [-2.11418059e-01 9.77395714e-01 -1.51552298e-04 -1.21832795e+01] [-7.73002431e-04 -1.21490413e-05 9.99999701e-01 -2.94327476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.89, Y:-12.19, Z:-0.29 [[ 9.76833693e-01 2.13998508e-01 7.58103278e-04 1.41894994e+02] [-2.13998454e-01 9.76833987e-01 -1.51524837e-04 -1.21868080e+01] [-7.72967137e-04 -1.42183638e-05 9.99999701e-01 -2.91572253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.92, Y:-12.19, Z:-0.29 [[ 9.75948355e-01 2.18000537e-01 7.58110506e-04 1.41923109e+02] [-2.18000486e-01 9.75948649e-01 -1.51488667e-04 -1.21894838e+01] [-7.72901535e-04 -1.74233432e-05 9.99999701e-01 -2.91663310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.95, Y:-12.19, Z:-0.29 [[ 9.75673542e-01 2.19227201e-01 7.58119475e-04 1.41950909e+02] [-2.19227149e-01 9.75673836e-01 -1.51443766e-04 -1.21939063e+01] [-7.72877929e-04 -1.84406955e-05 9.99999701e-01 -2.93207997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.98, Y:-12.20, Z:-0.29 [[ 9.75485474e-01 2.20062527e-01 7.58128251e-04 1.41979783e+02] [-2.20062476e-01 9.75485768e-01 -1.51399819e-04 -1.21982402e+01] [-7.72860747e-04 -1.91472552e-05 9.99999701e-01 -2.92533692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.01, Y:-12.20, Z:-0.29 [[ 9.75401495e-01 2.20434454e-01 7.58135339e-04 1.42008698e+02] [-2.20434403e-01 9.75401790e-01 -1.51364320e-04 -1.22017833e+01] [-7.72852478e-04 -1.94781268e-05 9.99999701e-01 -2.90440397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.04, Y:-12.20, Z:-0.29 [[ 9.75394830e-01 2.20463945e-01 7.58142686e-04 1.42036387e+02] [-2.20463894e-01 9.75395124e-01 -1.51327513e-04 -1.22044313e+01] [-7.72850940e-04 -1.95390145e-05 9.99999701e-01 -2.92570796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.07, Y:-12.20, Z:-0.29 [[ 9.75556995e-01 2.19745252e-01 7.58151819e-04 1.42065363e+02] [-2.19745200e-01 9.75557289e-01 -1.51281744e-04 -1.22044950e+01] [-7.72863978e-04 -1.90162597e-05 9.99999701e-01 -2.92446279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.09, Y:-12.21, Z:-0.30 [[ 9.75816440e-01 2.18590259e-01 7.58159170e-04 1.42093080e+02] [-2.18590207e-01 9.75816734e-01 -1.51244892e-04 -1.22078235e+01] [-7.72885065e-04 -1.81389182e-05 9.99999701e-01 -2.96854061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.12, Y:-12.21, Z:-0.29 [[ 9.76203768e-01 2.16853935e-01 7.58168301e-04 1.42121881e+02] [-2.16853883e-01 9.76204062e-01 -1.51199105e-04 -1.22118438e+01] [-7.72915096e-04 -1.68106033e-05 9.99999701e-01 -2.94933758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.334203822 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:142.15, Y:-12.21, Z:-0.30 [[ 9.77218190e-01 2.12235801e-01 7.58175550e-04 1.42151223e+02] [-2.12235747e-01 9.77218484e-01 -1.51162746e-04 -1.22136697e+01] [-7.72985308e-04 -1.31929694e-05 9.99999701e-01 -2.95076676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.18, Y:-12.22, Z:-0.29 [[ 9.77870505e-01 2.09209703e-01 7.58182870e-04 1.42179007e+02] [-2.09209648e-01 9.77870799e-01 -1.51126027e-04 -1.22178082e+01] [-7.73021920e-04 -1.08374873e-05 9.99999701e-01 -2.94742312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.21, Y:-12.22, Z:-0.29 [[ 9.79182683e-01 2.02979550e-01 7.58192002e-04 1.42208142e+02] [-2.02979494e-01 9.79182977e-01 -1.51080197e-04 -1.22201000e+01] [-7.73074892e-04 -5.96231623e-06 9.99999701e-01 -2.92918122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:-12.22, Z:-0.29 [[ 9.79753285e-01 2.00207205e-01 7.58199087e-04 1.42236908e+02] [-2.00207148e-01 9.79753579e-01 -1.51044630e-04 -1.22243519e+01] [-7.73088492e-04 -3.81040384e-06 9.99999701e-01 -2.92532986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.26, Y:-12.23, Z:-0.29 [[ 9.80297351e-01 1.97526020e-01 7.58206248e-04 1.42264670e+02] [-1.97525963e-01 9.80297644e-01 -1.51008675e-04 -1.22293636e+01] [-7.73095942e-04 -1.73201497e-06 9.99999701e-01 -2.92393571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.484203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:142.29, Y:-12.23, Z:-0.29 [[ 9.81186544e-01 1.93060590e-01 7.58215173e-04 1.42294123e+02] [-1.93060531e-01 9.81186837e-01 -1.50963850e-04 -1.22349940e+01] [-7.73095917e-04 1.74227387e-06 9.99999701e-01 -2.91111350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:-12.24, Z:-0.29 [[ 9.81524044e-01 1.91337336e-01 7.58219039e-04 1.42322108e+02] [-1.91337276e-01 9.81524337e-01 -1.50944430e-04 -1.22408158e+01] [-7.73091745e-04 3.08002171e-06 9.99999701e-01 -2.92511515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:-12.25, Z:-0.29 [[ 9.81797774e-01 1.89927767e-01 7.58224822e-04 1.42350628e+02] [-1.89927707e-01 9.81798066e-01 -1.50915375e-04 -1.22466268e+01] [-7.73086685e-04 4.16047690e-06 9.99999701e-01 -2.92027607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:-12.25, Z:-0.29 [[ 9.82062283e-01 1.88555289e-01 7.58232204e-04 1.42377842e+02] [-1.88555229e-01 9.82062576e-01 -1.50878278e-04 -1.22523250e+01] [-7.73080369e-04 5.20321983e-06 9.99999701e-01 -2.93557438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.41, Y:-12.26, Z:-0.29 [[ 9.82100863e-01 1.88354242e-01 7.58241369e-04 1.42406744e+02] [-1.88354182e-01 9.82101155e-01 -1.50832206e-04 -1.22565543e+01] [-7.73079610e-04 5.31450702e-06 9.99999701e-01 -2.94927068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.43, Y:-12.26, Z:-0.30 [[ 9.82040519e-01 1.88668612e-01 7.58248688e-04 1.42434372e+02] [-1.88668551e-01 9.82040811e-01 -1.50795405e-04 -1.22607497e+01] [-7.73081516e-04 5.02951602e-06 9.99999701e-01 -2.97131103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.46, Y:-12.27, Z:-0.30 [[ 9.81962195e-01 1.89075841e-01 7.58257777e-04 1.42463015e+02] [-1.89075781e-01 9.81962487e-01 -1.50749684e-04 -1.22660496e+01] [-7.73083816e-04 4.66230945e-06 9.99999701e-01 -2.95735515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.49, Y:-12.27, Z:-0.30 [[ 9.81717546e-01 1.90342023e-01 7.58265327e-04 1.42489894e+02] [-1.90341963e-01 9.81717838e-01 -1.50711699e-04 -1.22715295e+01] [-7.73089368e-04 3.62660768e-06 9.99999701e-01 -2.98477397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:-12.28, Z:-0.30 [[ 9.81667896e-01 1.90597921e-01 7.58274712e-04 1.42518439e+02] [-1.90597862e-01 9.81668189e-01 -1.50664467e-04 -1.22769729e+01] [-7.73090497e-04 3.37693207e-06 9.99999701e-01 -2.97420025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:-12.28, Z:-0.30 [[ 9.81826208e-01 1.89780719e-01 7.58281751e-04 1.42547148e+02] [-1.89780660e-01 9.81826501e-01 -1.50629032e-04 -1.22816569e+01] [-7.73087605e-04 3.98432018e-06 9.99999701e-01 -2.96160311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:-12.29, Z:-0.30 [[ 9.81942073e-01 1.89180310e-01 7.58289158e-04 1.42574665e+02] [-1.89180250e-01 9.81942366e-01 -1.50591734e-04 -1.22866816e+01] [-7.73085241e-04 4.41902686e-06 9.99999701e-01 -2.99168557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.814203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:142.60, Y:-12.29, Z:-0.30 [[ 9.82067275e-01 1.88529289e-01 7.58298380e-04 1.42602948e+02] [-1.88529229e-01 9.82067568e-01 -1.50545283e-04 -1.22918231e+01] [-7.73082441e-04 4.88418749e-06 9.99999701e-01 -2.99115005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:-12.30, Z:-0.30 [[ 9.82267299e-01 1.87484339e-01 7.58305721e-04 1.42631161e+02] [-1.87484279e-01 9.82267592e-01 -1.50508298e-04 -1.22968950e+01] [-7.73077083e-04 5.66897773e-06 9.99999701e-01 -2.99686237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:-12.30, Z:-0.30 [[ 9.82243160e-01 1.87610765e-01 7.58313081e-04 1.42659550e+02] [-1.87610705e-01 9.82243453e-01 -1.50471205e-04 -1.23023495e+01] [-7.73078077e-04 5.53166070e-06 9.99999701e-01 -3.00394899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:-12.31, Z:-0.30 [[ 9.82032004e-01 1.88712925e-01 7.58320425e-04 1.42686885e+02] [-1.88712865e-01 9.82032297e-01 -1.50434184e-04 -1.23101465e+01] [-7.73084024e-04 4.62636304e-06 9.99999701e-01 -3.00723388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:-12.32, Z:-0.30 [[ 9.81802911e-01 1.89901210e-01 7.58329572e-04 1.42713914e+02] [-1.89901151e-01 9.81803203e-01 -1.50388061e-04 -1.23166853e+01] [-7.73089278e-04 3.64377705e-06 9.99999701e-01 -3.01511470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:-12.32, Z:-0.30 [[ 9.81530843e-01 1.91302452e-01 7.58338602e-04 1.42742011e+02] [-1.91302393e-01 9.81531136e-01 -1.50342516e-04 -1.23230298e+01] [-7.73093841e-04 2.49382699e-06 9.99999701e-01 -2.98695389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:-12.33, Z:-0.30 [[ 9.80975012e-01 1.94132559e-01 7.58346046e-04 1.42769606e+02] [-1.94132501e-01 9.80975305e-01 -1.50304955e-04 -1.23302290e+01] [-7.73097830e-04 2.25790099e-07 9.99999701e-01 -2.97821312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.80, Y:-12.34, Z:-0.30 [[ 9.80701475e-01 1.95509700e-01 7.58353467e-04 1.42796944e+02] [-1.95509642e-01 9.80701768e-01 -1.50267502e-04 -1.23366516e+01] [-7.73097340e-04 -8.97853857e-07 9.99999701e-01 -2.98969282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.83, Y:-12.34, Z:-0.30 [[ 9.80436637e-01 1.96833499e-01 7.58362704e-04 1.42825431e+02] [-1.96833441e-01 9.80436930e-01 -1.50220873e-04 -1.23430683e+01] [-7.73095301e-04 -1.98909315e-06 9.99999701e-01 -2.98375999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.85, Y:-12.35, Z:-0.30 [[ 9.80204345e-01 1.97987036e-01 7.58369922e-04 1.42853360e+02] [-1.97986979e-01 9.80204639e-01 -1.50184425e-04 -1.23490562e+01] [-7.73092285e-04 -2.93594375e-06 9.99999701e-01 -2.97659973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:-12.36, Z:-0.30 [[ 9.79608492e-01 2.00914479e-01 7.58377408e-04 1.42880486e+02] [-2.00914423e-01 9.79608785e-01 -1.50146612e-04 -1.23551035e+01] [-7.73079800e-04 -5.28406330e-06 9.99999701e-01 -3.01071445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.91, Y:-12.36, Z:-0.31 [[ 9.79193668e-01 2.02926550e-01 7.58386875e-04 1.42907383e+02] [-2.02926494e-01 9.79193962e-01 -1.50098782e-04 -1.23610238e+01] [-7.73066877e-04 -6.92101262e-06 9.99999701e-01 -3.06112062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.94, Y:-12.37, Z:-0.30 [[ 9.78787022e-01 2.04878963e-01 7.58396035e-04 1.42936024e+02] [-2.04878908e-01 9.78787316e-01 -1.50052485e-04 -1.23669647e+01] [-7.73051017e-04 -8.50992609e-06 9.99999701e-01 -3.03482529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.96, Y:-12.37, Z:-0.30 [[ 9.77853319e-01 2.09290017e-01 7.58403203e-04 1.42963180e+02] [-2.09289963e-01 9.77853613e-01 -1.50016248e-04 -1.23709391e+01] [-7.73004215e-04 -1.20322925e-05 9.99999701e-01 -3.04730727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.99, Y:-12.38, Z:-0.30 [[ 9.77354576e-01 2.11606846e-01 7.58413038e-04 1.42991540e+02] [-2.11606793e-01 9.77354870e-01 -1.49966509e-04 -1.23753934e+01] [-7.72972616e-04 -1.39148976e-05 9.99999701e-01 -3.01754653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:-12.38, Z:-0.30 [[ 9.76403659e-01 2.15952122e-01 7.58420394e-04 1.43019636e+02] [-2.15952071e-01 9.76403954e-01 -1.49929299e-04 -1.23774561e+01] [-7.72902221e-04 -1.73909389e-05 9.99999701e-01 -3.04343584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.05, Y:-12.38, Z:-0.30 [[ 9.76047502e-01 2.17556196e-01 7.58429536e-04 1.43048444e+02] [-2.17556145e-01 9.76047797e-01 -1.49883040e-04 -1.23802404e+01] [-7.72871461e-04 -1.87080397e-05 9.99999701e-01 -3.04252986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32420382200002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:143.08, Y:-12.38, Z:-0.31 [[ 9.75729688e-01 2.18977168e-01 7.58436797e-04 1.43077222e+02] [-2.18977118e-01 9.75729983e-01 -1.49846287e-04 -1.23809051e+01] [-7.72842439e-04 -1.98708329e-05 9.99999701e-01 -3.06359036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.10, Y:-12.39, Z:-0.31 [[ 9.75945488e-01 2.18013368e-01 7.58444086e-04 1.43104894e+02] [-2.18013317e-01 9.75945783e-01 -1.49809387e-04 -1.23859005e+01] [-7.72860756e-04 -1.91451157e-05 9.99999701e-01 -3.09497322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.13, Y:-12.39, Z:-0.31 [[ 9.76402024e-01 2.15959515e-01 7.58453141e-04 1.43133048e+02] [-2.15959464e-01 9.76402319e-01 -1.49763528e-04 -1.23912762e+01] [-7.72898264e-04 -1.75657216e-05 9.99999701e-01 -3.08821452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.16, Y:-12.40, Z:-0.31 [[ 9.77111889e-01 2.12724661e-01 7.58460231e-04 1.43161293e+02] [-2.12724609e-01 9.77112183e-01 -1.49727616e-04 -1.23963915e+01] [-7.72951488e-04 -1.50425224e-05 9.99999701e-01 -3.05728754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.19, Y:-12.40, Z:-0.30 [[ 9.79067343e-01 2.03535163e-01 7.58467525e-04 1.43190267e+02] [-2.03535108e-01 9.79067637e-01 -1.49690656e-04 -1.24007847e+01] [-7.73058319e-04 -7.81753628e-06 9.99999701e-01 -2.99671627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.22, Y:-12.41, Z:-0.30 [[ 9.80102729e-01 1.98489460e-01 7.58471305e-04 1.43217501e+02] [-1.98489404e-01 9.80103022e-01 -1.49671500e-04 -1.24071419e+01] [-7.73088234e-04 -3.85507204e-06 9.99999701e-01 -3.02959537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.25, Y:-12.41, Z:-0.30 [[ 9.80116703e-01 1.98420448e-01 7.58480756e-04 1.43245483e+02] [-1.98420391e-01 9.80116996e-01 -1.49623589e-04 -1.24125212e+01] [-7.73088260e-04 -3.84946973e-06 9.99999701e-01 -3.02981563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.27, Y:-12.42, Z:-0.30 [[ 9.81113554e-01 1.93431172e-01 7.58491288e-04 1.43273648e+02] [-1.93431114e-01 9.81113848e-01 -1.49570181e-04 -1.24196384e+01] [-7.73097841e-04 2.95174498e-08 9.99999701e-01 -3.02989492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.30, Y:-12.43, Z:-0.30 [[ 9.81972710e-01 1.89021219e-01 7.58498320e-04 1.43301967e+02] [-1.89021160e-01 9.81973003e-01 -1.49534513e-04 -1.24262527e+01] [-7.73090069e-04 3.46657809e-06 9.99999701e-01 -3.02451474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.33, Y:-12.43, Z:-0.30 [[ 9.83133793e-01 1.82886221e-01 7.58505402e-04 1.43330365e+02] [-1.82886160e-01 9.83134086e-01 -1.49498578e-04 -1.24346401e+01] [-7.73053745e-04 8.25696355e-06 9.99999701e-01 -2.98735801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.36, Y:-12.44, Z:-0.30 [[ 9.83425720e-01 1.81309894e-01 7.58509176e-04 1.43358341e+02] [-1.81309832e-01 9.83426013e-01 -1.49479432e-04 -1.24427066e+01] [-7.73039754e-04 9.47674647e-06 9.99999701e-01 -2.99658296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.39, Y:-12.45, Z:-0.30 [[ 9.83429738e-01 1.81288102e-01 7.58512890e-04 1.43386985e+02] [-1.81288041e-01 9.83430030e-01 -1.49460582e-04 -1.24515941e+01] [-7.73039779e-04 9.47466514e-06 9.99999701e-01 -3.02155084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.42, Y:-12.46, Z:-0.30 [[ 9.83129345e-01 1.82910131e-01 7.58516595e-04 1.43415514e+02] [-1.82910070e-01 9.83129637e-01 -1.49441775e-04 -1.24570593e+01] [-7.73054560e-04 8.18027057e-06 9.99999701e-01 -3.03320602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.44, Y:-12.46, Z:-0.31 [[ 9.82684229e-01 1.85286620e-01 7.58523958e-04 1.43443765e+02] [-1.85286560e-01 9.82684521e-01 -1.49404392e-04 -1.24625503e+01] [-7.73072388e-04 6.27304528e-06 9.99999701e-01 -3.05362014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.47, Y:-12.47, Z:-0.31 [[ 9.81496120e-01 1.91480525e-01 7.58529452e-04 1.43471422e+02] [-1.91480466e-01 9.81496413e-01 -1.49376496e-04 -1.24695569e+01] [-7.73096626e-04 1.36887812e-06 9.99999701e-01 -3.05000296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.50, Y:-12.48, Z:-0.30 [[ 9.80756368e-01 1.95234146e-01 7.58536732e-04 1.43499205e+02] [-1.95234089e-01 9.80756661e-01 -1.49339520e-04 -1.24752650e+01] [-7.73096126e-04 -1.62654210e-06 9.99999701e-01 -3.04487620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.804203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:143.53, Y:-12.48, Z:-0.30 [[ 9.79943956e-01 1.99271841e-01 7.58544014e-04 1.43527365e+02] [-1.99271786e-01 9.79944250e-01 -1.49302523e-04 -1.24796635e+01] [-7.73082633e-04 -4.84831504e-06 9.99999701e-01 -3.04382948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.56, Y:-12.48, Z:-0.30 [[ 9.78583167e-01 2.05850454e-01 7.58551247e-04 1.43555652e+02] [-2.05850400e-01 9.78583461e-01 -1.49265762e-04 -1.24842462e+01] [-7.73032130e-04 -1.00791155e-05 9.99999701e-01 -3.03279982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.864203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:143.58, Y:-12.49, Z:-0.31 [[ 9.77953494e-01 2.08821428e-01 7.58558585e-04 1.43583022e+02] [-2.08821375e-01 9.77953788e-01 -1.49228462e-04 -1.24898703e+01] [-7.72997342e-04 -1.24647509e-05 9.99999701e-01 -3.05392659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.61, Y:-12.50, Z:-0.31 [[ 9.77353984e-01 2.11609581e-01 7.58567709e-04 1.43610697e+02] [-2.11609529e-01 9.77354278e-01 -1.49182068e-04 -1.24950229e+01] [-7.72957751e-04 -1.47164666e-05 9.99999701e-01 -3.05194780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.64, Y:-12.50, Z:-0.30 [[ 9.76250146e-01 2.16645049e-01 7.58577900e-04 1.43639539e+02] [-2.16644998e-01 9.76250440e-01 -1.49130230e-04 -1.24982685e+01] [-7.72870335e-04 -1.87536990e-05 9.99999701e-01 -3.01236011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.67, Y:-12.50, Z:-0.30 [[ 9.75758034e-01 2.18850827e-01 7.58585152e-04 1.43668394e+02] [-2.18850777e-01 9.75758328e-01 -1.49093334e-04 -1.25030749e+01] [-7.72824979e-04 -2.05379322e-05 9.99999701e-01 -2.99759395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.70, Y:-12.50, Z:-0.30 [[ 9.75047718e-01 2.21994081e-01 7.58592434e-04 1.43695337e+02] [-2.21994032e-01 9.75048013e-01 -1.49056275e-04 -1.25047942e+01] [-7.72753656e-04 -2.30660118e-05 9.99999701e-01 -3.01484727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.014203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:143.72, Y:-12.51, Z:-0.30 [[ 9.74790946e-01 2.23118882e-01 7.58605054e-04 1.43724654e+02] [-2.23118834e-01 9.74791241e-01 -1.48992017e-04 -1.25069939e+01] [-7.72724494e-04 -2.40230057e-05 9.99999701e-01 -3.03257796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.75, Y:-12.51, Z:-0.31 [[ 9.74775732e-01 2.23185343e-01 7.58612107e-04 1.43752284e+02] [-2.23185295e-01 9.74776027e-01 -1.48956097e-04 -1.25095195e+01] [-7.72721713e-04 -2.41122780e-05 9.99999701e-01 -3.08345872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.78, Y:-12.51, Z:-0.30 [[ 9.74923570e-01 2.22538662e-01 7.58620871e-04 1.43781088e+02] [-2.22538614e-01 9.74923865e-01 -1.48911450e-04 -1.25145279e+01] [-7.72736147e-04 -2.36451546e-05 9.99999701e-01 -3.04743394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.81, Y:-12.52, Z:-0.30 [[ 9.75683047e-01 2.19184892e-01 7.58627935e-04 1.43809110e+02] [-2.19184843e-01 9.75683341e-01 -1.48875454e-04 -1.25196974e+01] [-7.72811889e-04 -2.10244878e-05 9.99999701e-01 -3.02399472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.84, Y:-12.52, Z:-0.30 [[ 9.76173026e-01 2.16992278e-01 7.58635176e-04 1.43836266e+02] [-2.16992228e-01 9.76173320e-01 -1.48838545e-04 -1.25237733e+01] [-7.72856234e-04 -1.93257641e-05 9.99999701e-01 -3.04684685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.86, Y:-12.53, Z:-0.30 [[ 9.76719290e-01 2.14520051e-01 7.58644167e-04 1.43864616e+02] [-2.14520000e-01 9.76719585e-01 -1.48792704e-04 -1.25283402e+01] [-7.72901634e-04 -1.74156430e-05 9.99999701e-01 -3.02206382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.89, Y:-12.53, Z:-0.30 [[ 9.77908253e-01 2.09033186e-01 7.58651338e-04 1.43892878e+02] [-2.09033134e-01 9.77908547e-01 -1.48756133e-04 -1.25318630e+01] [-7.72986596e-04 -1.31134160e-05 9.99999701e-01 -3.02126761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.92, Y:-12.53, Z:-0.30 [[ 9.78489377e-01 2.06295817e-01 7.58658512e-04 1.43921894e+02] [-2.06295763e-01 9.78489671e-01 -1.48719537e-04 -1.25349702e+01] [-7.73019736e-04 -1.09875500e-05 9.99999701e-01 -3.00762373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.95, Y:-12.54, Z:-0.31 [[ 9.79552861e-01 2.01185528e-01 7.58665987e-04 1.43949477e+02] [-2.01185474e-01 9.79553155e-01 -1.48681394e-04 -1.25384374e+01] [-7.73066206e-04 -6.99129123e-06 9.99999701e-01 -3.05499102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.98, Y:-12.55, Z:-0.31 [[ 9.80080661e-01 1.98598397e-01 7.58676022e-04 1.43977916e+02] [-1.98598341e-01 9.80080954e-01 -1.48630170e-04 -1.25455119e+01] [-7.73081633e-04 -5.00224374e-06 9.99999701e-01 -3.05224421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.00, Y:-12.55, Z:-0.31 [[ 9.80533143e-01 1.96352185e-01 7.58681443e-04 1.44004813e+02] [-1.96352128e-01 9.80533436e-01 -1.48602495e-04 -1.25519245e+01] [-7.73090947e-04 -3.25904429e-06 9.99999701e-01 -3.09035187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.03, Y:-12.56, Z:-0.31 [[ 9.81299125e-01 1.92487534e-01 7.58690931e-04 1.44033557e+02] [-1.92487477e-01 9.81299419e-01 -1.48554035e-04 -1.25560271e+01] [-7.73097770e-04 -2.62558849e-07 9.99999701e-01 -3.06540050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.06, Y:-12.56, Z:-0.30 [[ 9.81598371e-01 1.90955654e-01 7.58697922e-04 1.44062215e+02] [-1.90955597e-01 9.81598664e-01 -1.48518325e-04 -1.25604780e+01] [-7.73097281e-04 9.07731318e-07 9.99999701e-01 -3.03204488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.09, Y:-12.56, Z:-0.30 [[ 9.81791229e-01 1.89961593e-01 7.58705198e-04 1.44089835e+02] [-1.89961535e-01 9.81791522e-01 -1.48481144e-04 -1.25649523e+01] [-7.73096046e-04 1.65268036e-06 9.99999701e-01 -3.03818946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.12, Y:-12.57, Z:-0.30 [[ 9.82113589e-01 1.88287869e-01 7.58714248e-04 1.44118713e+02] [-1.88287811e-01 9.82113883e-01 -1.48434884e-04 -1.25687463e+01] [-7.73092284e-04 2.92327175e-06 9.99999701e-01 -3.01139556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.15, Y:-12.57, Z:-0.30 [[ 9.82292134e-01 1.87354177e-01 7.58721298e-04 1.44146843e+02] [-1.87354118e-01 9.82292427e-01 -1.48398841e-04 -1.25743008e+01] [-7.73089328e-04 3.62145513e-06 9.99999701e-01 -2.98468120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.17, Y:-12.58, Z:-0.30 [[ 9.82505405e-01 1.86232526e-01 7.58728598e-04 1.44173907e+02] [-1.86232467e-01 9.82505698e-01 -1.48361511e-04 -1.25807036e+01] [-7.73084909e-04 4.46608845e-06 9.99999701e-01 -2.99860688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.524203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.20, Y:-12.59, Z:-0.30 [[ 9.82712370e-01 1.85137306e-01 7.58738469e-04 1.44201951e+02] [-1.85137246e-01 9.82712663e-01 -1.48311010e-04 -1.25871932e+01] [-7.73079802e-04 5.27631299e-06 9.99999701e-01 -3.00206853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.23, Y:-12.60, Z:-0.30 [[ 9.83034524e-01 1.83419053e-01 7.58745663e-04 1.44229190e+02] [-1.83418993e-01 9.83034817e-01 -1.48274198e-04 -1.25950494e+01] [-7.73069717e-04 6.59028966e-06 9.99999701e-01 -3.00293605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.26, Y:-12.60, Z:-0.30 [[ 9.83066080e-01 1.83249850e-01 7.58754587e-04 1.44257819e+02] [-1.83249790e-01 9.83066372e-01 -1.48228515e-04 -1.26011478e+01] [-7.73068973e-04 6.67680621e-06 9.99999701e-01 -2.98773108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.29, Y:-12.61, Z:-0.30 [[ 9.82753540e-01 1.84918639e-01 7.58761888e-04 1.44285060e+02] [-1.84918580e-01 9.82753833e-01 -1.48191135e-04 -1.26061917e+01] [-7.73079457e-04 5.32619179e-06 9.99999701e-01 -2.97579134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.31, Y:-12.61, Z:-0.30 [[ 9.82412228e-01 1.86723427e-01 7.58770954e-04 1.44313433e+02] [-1.86723369e-01 9.82412521e-01 -1.48144699e-04 -1.26118366e+01] [-7.73088172e-04 3.85889494e-06 9.99999701e-01 -2.97594175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.34, Y:-12.62, Z:-0.30 [[ 9.81921963e-01 1.89284663e-01 7.58778223e-04 1.44340902e+02] [-1.89284605e-01 9.81922256e-01 -1.48107458e-04 -1.26169580e+01] [-7.73095695e-04 1.80492906e-06 9.99999701e-01 -2.99542344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.37, Y:-12.62, Z:-0.30 [[ 9.80832889e-01 1.94849348e-01 7.58787823e-04 1.44370168e+02] [-1.94849291e-01 9.80833182e-01 -1.48058261e-04 -1.26194774e+01] [-7.73093331e-04 -2.62885778e-06 9.99999701e-01 -3.01464440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.40, Y:-12.62, Z:-0.30 [[ 9.80341726e-01 1.97305665e-01 7.58795084e-04 1.44398553e+02] [-1.97305609e-01 9.80342019e-01 -1.48021041e-04 -1.26236775e+01] [-7.73084094e-04 -4.60332357e-06 9.99999701e-01 -3.02761416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.42, Y:-12.63, Z:-0.31 [[ 9.79970349e-01 1.99142008e-01 7.58802371e-04 1.44424897e+02] [-1.99141953e-01 9.79970643e-01 -1.47983672e-04 -1.26284542e+01] [-7.73073813e-04 -6.08977539e-06 9.99999701e-01 -3.07118000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.45, Y:-12.63, Z:-0.30 [[ 9.79735302e-01 2.00295189e-01 7.58815065e-04 1.44453371e+02] [-2.00295134e-01 9.79735596e-01 -1.47918553e-04 -1.26338254e+01] [-7.73065504e-04 -7.06593733e-06 9.99999701e-01 -3.02962564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.48, Y:-12.64, Z:-0.30 [[ 9.79600867e-01 2.00951650e-01 7.58822140e-04 1.44482161e+02] [-2.00951596e-01 9.79601161e-01 -1.47882252e-04 -1.26374073e+01] [-7.73060232e-04 -7.62093763e-06 9.99999701e-01 -3.01433715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.51, Y:-12.64, Z:-0.30 [[ 9.79770011e-01 2.00125335e-01 7.58829293e-04 1.44510366e+02] [-2.00125281e-01 9.79770305e-01 -1.47845535e-04 -1.26424315e+01] [-7.73066045e-04 -7.00630352e-06 9.99999701e-01 -3.00582088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.54, Y:-12.65, Z:-0.30 [[ 9.80413952e-01 1.96946459e-01 7.58836476e-04 1.44538596e+02] [-1.96946404e-01 9.80414245e-01 -1.47808661e-04 -1.26491167e+01] [-7.73084483e-04 -4.53644139e-06 9.99999701e-01 -3.00048988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.57, Y:-12.66, Z:-0.30 [[ 9.80767879e-01 1.95176308e-01 7.58843652e-04 1.44566509e+02] [-1.95176253e-01 9.80768173e-01 -1.47771810e-04 -1.26550941e+01] [-7.73091258e-04 -3.17841550e-06 9.99999701e-01 -2.99384002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.59, Y:-12.66, Z:-0.30 [[ 9.81053766e-01 1.93734179e-01 7.58850872e-04 1.44593335e+02] [-1.93734122e-01 9.81054060e-01 -1.47734726e-04 -1.26608512e+01] [-7.73094994e-04 -2.07959813e-06 9.99999701e-01 -3.00643067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.62, Y:-12.67, Z:-0.30 [[ 9.81689888e-01 1.90484611e-01 7.58859865e-04 1.44621269e+02] [-1.90484554e-01 9.81690182e-01 -1.47688514e-04 -1.26684860e+01] [-7.73097668e-04 4.33237976e-07 9.99999701e-01 -2.98656733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.65, Y:-12.67, Z:-0.30 [[ 9.81983095e-01 1.88967261e-01 7.58866810e-04 1.44648945e+02] [-1.88967204e-01 9.81983388e-01 -1.47652821e-04 -1.26747880e+01] [-7.73096150e-04 1.59163448e-06 9.99999701e-01 -2.96673500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.68, Y:-12.68, Z:-0.30 [[ 9.82357682e-01 1.87010185e-01 7.58875545e-04 1.44675584e+02] [-1.87010126e-01 9.82357975e-01 -1.47607916e-04 -1.26825196e+01] [-7.73091627e-04 3.08635839e-06 9.99999701e-01 -2.96179129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:-12.69, Z:-0.30 [[ 9.82379303e-01 1.86896572e-01 7.58885014e-04 1.44703192e+02] [-1.86896514e-01 9.82379596e-01 -1.47559213e-04 -1.26899002e+01] [-7.73091465e-04 3.12615305e-06 9.99999701e-01 -2.97057095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.73, Y:-12.70, Z:-0.30 [[ 9.82314144e-01 1.87238743e-01 7.58891854e-04 1.44731118e+02] [-1.87238684e-01 9.82314437e-01 -1.47524032e-04 -1.26971752e+01] [-7.73092638e-04 2.82103050e-06 9.99999701e-01 -2.97306268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.76, Y:-12.70, Z:-0.30 [[ 9.82148391e-01 1.88106253e-01 7.58899058e-04 1.44758379e+02] [-1.88106195e-01 9.82148684e-01 -1.47486958e-04 -1.27035531e+01] [-7.73094931e-04 2.10046477e-06 9.99999701e-01 -2.98678623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.79, Y:-12.71, Z:-0.30 [[ 9.81483026e-01 1.91547630e-01 7.58908617e-04 1.44785805e+02] [-1.91547573e-01 9.81483319e-01 -1.47437760e-04 -1.27092205e+01] [-7.73097501e-04 -6.59445482e-07 9.99999701e-01 -3.00643674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.81, Y:-12.71, Z:-0.30 [[ 9.81085333e-01 1.93574257e-01 7.58917482e-04 1.44814015e+02] [-1.93574201e-01 9.81085627e-01 -1.47392112e-04 -1.27142303e+01] [-7.73094352e-04 -2.30260576e-06 9.99999701e-01 -3.01060774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.84, Y:-12.72, Z:-0.30 [[ 9.80326007e-01 1.97383747e-01 7.58924413e-04 1.44842167e+02] [-1.97383692e-01 9.80326301e-01 -1.47356416e-04 -1.27226536e+01] [-7.73079324e-04 -5.34197574e-06 9.99999701e-01 -3.03104998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.87, Y:-12.73, Z:-0.30 [[ 9.80126870e-01 1.98370215e-01 7.58931541e-04 1.44869994e+02] [-1.98370160e-01 9.80127164e-01 -1.47319697e-04 -1.27298187e+01] [-7.73073259e-04 -6.15737772e-06 9.99999701e-01 -3.03043579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.90, Y:-12.74, Z:-0.30 [[ 9.80060349e-01 1.98698604e-01 7.58938720e-04 1.44898500e+02] [-1.98698550e-01 9.80060643e-01 -1.47282704e-04 -1.27363523e+01] [-7.73070837e-04 -6.45408441e-06 9.99999701e-01 -3.01583758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.93, Y:-12.74, Z:-0.30 [[ 9.80196653e-01 1.98025115e-01 7.58945976e-04 1.44925416e+02] [-1.98025060e-01 9.80196947e-01 -1.47245301e-04 -1.27422191e+01] [-7.73074796e-04 -5.96097081e-06 9.99999701e-01 -3.02310947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.95, Y:-12.75, Z:-0.30 [[ 9.80694195e-01 1.95546211e-01 7.58954996e-04 1.44953443e+02] [-1.95546155e-01 9.80694488e-01 -1.47198797e-04 -1.27498064e+01] [-7.73087148e-04 -4.05372555e-06 9.99999701e-01 -3.00407237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.364203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:144.98, Y:-12.76, Z:-0.30 [[ 9.81032165e-01 1.93843532e-01 7.58962176e-04 1.44981364e+02] [-1.93843476e-01 9.81032459e-01 -1.47161766e-04 -1.27559711e+01] [-7.73092886e-04 -2.74944051e-06 9.99999701e-01 -3.01713922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.01, Y:-12.76, Z:-0.30 [[ 9.81739308e-01 1.90229745e-01 7.58969435e-04 1.45008271e+02] [-1.90229688e-01 9.81739601e-01 -1.47124319e-04 -1.27642591e+01] [-7.73097772e-04 5.92074303e-08 9.99999701e-01 -3.03212401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.04, Y:-12.77, Z:-0.30 [[ 9.81994923e-01 1.88905784e-01 7.58978482e-04 1.45036927e+02] [-1.88905727e-01 9.81995216e-01 -1.47077635e-04 -1.27710476e+01] [-7.73097054e-04 1.05410869e-06 9.99999701e-01 -2.98724642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.07, Y:-12.78, Z:-0.30 [[ 9.81999604e-01 1.88881450e-01 7.58982126e-04 1.45066548e+02] [-1.88881393e-01 9.81999897e-01 -1.47058827e-04 -1.27767418e+01] [-7.73097054e-04 1.05410869e-06 9.99999701e-01 -2.98747960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.09, Y:-12.78, Z:-0.30 [[ 9.82123786e-01 1.88234675e-01 7.58985770e-04 1.45093859e+02] [-1.88234618e-01 9.82124079e-01 -1.47040019e-04 -1.27840434e+01] [-7.73096230e-04 1.54410372e-06 9.99999701e-01 -2.99832315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.12, Y:-12.80, Z:-0.30 [[ 9.82179156e-01 1.87945547e-01 7.58989560e-04 1.45122196e+02] [-1.87945489e-01 9.82179450e-01 -1.47020453e-04 -1.27950498e+01] [-7.73095787e-04 1.75176021e-06 9.99999701e-01 -2.99489840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.15, Y:-12.80, Z:-0.30 [[ 9.82108562e-01 1.88314088e-01 7.58993193e-04 1.45150745e+02] [-1.88314031e-01 9.82108856e-01 -1.47001694e-04 -1.28027756e+01] [-7.73096426e-04 1.44255439e-06 9.99999701e-01 -2.99370745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.18, Y:-12.81, Z:-0.30 [[ 9.81568072e-01 1.91111339e-01 7.58996836e-04 1.45178123e+02] [-1.91111282e-01 9.81568366e-01 -1.46982880e-04 -1.28102826e+01] [-7.73097379e-04 -7.79156705e-07 9.99999701e-01 -3.00047067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:145.21, Y:-12.82, Z:-0.30 [[ 9.81190088e-01 1.93042574e-01 7.59000574e-04 1.45206950e+02] [-1.93042518e-01 9.81190381e-01 -1.46963578e-04 -1.28169368e+01] [-7.73094290e-04 -2.32017603e-06 9.99999701e-01 -3.02055520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63420382200002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:145.24, Y:-12.82, Z:-0.30 [[ 9.80745639e-01 1.95288034e-01 7.59004118e-04 1.45236076e+02] [-1.95287979e-01 9.80745932e-01 -1.46945268e-04 -1.28237835e+01] [-7.73086854e-04 -4.10845010e-06 9.99999701e-01 -3.01964256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.26, Y:-12.83, Z:-0.30 [[ 9.80271023e-01 1.97656635e-01 7.59007753e-04 1.45263803e+02] [-1.97656580e-01 9.80271317e-01 -1.46926495e-04 -1.28301788e+01] [-7.73074526e-04 -5.99509162e-06 9.99999701e-01 -3.03670306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.29, Y:-12.84, Z:-0.31 [[ 9.79291163e-01 2.02455533e-01 7.59013180e-04 1.45291466e+02] [-2.02455480e-01 9.79291457e-01 -1.46898449e-04 -1.28355163e+01] [-7.73035527e-04 -9.81002433e-06 9.99999701e-01 -3.06125371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.32, Y:-12.84, Z:-0.31 [[ 9.78894151e-01 2.04366498e-01 7.59022041e-04 1.45319632e+02] [-2.04366445e-01 9.78894445e-01 -1.46852651e-04 -1.28405707e+01] [-7.73014222e-04 -1.13654352e-05 9.99999701e-01 -3.05698868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.35, Y:-12.85, Z:-0.31 [[ 9.78358316e-01 2.06916477e-01 7.59028922e-04 1.45347733e+02] [-2.06916425e-01 9.78358611e-01 -1.46817078e-04 -1.28459369e+01] [-7.72981354e-04 -1.34158420e-05 9.99999701e-01 -3.07375825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.37, Y:-12.85, Z:-0.31 [[ 9.78251990e-01 2.07418583e-01 7.59035881e-04 1.45374550e+02] [-2.07418531e-01 9.78252284e-01 -1.46781093e-04 -1.28519230e+01] [-7.72973710e-04 -1.38492108e-05 9.99999701e-01 -3.09105700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.40, Y:-12.86, Z:-0.31 [[ 9.78281793e-01 2.07277973e-01 7.59044535e-04 1.45402930e+02] [-2.07277921e-01 9.78282087e-01 -1.46736328e-04 -1.28583352e+01] [-7.72974880e-04 -1.37836955e-05 9.99999701e-01 -3.06579862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.43, Y:-12.86, Z:-0.30 [[ 9.78317428e-01 2.07109714e-01 7.59051533e-04 1.45430518e+02] [-2.07109662e-01 9.78317723e-01 -1.46700115e-04 -1.28637834e+01] [-7.72976586e-04 -1.36876271e-05 9.99999701e-01 -3.03316939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.46, Y:-12.87, Z:-0.30 [[ 9.78347890e-01 2.06965770e-01 7.59058499e-04 1.45460162e+02] [-2.06965718e-01 9.78348184e-01 -1.46664065e-04 -1.28686998e+01] [-7.72977945e-04 -1.36106093e-05 9.99999701e-01 -3.01507466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.49, Y:-12.87, Z:-0.30 [[ 9.78324468e-01 2.07076457e-01 7.59062073e-04 1.45488694e+02] [-2.07076406e-01 9.78324762e-01 -1.46645565e-04 -1.28734159e+01] [-7.72976066e-04 -1.37169019e-05 9.99999701e-01 -3.03719558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.52, Y:-12.88, Z:-0.30 [[ 9.78176370e-01 2.07774911e-01 7.59067392e-04 1.45516704e+02] [-2.07774860e-01 9.78176664e-01 -1.46618027e-04 -1.28763774e+01] [-7.72965557e-04 -1.42968315e-05 9.99999701e-01 -3.03078822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.964203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:145.55, Y:-12.88, Z:-0.30 [[ 9.78076595e-01 2.08244083e-01 7.59075893e-04 1.45545090e+02] [-2.08244032e-01 9.78076889e-01 -1.46574002e-04 -1.28799644e+01] [-7.72957757e-04 -1.47124241e-05 9.99999701e-01 -3.02236534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.57, Y:-12.88, Z:-0.30 [[ 9.77974930e-01 2.08721010e-01 7.59082927e-04 1.45572528e+02] [-2.08720959e-01 9.77975225e-01 -1.46537565e-04 -1.28823042e+01] [-7.72949765e-04 -1.51264510e-05 9.99999701e-01 -3.01147596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.60, Y:-12.89, Z:-0.30 [[ 9.77986415e-01 2.08667191e-01 7.59093433e-04 1.45601021e+02] [-2.08667140e-01 9.77986709e-01 -1.46483124e-04 -1.28859561e+01] [-7.72949510e-04 -1.51393503e-05 9.99999701e-01 -3.01063752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.63, Y:-12.89, Z:-0.30 [[ 9.78090395e-01 2.08179256e-01 7.59100350e-04 1.45628620e+02] [-2.08179205e-01 9.78090690e-01 -1.46447267e-04 -1.28895180e+01] [-7.72956268e-04 -1.47902424e-05 9.99999701e-01 -3.01945280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.66, Y:-12.89, Z:-0.30 [[ 9.78451966e-01 2.06473180e-01 7.59109605e-04 1.45657367e+02] [-2.06473129e-01 9.78452260e-01 -1.46399278e-04 -1.28927760e+01] [-7.72980034e-04 -1.34910738e-05 9.99999701e-01 -3.00879877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.69, Y:-12.90, Z:-0.30 [[ 9.78762686e-01 2.04995190e-01 7.59116544e-04 1.45686248e+02] [-2.04995138e-01 9.78762980e-01 -1.46363289e-04 -1.28961886e+01] [-7.72998942e-04 -1.23602746e-05 9.99999701e-01 -3.01096314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.71, Y:-12.90, Z:-0.30 [[ 9.79144072e-01 2.03165722e-01 7.59123572e-04 1.45714870e+02] [-2.03165670e-01 9.79144366e-01 -1.46326828e-04 -1.28991332e+01] [-7.73020165e-04 -1.09528028e-05 9.99999701e-01 -3.01086935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.74, Y:-12.90, Z:-0.30 [[ 9.79626293e-01 2.00827664e-01 7.59130664e-04 1.45743505e+02] [-2.00827610e-01 9.79626587e-01 -1.46290029e-04 -1.29023557e+01] [-7.73043666e-04 -9.14483851e-06 9.99999701e-01 -3.00523649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.77, Y:-12.91, Z:-0.30 [[ 9.80744050e-01 1.95296014e-01 7.59137786e-04 1.45772414e+02] [-1.95295959e-01 9.80744343e-01 -1.46253061e-04 -1.29063501e+01] [-7.73082729e-04 -4.81972294e-06 9.99999701e-01 -2.99672703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.80, Y:-12.91, Z:-0.30 [[ 9.82028322e-01 1.88732080e-01 7.59143103e-04 1.45799578e+02] [-1.88732023e-01 9.82028616e-01 -1.46225456e-04 -1.29100090e+01] [-7.73097685e-04 3.22925110e-07 9.99999701e-01 -2.98722895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.83, Y:-12.91, Z:-0.30 [[ 9.82631776e-01 1.85564588e-01 7.59151966e-04 1.45826739e+02] [-1.85564531e-01 9.82632069e-01 -1.46179427e-04 -1.29149982e+01] [-7.73092793e-04 2.76887105e-06 9.99999701e-01 -2.98870225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.86, Y:-12.92, Z:-0.30 [[ 9.83222294e-01 1.82409825e-01 7.59160789e-04 1.45855492e+02] [-1.82409766e-01 9.83222587e-01 -1.46133593e-04 -1.29207683e+01] [-7.73080238e-04 5.20346465e-06 9.99999701e-01 -2.98042678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.88, Y:-12.93, Z:-0.30 [[ 9.83750379e-01 1.79540009e-01 7.59167847e-04 1.45883076e+02] [-1.79539950e-01 9.83750672e-01 -1.46096917e-04 -1.29266378e+01] [-7.73062122e-04 7.42194100e-06 9.99999701e-01 -2.99418933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35420382200002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:145.91, Y:-12.93, Z:-0.30 [[ 9.84582683e-01 1.74918165e-01 7.59173101e-04 1.45912495e+02] [-1.74918105e-01 9.84582975e-01 -1.46069611e-04 -1.29312777e+01] [-7.73019139e-04 1.10244898e-05 9.99999701e-01 -3.01951465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38420382200002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:145.94, Y:-12.94, Z:-0.30 [[ 9.84791868e-01 1.73736581e-01 7.59176662e-04 1.45941964e+02] [-1.73736520e-01 9.84792161e-01 -1.46051103e-04 -1.29361733e+01] [-7.73005644e-04 1.19332276e-05 9.99999701e-01 -3.01738680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.97, Y:-12.94, Z:-0.30 [[ 9.84762872e-01 1.73900862e-01 7.59180271e-04 1.45970621e+02] [-1.73900801e-01 9.84763164e-01 -1.46032339e-04 -1.29423071e+01] [-7.73007916e-04 1.17851685e-05 9.99999701e-01 -3.02842231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.00, Y:-12.95, Z:-0.30 [[ 9.84623624e-01 1.74687560e-01 7.59185650e-04 1.45998779e+02] [-1.74687499e-01 9.84623916e-01 -1.46004370e-04 -1.29475905e+01] [-7.73017495e-04 1.11391091e-05 9.99999701e-01 -3.04349774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.474203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:146.03, Y:-12.95, Z:-0.31 [[ 9.84438996e-01 1.75725029e-01 7.59191002e-04 1.46026321e+02] [-1.75724969e-01 9.84439289e-01 -1.45976535e-04 -1.29513645e+01] [-7.73029181e-04 1.02961790e-05 9.99999701e-01 -3.07033884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.504203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:146.05, Y:-12.95, Z:-0.31 [[ 9.83873352e-01 1.78864893e-01 7.59199842e-04 1.46053768e+02] [-1.78864834e-01 9.83873645e-01 -1.45930546e-04 -1.29535638e+01] [-7.73058567e-04 7.78302188e-06 9.99999701e-01 -3.09535792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.08, Y:-12.96, Z:-0.31 [[ 9.83525885e-01 1.80765754e-01 7.59208614e-04 1.46082398e+02] [-1.80765695e-01 9.83526178e-01 -1.45884894e-04 -1.29586179e+01] [-7.73072539e-04 6.24269697e-06 9.99999701e-01 -3.08381247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.11, Y:-12.96, Z:-0.31 [[ 9.83050850e-01 1.83331530e-01 7.59215413e-04 1.46110582e+02] [-1.83331472e-01 9.83051143e-01 -1.45849500e-04 -1.29636013e+01] [-7.73086392e-04 4.18939575e-06 9.99999701e-01 -3.06712719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.14, Y:-12.97, Z:-0.31 [[ 9.82928410e-01 1.83986860e-01 7.59222447e-04 1.46138721e+02] [-1.83986802e-01 9.82928703e-01 -1.45812877e-04 -1.29688619e+01] [-7.73089189e-04 3.63670869e-06 9.99999701e-01 -3.06056672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.17, Y:-12.97, Z:-0.31 [[ 9.82885002e-01 1.84218610e-01 7.59229690e-04 1.46166162e+02] [-1.84218552e-01 9.82885295e-01 -1.45775154e-04 -1.29746270e+01] [-7.73090194e-04 3.41601817e-06 9.99999701e-01 -3.08252395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.19, Y:-12.98, Z:-0.31 [[ 9.82919015e-01 1.84037044e-01 7.59239119e-04 1.46194421e+02] [-1.84036986e-01 9.82919308e-01 -1.45726030e-04 -1.29812085e+01] [-7.73089777e-04 3.50880726e-06 9.99999701e-01 -3.09716686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.22, Y:-12.99, Z:-0.31 [[ 9.83181495e-01 1.82629601e-01 7.59246152e-04 1.46221045e+02] [-1.82629543e-01 9.83181788e-01 -1.45689374e-04 -1.29893623e+01] [-7.73084182e-04 4.57831918e-06 9.99999701e-01 -3.10867016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.714203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.25, Y:-13.00, Z:-0.31 [[ 9.83393526e-01 1.81484428e-01 7.59255383e-04 1.46249661e+02] [-1.81484369e-01 9.83393819e-01 -1.45641252e-04 -1.29956425e+01] [-7.73078670e-04 5.42968028e-06 9.99999701e-01 -3.08754771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.28, Y:-13.00, Z:-0.30 [[ 9.83613114e-01 1.80290501e-01 7.59262383e-04 1.46278698e+02] [-1.80290443e-01 9.83613407e-01 -1.45604753e-04 -1.30032554e+01] [-7.73071813e-04 6.33099389e-06 9.99999701e-01 -3.04395993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.31, Y:-13.01, Z:-0.30 [[ 9.83600559e-01 1.80358984e-01 7.59265968e-04 1.46306618e+02] [-1.80358925e-01 9.83600852e-01 -1.45586057e-04 -1.30103704e+01] [-7.73072406e-04 6.25813305e-06 9.99999701e-01 -3.03353454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.33, Y:-13.02, Z:-0.30 [[ 9.83463768e-01 1.81103399e-01 7.59271309e-04 1.46334417e+02] [-1.81103341e-01 9.83464061e-01 -1.45558195e-04 -1.30181702e+01] [-7.73077129e-04 5.64464082e-06 9.99999701e-01 -3.04446797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.36, Y:-13.03, Z:-0.30 [[ 9.83227997e-01 1.82379081e-01 7.59276592e-04 1.46361340e+02] [-1.82379023e-01 9.83228290e-01 -1.45530633e-04 -1.30262298e+01] [-7.73083968e-04 4.61366993e-06 9.99999701e-01 -3.03611548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.39, Y:-13.04, Z:-0.30 [[ 9.82386160e-01 1.86860524e-01 7.59285070e-04 1.46389340e+02] [-1.86860467e-01 9.82386454e-01 -1.45486387e-04 -1.30351829e+01] [-7.73097030e-04 1.04345015e-06 9.99999701e-01 -3.00800642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.894203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.42, Y:-13.04, Z:-0.30 [[ 9.81836652e-01 1.89726677e-01 7.59292222e-04 1.46418800e+02] [-1.89726621e-01 9.81836946e-01 -1.45449051e-04 -1.30407331e+01] [-7.73096721e-04 -1.25073899e-06 9.99999701e-01 -3.01772829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.45, Y:-13.05, Z:-0.30 [[ 9.81147940e-01 1.93256678e-01 7.59295816e-04 1.46446536e+02] [-1.93256624e-01 9.81148234e-01 -1.45430288e-04 -1.30466567e+01] [-7.73087123e-04 -4.05031798e-06 9.99999701e-01 -3.03125861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.47, Y:-13.05, Z:-0.30 [[ 9.79616857e-01 2.00873684e-01 7.59301175e-04 1.46474401e+02] [-2.00873632e-01 9.79617151e-01 -1.45402303e-04 -1.30525963e+01] [-7.73031950e-04 -1.00850373e-05 9.99999701e-01 -3.02338475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.50, Y:-13.06, Z:-0.30 [[ 9.78853463e-01 2.04561291e-01 7.59307905e-04 1.46503095e+02] [-2.04561239e-01 9.78853757e-01 -1.45367145e-04 -1.30576824e+01] [-7.72987887e-04 -1.30318326e-05 9.99999701e-01 -2.99340206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.53, Y:-13.06, Z:-0.30 [[ 9.77406152e-01 2.11368486e-01 7.59315068e-04 1.46530243e+02] [-2.11368437e-01 9.77406447e-01 -1.45329724e-04 -1.30616595e+01] [-7.72877566e-04 -1.84490721e-05 9.99999701e-01 -3.01679691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.56, Y:-13.07, Z:-0.30 [[ 9.76829680e-01 2.14016820e-01 7.59323961e-04 1.46559026e+02] [-2.14016772e-01 9.76829975e-01 -1.45283241e-04 -1.30666984e+01] [-7.72823464e-04 -2.05910811e-05 9.99999701e-01 -2.99836003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.59, Y:-13.07, Z:-0.30 [[ 9.76005459e-01 2.17744731e-01 7.59331026e-04 1.46587198e+02] [-2.17744684e-01 9.76005754e-01 -1.45246308e-04 -1.30702208e+01] [-7.72738069e-04 -2.35791046e-05 9.99999701e-01 -3.03806588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.62, Y:-13.07, Z:-0.31 [[ 9.75809150e-01 2.18622796e-01 7.59338015e-04 1.46615226e+02] [-2.18622749e-01 9.75809445e-01 -1.45209759e-04 -1.30732324e+01] [-7.72715371e-04 -2.43115524e-05 9.99999701e-01 -3.05351703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.64, Y:-13.08, Z:-0.30 [[ 9.75733897e-01 2.18958409e-01 7.59347171e-04 1.46642678e+02] [-2.18958363e-01 9.75734192e-01 -1.45161866e-04 -1.30765183e+01] [-7.72705410e-04 -2.46260598e-05 9.99999701e-01 -3.04938658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.67, Y:-13.08, Z:-0.30 [[ 9.75816152e-01 2.18591538e-01 7.59356942e-04 1.46671627e+02] [-2.18591491e-01 9.75816447e-01 -1.45110734e-04 -1.30812646e+01] [-7.72712972e-04 -2.43875685e-05 9.99999701e-01 -3.01671921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.70, Y:-13.09, Z:-0.30 [[ 9.76323441e-01 2.16314496e-01 7.59363893e-04 1.46699093e+02] [-2.16314448e-01 9.76323736e-01 -1.45074351e-04 -1.30858511e+01] [-7.72766678e-04 -2.26218922e-05 9.99999701e-01 -3.03352961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.73, Y:-13.09, Z:-0.30 [[ 9.77210765e-01 2.12269981e-01 7.59372552e-04 1.46727581e+02] [-2.12269932e-01 9.77211059e-01 -1.45029009e-04 -1.30884503e+01] [-7.72852562e-04 -1.94680511e-05 9.99999701e-01 -2.98344176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.76, Y:-13.09, Z:-0.30 [[ 9.77221015e-01 2.12222788e-01 7.59379523e-04 1.46756405e+02] [-2.12222739e-01 9.77221310e-01 -1.44992502e-04 -1.30938651e+01] [-7.72852565e-04 -1.94678822e-05 9.99999701e-01 -2.98366847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.284203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.78, Y:-13.10, Z:-0.30 [[ 9.78287972e-01 2.07248803e-01 7.59386523e-04 1.46784650e+02] [-2.07248753e-01 9.78288267e-01 -1.44955829e-04 -1.30966994e+01] [-7.72940848e-04 -1.55733661e-05 9.99999701e-01 -3.00906653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.314203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.81, Y:-13.10, Z:-0.30 [[ 9.78302251e-01 2.07181392e-01 7.59395223e-04 1.46812665e+02] [-2.07181342e-01 9.78302545e-01 -1.44910237e-04 -1.31019067e+01] [-7.72940985e-04 -1.55665105e-05 9.99999701e-01 -3.00928679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.84, Y:-13.11, Z:-0.30 [[ 9.78811335e-01 2.04762776e-01 7.59405205e-04 1.46841183e+02] [-2.04762725e-01 9.78811629e-01 -1.44857909e-04 -1.31064744e+01] [-7.72976154e-04 -1.37093159e-05 9.99999701e-01 -2.99505884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.87, Y:-13.11, Z:-0.30 [[ 9.79730290e-01 2.00319701e-01 7.59411969e-04 1.46869954e+02] [-2.00319649e-01 9.79730584e-01 -1.44822442e-04 -1.31107352e+01] [-7.73029920e-04 -1.02382055e-05 9.99999701e-01 -2.98977731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.90, Y:-13.12, Z:-0.30 [[ 9.80108010e-01 1.98463375e-01 7.59418734e-04 1.46898852e+02] [-1.98463322e-01 9.80108305e-01 -1.44786956e-04 -1.31150128e+01] [-7.73047516e-04 -8.80990983e-06 9.99999701e-01 -2.97608392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.93, Y:-13.12, Z:-0.30 [[ 9.80396646e-01 1.97032585e-01 7.59425823e-04 1.46926892e+02] [-1.97032532e-01 9.80396940e-01 -1.44749764e-04 -1.31187160e+01] [-7.73059174e-04 -7.71941039e-06 9.99999701e-01 -2.99154489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.95, Y:-13.12, Z:-0.30 [[ 9.80629223e-01 1.95871772e-01 7.59434635e-04 1.46954705e+02] [-1.95871719e-01 9.80629517e-01 -1.44703517e-04 -1.31221087e+01] [-7.73067354e-04 -6.85127063e-06 9.99999701e-01 -3.01859905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.494203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:146.98, Y:-13.12, Z:-0.30 [[ 9.81013946e-01 1.93935715e-01 7.59443202e-04 1.46983317e+02] [-1.93935662e-01 9.81014240e-01 -1.44658540e-04 -1.31248078e+01] [-7.73079053e-04 -5.37107441e-06 9.99999701e-01 -3.01696925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.01, Y:-13.13, Z:-0.30 [[ 9.81209149e-01 1.92945664e-01 7.59450208e-04 1.47012150e+02] [-1.92945610e-01 9.81209443e-01 -1.44621749e-04 -1.31292510e+01] [-7.73083855e-04 -4.62840029e-06 9.99999701e-01 -2.99566659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.04, Y:-13.13, Z:-0.30 [[ 9.81701286e-01 1.90425863e-01 7.59457281e-04 1.47039829e+02] [-1.90425808e-01 9.81701579e-01 -1.44584601e-04 -1.31320169e+01] [-7.73093059e-04 -2.68137777e-06 9.99999701e-01 -3.02564171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.07, Y:-13.14, Z:-0.30 [[ 9.81969475e-01 1.89038023e-01 7.59466058e-04 1.47067886e+02] [-1.89037967e-01 9.81969768e-01 -1.44538481e-04 -1.31365189e+01] [-7.73095978e-04 -1.63554400e-06 9.99999701e-01 -3.03758255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.10, Y:-13.14, Z:-0.30 [[ 9.82291974e-01 1.87355014e-01 7.59473107e-04 1.47096367e+02] [-1.87354959e-01 9.82292267e-01 -1.44501435e-04 -1.31401596e+01] [-7.73097628e-04 -3.48452443e-07 9.99999701e-01 -3.04312796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.12, Y:-13.14, Z:-0.31 [[ 9.82352992e-01 1.87034813e-01 7.59480195e-04 1.47123645e+02] [-1.87034757e-01 9.82353286e-01 -1.44464171e-04 -1.31446043e+01] [-7.73097694e-04 -1.34383614e-07 9.99999701e-01 -3.06330323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.674203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:147.15, Y:-13.15, Z:-0.31 [[ 9.82413860e-01 1.86714837e-01 7.59489006e-04 1.47151949e+02] [-1.86714781e-01 9.82414154e-01 -1.44417834e-04 -1.31493811e+01] [-7.73097701e-04 7.02583462e-08 9.99999701e-01 -3.07901386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.18, Y:-13.16, Z:-0.31 [[ 9.82490278e-01 1.86312312e-01 7.59496055e-04 1.47179472e+02] [-1.86312256e-01 9.82490571e-01 -1.44380756e-04 -1.31550276e+01] [-7.73097625e-04 3.49265068e-07 9.99999701e-01 -3.08376884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.21, Y:-13.16, Z:-0.30 [[ 9.82533013e-01 1.86086813e-01 7.59504825e-04 1.47208315e+02] [-1.86086757e-01 9.82533306e-01 -1.44334606e-04 -1.31599994e+01] [-7.73097553e-04 4.79726227e-07 9.99999701e-01 -3.04105056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.24, Y:-13.17, Z:-0.30 [[ 9.82534467e-01 1.86079134e-01 7.59511929e-04 1.47235175e+02] [-1.86079078e-01 9.82534761e-01 -1.44297213e-04 -1.31658797e+01] [-7.73097572e-04 4.47706221e-07 9.99999701e-01 -3.04715517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.26, Y:-13.17, Z:-0.30 [[ 9.82598277e-01 1.85741887e-01 7.59520740e-04 1.47263251e+02] [-1.85741831e-01 9.82598571e-01 -1.44250818e-04 -1.31735762e+01] [-7.73097413e-04 6.65832416e-07 9.99999701e-01 -3.04390566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.29, Y:-13.18, Z:-0.30 [[ 9.82410656e-01 1.86731696e-01 7.59527783e-04 1.47290810e+02] [-1.86731641e-01 9.82410949e-01 -1.44213725e-04 -1.31816127e+01] [-7.73097684e-04 -1.50769049e-07 9.99999701e-01 -3.04401682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.32, Y:-13.19, Z:-0.30 [[ 9.82102699e-01 1.88344660e-01 7.59534860e-04 1.47318326e+02] [-1.88344605e-01 9.82102993e-01 -1.44176447e-04 -1.31850372e+01] [-7.73096323e-04 -1.45821529e-06 9.99999701e-01 -3.04978086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.35, Y:-13.19, Z:-0.31 [[ 9.81619743e-01 1.90845758e-01 7.59543666e-04 1.47346143e+02] [-1.90845704e-01 9.81620037e-01 -1.44130037e-04 -1.31881717e+01] [-7.73089888e-04 -3.47475574e-06 9.99999701e-01 -3.07395073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.37, Y:-13.19, Z:-0.31 [[ 9.80501751e-01 1.96508879e-01 7.59552346e-04 1.47374217e+02] [-1.96508826e-01 9.80502045e-01 -1.44084280e-04 -1.31930081e+01] [-7.73056469e-04 -7.98385099e-06 9.99999701e-01 -3.05257001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.40, Y:-13.20, Z:-0.31 [[ 9.79915740e-01 1.99410546e-01 7.59559333e-04 1.47401378e+02] [-1.99410495e-01 9.79916034e-01 -1.44047437e-04 -1.31984686e+01] [-7.73028948e-04 -1.03097518e-05 9.99999701e-01 -3.08773123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.43, Y:-13.20, Z:-0.30 [[ 9.78817160e-01 2.04734929e-01 7.59568014e-04 1.47430254e+02] [-2.04734879e-01 9.78817454e-01 -1.44001650e-04 -1.32023350e+01] [-7.72960597e-04 -1.45587789e-05 9.99999701e-01 -3.03487420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.46, Y:-13.21, Z:-0.30 [[ 9.78365282e-01 2.06883535e-01 7.59574864e-04 1.47459210e+02] [-2.06883486e-01 9.78365577e-01 -1.43965509e-04 -1.32067647e+01] [-7.72925993e-04 -1.62926395e-05 9.99999701e-01 -3.02368696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.49, Y:-13.21, Z:-0.30 [[ 9.78067296e-01 2.08287754e-01 7.59581708e-04 1.47487060e+02] [-2.08287705e-01 9.78067590e-01 -1.43929390e-04 -1.32102977e+01] [-7.72900980e-04 -1.74389012e-05 9.99999701e-01 -3.01956253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.52, Y:-13.21, Z:-0.30 [[ 9.77882779e-01 2.09152322e-01 7.59590221e-04 1.47516188e+02] [-2.09152273e-01 9.77883074e-01 -1.43884446e-04 -1.32129502e+01] [-7.72884186e-04 -1.81678993e-05 9.99999701e-01 -2.99903353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.54, Y:-13.21, Z:-0.30 [[ 9.77955899e-01 2.08810157e-01 7.59597063e-04 1.47543633e+02] [-2.08810108e-01 9.77956194e-01 -1.43848316e-04 -1.32108128e+01] [-7.72889643e-04 -1.79342354e-05 9.99999701e-01 -3.01722537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.57, Y:-13.21, Z:-0.30 [[ 9.78220616e-01 2.07566494e-01 7.59608942e-04 1.47571489e+02] [-2.07566445e-01 9.78220911e-01 -1.43785562e-04 -1.32140725e+01] [-7.72910416e-04 -1.70153272e-05 9.99999701e-01 -3.03807324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.60, Y:-13.22, Z:-0.31 [[ 9.79062276e-01 2.03559530e-01 7.59617274e-04 1.47600540e+02] [-2.03559480e-01 9.79062571e-01 -1.43741531e-04 -1.32174011e+01] [-7.72972799e-04 -1.38953859e-05 9.99999701e-01 -3.06494909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.63, Y:-13.22, Z:-0.31 [[ 9.79527192e-01 2.01310463e-01 7.59624015e-04 1.47629444e+02] [-2.01310412e-01 9.79527487e-01 -1.43705896e-04 -1.32208710e+01] [-7.73002103e-04 -1.21563904e-05 9.99999701e-01 -3.08007001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.66, Y:-13.22, Z:-0.31 [[ 9.80536731e-01 1.96334261e-01 7.59630793e-04 1.47658758e+02] [-1.96334209e-01 9.80537025e-01 -1.43670058e-04 -1.32216873e+01] [-7.73053473e-04 -8.26774163e-06 9.99999701e-01 -3.10464358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.69, Y:-13.23, Z:-0.31 [[ 9.81034737e-01 1.93830514e-01 7.59637564e-04 1.47686512e+02] [-1.93830461e-01 9.81035031e-01 -1.43634252e-04 -1.32256238e+01] [-7.73071762e-04 -6.33070890e-06 9.99999701e-01 -3.11867245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.71, Y:-13.23, Z:-0.31 [[ 9.81604134e-01 1.90926023e-01 7.59646007e-04 1.47714705e+02] [-1.90925969e-01 9.81604428e-01 -1.43589584e-04 -1.32294959e+01] [-7.73086873e-04 -4.08802093e-06 9.99999701e-01 -3.06917732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.74, Y:-13.23, Z:-0.31 [[ 9.82083347e-01 1.88445544e-01 7.59656567e-04 1.47743648e+02] [-1.88445490e-01 9.82083640e-01 -1.43533692e-04 -1.32333098e+01] [-7.73094572e-04 -2.19180507e-06 9.99999701e-01 -3.06718556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.77, Y:-13.23, Z:-0.31 [[ 9.82944558e-01 1.83900566e-01 7.59663579e-04 1.47771045e+02] [-1.83900510e-01 9.82944852e-01 -1.43496571e-04 -1.32340261e+01] [-7.73096505e-04 1.34665415e-06 9.99999701e-01 -3.08506100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.80, Y:-13.24, Z:-0.31 [[ 9.83381454e-01 1.81549823e-01 7.59678892e-04 1.47798355e+02] [-1.81549766e-01 9.83381748e-01 -1.43415462e-04 -1.32378179e+01] [-7.73091408e-04 3.11257994e-06 9.99999701e-01 -3.09521150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.83, Y:-13.24, Z:-0.31 [[ 9.84265079e-01 1.76696568e-01 7.59687489e-04 1.47826569e+02] [-1.76696510e-01 9.84265372e-01 -1.43369907e-04 -1.32434603e+01] [-7.73067059e-04 6.87986458e-06 9.99999701e-01 -3.07870238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.424203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:147.85, Y:-13.25, Z:-0.31 [[ 9.84659620e-01 1.74484544e-01 7.59694369e-04 1.47854477e+02] [-1.74484486e-01 9.84659913e-01 -1.43333441e-04 -1.32475963e+01] [-7.73050061e-04 8.57977035e-06 9.99999701e-01 -3.10433973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.88, Y:-13.25, Z:-0.31 [[ 9.84922315e-01 1.72995537e-01 7.59702891e-04 1.47882820e+02] [-1.72995478e-01 9.84922608e-01 -1.43288258e-04 -1.32528336e+01] [-7.73036782e-04 9.70263754e-06 9.99999701e-01 -3.06594298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.91, Y:-13.26, Z:-0.31 [[ 9.85087116e-01 1.72054631e-01 7.59709818e-04 1.47911356e+02] [-1.72054572e-01 9.85087409e-01 -1.43251522e-04 -1.32585654e+01] [-7.73027664e-04 1.04036812e-05 9.99999701e-01 -3.07037217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.94, Y:-13.26, Z:-0.31 [[ 9.84955035e-01 1.72809147e-01 7.59716842e-04 1.47939275e+02] [-1.72809088e-01 9.84955328e-01 -1.43214259e-04 -1.32632002e+01] [-7.73035886e-04 9.77363080e-06 9.99999701e-01 -3.08895948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.97, Y:-13.27, Z:-0.31 [[ 9.84693392e-01 1.74293852e-01 7.59725588e-04 1.47967735e+02] [-1.74293794e-01 9.84693685e-01 -1.43167851e-04 -1.32659376e+01] [-7.73050265e-04 8.56098227e-06 9.99999701e-01 -3.05411736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.00, Y:-13.27, Z:-0.30 [[ 9.83846685e-01 1.79011519e-01 7.59732617e-04 1.47997096e+02] [-1.79011462e-01 9.83846978e-01 -1.43130539e-04 -1.32681420e+01] [-7.73082655e-04 4.81765985e-06 9.99999701e-01 -3.03673705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.02, Y:-13.27, Z:-0.31 [[ 9.83416931e-01 1.81357553e-01 7.59739869e-04 1.48024502e+02] [-1.81357496e-01 9.83417225e-01 -1.43092038e-04 -1.32740895e+01] [-7.73092095e-04 2.93461209e-06 9.99999701e-01 -3.05855554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.05, Y:-13.28, Z:-0.31 [[ 9.82461046e-01 1.86466392e-01 7.59748867e-04 1.48053029e+02] [-1.86466337e-01 9.82461340e-01 -1.43044246e-04 -1.32779758e+01] [-7.73096834e-04 -1.13218894e-06 9.99999701e-01 -3.06585028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.08, Y:-13.28, Z:-0.31 [[ 9.81947806e-01 1.89150544e-01 7.59755941e-04 1.48080736e+02] [-1.89150490e-01 9.81948100e-01 -1.43006664e-04 -1.32809421e+01] [-7.73090691e-04 -3.28312865e-06 9.99999701e-01 -3.08556997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.11, Y:-13.28, Z:-0.31 [[ 9.81480664e-01 1.91559727e-01 7.59764759e-04 1.48108901e+02] [-1.91559673e-01 9.81480958e-01 -1.42959800e-04 -1.32842200e+01] [-7.73079984e-04 -5.22800996e-06 9.99999701e-01 -3.07603093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.14, Y:-13.29, Z:-0.31 [[ 9.81081297e-01 1.93594708e-01 7.59775198e-04 1.48137204e+02] [-1.93594656e-01 9.81081591e-01 -1.42904299e-04 -1.32878969e+01] [-7.73066976e-04 -6.88768256e-06 9.99999701e-01 -3.08257721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.17, Y:-13.29, Z:-0.31 [[ 9.80512373e-01 1.96455872e-01 7.59783880e-04 1.48166562e+02] [-1.96455821e-01 9.80512667e-01 -1.42858121e-04 -1.32898845e+01] [-7.73043036e-04 -9.18981033e-06 9.99999701e-01 -3.09170983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.19, Y:-13.29, Z:-0.31 [[ 9.80365096e-01 1.97189504e-01 7.59790846e-04 1.48194210e+02] [-1.97189452e-01 9.80365391e-01 -1.42821063e-04 -1.32939887e+01] [-7.73035465e-04 -9.80595580e-06 9.99999701e-01 -3.11642576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.22, Y:-13.30, Z:-0.31 [[ 9.80390931e-01 1.97061019e-01 7.59799495e-04 1.48222674e+02] [-1.97060968e-01 9.80391225e-01 -1.42775037e-04 -1.32989240e+01] [-7.73036152e-04 -9.75147223e-06 9.99999701e-01 -3.11693967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.25, Y:-13.30, Z:-0.31 [[ 9.80571104e-01 1.96162517e-01 7.59806336e-04 1.48250543e+02] [-1.96162465e-01 9.80571398e-01 -1.42738620e-04 -1.33032537e+01] [-7.73044329e-04 -9.08011767e-06 9.99999701e-01 -3.11198521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.28, Y:-13.31, Z:-0.31 [[ 9.81152647e-01 1.93232779e-01 7.59816671e-04 1.48278268e+02] [-1.93232726e-01 9.81152941e-01 -1.42683590e-04 -1.33060774e+01] [-7.73067507e-04 -6.82706517e-06 9.99999701e-01 -3.12353557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.31, Y:-13.31, Z:-0.31 [[ 9.81492679e-01 1.91498155e-01 7.59825234e-04 1.48305304e+02] [-1.91498102e-01 9.81492973e-01 -1.42637972e-04 -1.33108774e+01] [-7.73078037e-04 -5.50696501e-06 9.99999701e-01 -3.13319258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.33, Y:-13.32, Z:-0.31 [[ 9.81847552e-01 1.89670260e-01 7.59833626e-04 1.48333436e+02] [-1.89670207e-01 9.81847846e-01 -1.42593256e-04 -1.33159871e+01] [-7.73086709e-04 -4.11296170e-06 9.99999701e-01 -3.14197383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.36, Y:-13.32, Z:-0.32 [[ 9.82388560e-01 1.86847907e-01 7.59840303e-04 1.48361416e+02] [-1.86847853e-01 9.82388854e-01 -1.42557664e-04 -1.33219557e+01] [-7.73095246e-04 -1.92751090e-06 9.99999701e-01 -3.15082744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.39, Y:-13.33, Z:-0.32 [[ 9.82645425e-01 1.85492293e-01 7.59847017e-04 1.48388745e+02] [-1.85492238e-01 9.82645719e-01 -1.42521868e-04 -1.33268518e+01] [-7.73097127e-04 -8.97262616e-07 9.99999701e-01 -3.16460391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.024203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:148.42, Y:-13.33, Z:-0.32 [[ 9.82856710e-01 1.84369495e-01 7.59859077e-04 1.48417079e+02] [-1.84369440e-01 9.82857003e-01 -1.42457543e-04 -1.33319509e+01] [-7.73097641e-04 -7.94408857e-08 9.99999701e-01 -3.15557670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.44, Y:-13.34, Z:-0.32 [[ 9.83094881e-01 1.83095270e-01 7.59866058e-04 1.48443892e+02] [-1.83095215e-01 9.83095174e-01 -1.42420297e-04 -1.33376495e+01] [-7.73097138e-04 8.84825626e-07 9.99999701e-01 -3.17444870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.47, Y:-13.34, Z:-0.31 [[ 9.83279814e-01 1.82099507e-01 7.59878657e-04 1.48472081e+02] [-1.82099451e-01 9.83280107e-01 -1.42353043e-04 -1.33439942e+01] [-7.73095986e-04 1.59938765e-06 9.99999701e-01 -3.14409006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.114203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:148.50, Y:-13.35, Z:-0.31 [[ 9.83613224e-01 1.80289900e-01 7.59885568e-04 1.48499893e+02] [-1.80289844e-01 9.83613517e-01 -1.42316142e-04 -1.33500460e+01] [-7.73091880e-04 2.98438822e-06 9.99999701e-01 -3.14443123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.53, Y:-13.36, Z:-0.31 [[ 9.83701969e-01 1.79805056e-01 7.59892459e-04 1.48527392e+02] [-1.79805000e-01 9.83702263e-01 -1.42279340e-04 -1.33559874e+01] [-7.73090476e-04 3.32800320e-06 9.99999701e-01 -3.12674264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.55, Y:-13.36, Z:-0.31 [[ 9.83614113e-01 1.80285050e-01 7.59901046e-04 1.48554634e+02] [-1.80284994e-01 9.83614406e-01 -1.42233462e-04 -1.33632150e+01] [-7.73092183e-04 2.90408430e-06 9.99999701e-01 -3.13709278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.58, Y:-13.37, Z:-0.31 [[ 9.83398083e-01 1.81459728e-01 7.59909541e-04 1.48583170e+02] [-1.81459672e-01 9.83398377e-01 -1.42188060e-04 -1.33689902e+01] [-7.73095216e-04 1.93452907e-06 9.99999701e-01 -3.13744718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.61, Y:-13.37, Z:-0.31 [[ 9.83003346e-01 1.83586066e-01 7.59916268e-04 1.48611975e+02] [-1.83586011e-01 9.83003640e-01 -1.42152101e-04 -1.33734428e+01] [-7.73097602e-04 2.25994133e-07 9.99999701e-01 -3.12494677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.64, Y:-13.38, Z:-0.31 [[ 9.83016348e-01 1.83516436e-01 7.59922981e-04 1.48640003e+02] [-1.83516381e-01 9.83016642e-01 -1.42116204e-04 -1.33785452e+01] [-7.73097596e-04 2.44236305e-07 9.99999701e-01 -3.12516700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.67, Y:-13.38, Z:-0.31 [[ 9.81873439e-01 1.89536203e-01 7.59933044e-04 1.48667150e+02] [-1.89536149e-01 9.81873733e-01 -1.42062375e-04 -1.33831198e+01] [-7.73084258e-04 -4.54750998e-06 9.99999701e-01 -3.13626585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.70, Y:-13.39, Z:-0.31 [[ 9.81305107e-01 1.92457031e-01 7.59941382e-04 1.48695415e+02] [-1.92456978e-01 9.81305402e-01 -1.42017758e-04 -1.33886696e+01] [-7.73066899e-04 -6.89327087e-06 9.99999701e-01 -3.11944266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.72, Y:-13.39, Z:-0.31 [[ 9.80208122e-01 1.97968329e-01 7.59947997e-04 1.48723161e+02] [-1.97968278e-01 9.80208417e-01 -1.41982351e-04 -1.33909400e+01] [-7.73015432e-04 -1.12733425e-05 9.99999701e-01 -3.11026867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.75, Y:-13.39, Z:-0.31 [[ 9.79793063e-01 2.00012438e-01 7.59956251e-04 1.48751648e+02] [-2.00012388e-01 9.79793358e-01 -1.41938157e-04 -1.33946451e+01] [-7.72989484e-04 -1.29306429e-05 9.99999701e-01 -3.10639622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.78, Y:-13.40, Z:-0.31 [[ 9.79510352e-01 2.01392386e-01 7.59962843e-04 1.48778646e+02] [-2.01392337e-01 9.79510646e-01 -1.41902856e-04 -1.33996418e+01] [-7.72969850e-04 -1.40553762e-05 9.99999701e-01 -3.11830374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.81, Y:-13.41, Z:-0.31 [[ 9.79330321e-01 2.02266026e-01 7.59974253e-04 1.48806790e+02] [-2.02265976e-01 9.79330616e-01 -1.41841721e-04 -1.34052097e+01] [-7.72955814e-04 -1.48070364e-05 9.99999701e-01 -3.13364831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.84, Y:-13.41, Z:-0.31 [[ 9.79202073e-01 2.02885983e-01 7.59980779e-04 1.48835695e+02] [-2.02885934e-01 9.79202368e-01 -1.41806748e-04 -1.34078393e+01] [-7.72945580e-04 -1.53319479e-05 9.99999701e-01 -3.12782494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.86, Y:-13.41, Z:-0.32 [[ 9.79204723e-01 2.02873193e-01 7.59987662e-04 1.48863949e+02] [-2.02873144e-01 9.79205018e-01 -1.41769850e-04 -1.34104401e+01] [-7.72945034e-04 -1.53593798e-05 9.99999701e-01 -3.16315951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.89, Y:-13.41, Z:-0.32 [[ 9.79114447e-01 2.03308441e-01 7.60000613e-04 1.48891361e+02] [-2.03308392e-01 9.79114742e-01 -1.41700384e-04 -1.34125719e+01] [-7.72936689e-04 -1.57736093e-05 9.99999701e-01 -3.15296926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.92, Y:-13.42, Z:-0.31 [[ 9.79032246e-01 2.03703914e-01 7.60010220e-04 1.48919609e+02] [-2.03703865e-01 9.79032540e-01 -1.41648843e-04 -1.34163448e+01] [-7.72929160e-04 -1.61382347e-05 9.99999701e-01 -3.09612292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.95, Y:-13.42, Z:-0.32 [[ 9.78999310e-01 2.03862142e-01 7.60017179e-04 1.48947640e+02] [-2.03862094e-01 9.78999605e-01 -1.41611493e-04 -1.34192454e+01] [-7.72925740e-04 -1.63011398e-05 9.99999701e-01 -3.15060020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.98, Y:-13.42, Z:-0.31 [[ 9.79088273e-01 2.03434453e-01 7.60025821e-04 1.48976907e+02] [-2.03434404e-01 9.79088568e-01 -1.41565093e-04 -1.34197712e+01] [-7.72931810e-04 -1.60106775e-05 9.99999701e-01 -3.09646091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.00, Y:-13.42, Z:-0.31 [[ 9.79264024e-01 2.02586756e-01 7.60032777e-04 1.49004710e+02] [-2.02586707e-01 9.79264319e-01 -1.41527742e-04 -1.34234958e+01] [-7.72944626e-04 -1.53795107e-05 9.99999701e-01 -3.14986925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.03, Y:-13.43, Z:-0.31 [[ 9.79557347e-01 2.01163678e-01 7.60041422e-04 1.49033633e+02] [-2.01163629e-01 9.79557642e-01 -1.41481299e-04 -1.34274517e+01] [-7.72965282e-04 -1.43036448e-05 9.99999701e-01 -3.13591080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.06, Y:-13.43, Z:-0.31 [[ 9.80596564e-01 1.96035204e-01 7.60047662e-04 1.49062858e+02] [-1.96035153e-01 9.80596858e-01 -1.41447768e-04 -1.34289657e+01] [-7.73029092e-04 -1.02928653e-05 9.99999701e-01 -3.12411233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.09, Y:-13.43, Z:-0.31 [[ 9.81338478e-01 1.92286800e-01 7.60053992e-04 1.49091576e+02] [-1.92286748e-01 9.81338773e-01 -1.41413749e-04 -1.34330227e+01] [-7.73062449e-04 -7.37355785e-06 9.99999701e-01 -3.11247130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.12, Y:-13.44, Z:-0.31 [[ 9.83093462e-01 1.83102886e-01 7.60060577e-04 1.49120022e+02] [-1.83102832e-01 9.83093756e-01 -1.41378347e-04 -1.34378013e+01] [-7.73097591e-04 -1.81115814e-07 9.99999701e-01 -3.07414185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.15, Y:-13.44, Z:-0.31 [[ 9.83992456e-01 1.78208501e-01 7.60067464e-04 1.49146540e+02] [-1.78208445e-01 9.83992749e-01 -1.41341309e-04 -1.34418954e+01] [-7.73089097e-04 3.62834132e-06 9.99999701e-01 -3.08545631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.17, Y:-13.45, Z:-0.31 [[ 9.84810626e-01 1.73630220e-01 7.60079394e-04 1.49174463e+02] [-1.73630162e-01 9.84810919e-01 -1.41277127e-04 -1.34467523e+01] [-7.73064465e-04 7.15850710e-06 9.99999701e-01 -3.07625740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.20, Y:-13.45, Z:-0.31 [[ 9.85510800e-01 1.69610984e-01 7.60086153e-04 1.49202463e+02] [-1.69610925e-01 9.85511093e-01 -1.41240755e-04 -1.34528295e+01] [-7.73029318e-04 1.02753741e-05 9.99999701e-01 -3.07501889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.23, Y:-13.46, Z:-0.31 [[ 9.86372825e-01 1.64523773e-01 7.60092933e-04 1.49228753e+02] [-1.64523713e-01 9.86373118e-01 -1.41204258e-04 -1.34593356e+01] [-7.72966694e-04 1.42267307e-05 9.99999701e-01 -3.07373486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.26, Y:-13.47, Z:-0.30 [[ 9.86566651e-01 1.63357476e-01 7.60104668e-04 1.49256752e+02] [-1.63357416e-01 9.86566944e-01 -1.41141059e-04 -1.34651564e+01] [-7.72950587e-04 1.50763272e-05 9.99999701e-01 -3.04216052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.28, Y:-13.47, Z:-0.31 [[ 9.86723696e-01 1.62406188e-01 7.60111529e-04 1.49284003e+02] [-1.62406128e-01 9.86723989e-01 -1.41104099e-04 -1.34726072e+01] [-7.72936459e-04 1.57839878e-05 9.99999701e-01 -3.05762034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.31, Y:-13.48, Z:-0.30 [[ 9.86709241e-01 1.62493989e-01 7.60120074e-04 1.49311910e+02] [-1.62493929e-01 9.86709533e-01 -1.41058054e-04 -1.34782389e+01] [-7.72938809e-04 1.56683879e-05 9.99999701e-01 -3.02465294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.34, Y:-13.48, Z:-0.30 [[ 9.86504508e-01 1.63732337e-01 7.60126941e-04 1.49339359e+02] [-1.63732277e-01 9.86504801e-01 -1.41021038e-04 -1.34829722e+01] [-7.72958581e-04 1.46605745e-05 9.99999701e-01 -3.04135119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.37, Y:-13.49, Z:-0.30 [[ 9.86321096e-01 1.64833609e-01 7.60138784e-04 1.49366555e+02] [-1.64833549e-01 9.86321388e-01 -1.40957172e-04 -1.34895560e+01] [-7.72975620e-04 1.37326587e-05 9.99999701e-01 -3.02123421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.39, Y:-13.50, Z:-0.30 [[ 9.86131722e-01 1.65962795e-01 7.60149046e-04 1.49393087e+02] [-1.65962735e-01 9.86132015e-01 -1.40901811e-04 -1.34965062e+01] [-7.72991769e-04 1.27913306e-05 9.99999701e-01 -3.04335357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.42, Y:-13.50, Z:-0.30 [[ 9.85903181e-01 1.67315094e-01 7.60160954e-04 1.49420829e+02] [-1.67315035e-01 9.85903474e-01 -1.40837540e-04 -1.35040088e+01] [-7.73009571e-04 1.16658219e-05 9.99999701e-01 -3.02891708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.45, Y:-13.51, Z:-0.31 [[ 9.85380912e-01 1.70363964e-01 7.60167758e-04 1.49447039e+02] [-1.70363906e-01 9.85381205e-01 -1.40800805e-04 -1.35127076e+01] [-7.73042405e-04 9.23727769e-06 9.99999701e-01 -3.05290532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.47, Y:-13.52, Z:-0.30 [[ 9.85107732e-01 1.71936556e-01 7.60176237e-04 1.49474418e+02] [-1.71936498e-01 9.85108025e-01 -1.40755011e-04 -1.35196304e+01] [-7.73056643e-04 7.95680948e-06 9.99999701e-01 -3.04152723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.50, Y:-13.53, Z:-0.30 [[ 9.84799730e-01 1.73692008e-01 7.60186197e-04 1.49502246e+02] [-1.73691951e-01 9.84800024e-01 -1.40701198e-04 -1.35271516e+01] [-7.73070059e-04 6.52427819e-06 9.99999701e-01 -3.04332408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.53, Y:-13.54, Z:-0.31 [[ 9.84046104e-01 1.77912023e-01 7.60192978e-04 1.49529847e+02] [-1.77911967e-01 9.84046397e-01 -1.40664551e-04 -1.35366205e+01] [-7.73091077e-04 3.17297494e-06 9.99999701e-01 -3.06696349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.56, Y:-13.54, Z:-0.31 [[ 9.83619377e-01 1.80256325e-01 7.60199834e-04 1.49557651e+02] [-1.80256270e-01 9.83619671e-01 -1.40627494e-04 -1.35433397e+01] [-7.73096505e-04 1.29314142e-06 9.99999701e-01 -3.06704503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.59, Y:-13.55, Z:-0.30 [[ 9.82810529e-01 1.84615511e-01 7.60206670e-04 1.49585448e+02] [-1.84615457e-01 9.82810823e-01 -1.40590529e-04 -1.35533708e+01] [-7.73094535e-04 -2.17204929e-06 9.99999701e-01 -3.04764012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.61, Y:-13.56, Z:-0.31 [[ 9.82466183e-01 1.86439324e-01 7.60213560e-04 1.49611625e+02] [-1.86439271e-01 9.82466477e-01 -1.40553264e-04 -1.35617950e+01] [-7.73088993e-04 -3.64483353e-06 9.99999701e-01 -3.06725411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.64, Y:-13.57, Z:-0.30 [[ 9.81958587e-01 1.89094568e-01 7.60225600e-04 1.49638869e+02] [-1.89094516e-01 9.81958881e-01 -1.40488108e-04 -1.35725491e+01] [-7.73075818e-04 -5.80098765e-06 9.99999701e-01 -3.04681934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.67, Y:-13.58, Z:-0.31 [[ 9.81833338e-01 1.89743825e-01 7.60232487e-04 1.49667275e+02] [-1.89743774e-01 9.81833632e-01 -1.40450830e-04 -1.35796638e+01] [-7.73071502e-04 -6.35007325e-06 9.99999701e-01 -3.05148410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.69, Y:-13.59, Z:-0.31 [[ 9.81715474e-01 1.90352698e-01 7.60239349e-04 1.49693865e+02] [-1.90352646e-01 9.81715769e-01 -1.40413681e-04 -1.35864518e+01] [-7.73067079e-04 -6.86728841e-06 9.99999701e-01 -3.07230296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.72, Y:-13.59, Z:-0.31 [[ 9.81607959e-01 1.90906356e-01 7.60247885e-04 1.49722011e+02] [-1.90906305e-01 9.81608253e-01 -1.40367444e-04 -1.35937913e+01] [-7.73062636e-04 -7.35031443e-06 9.99999701e-01 -3.06254728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.464203822 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:149.75, Y:-13.60, Z:-0.30 [[ 9.81492145e-01 1.91500890e-01 7.60254416e-04 1.49750238e+02] [-1.91500839e-01 9.81492440e-01 -1.40332067e-04 -1.36016025e+01] [-7.73057677e-04 -7.85453717e-06 9.99999701e-01 -3.03774640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.494203822 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:149.78, Y:-13.61, Z:-0.30 [[ 9.81041559e-01 1.93795981e-01 7.60261019e-04 1.49777181e+02] [-1.93795931e-01 9.81041853e-01 -1.40296283e-04 -1.36121511e+01] [-7.73036735e-04 -9.69900765e-06 9.99999701e-01 -3.02090084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.80, Y:-13.62, Z:-0.30 [[ 9.80780096e-01 1.95114900e-01 7.60267942e-04 1.49803718e+02] [-1.95114850e-01 9.80780391e-01 -1.40258758e-04 -1.36195427e+01] [-7.73022463e-04 -1.07765674e-05 9.99999701e-01 -3.01801830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.83, Y:-13.63, Z:-0.31 [[ 9.80061855e-01 1.98691172e-01 7.60276558e-04 1.49830403e+02] [-1.98691123e-01 9.80062150e-01 -1.40212038e-04 -1.36280682e+01] [-7.72977172e-04 -1.36437331e-05 9.99999701e-01 -3.06117120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.86, Y:-13.63, Z:-0.30 [[ 9.79691454e-01 2.00509545e-01 7.60287772e-04 1.49858151e+02] [-2.00509496e-01 9.79691749e-01 -1.40151205e-04 -1.36344802e+01] [-7.72949311e-04 -1.51399803e-05 9.99999701e-01 -3.04099475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.89, Y:-13.64, Z:-0.31 [[ 9.79266100e-01 2.02576720e-01 7.60294333e-04 1.49885339e+02] [-2.02576673e-01 9.79266395e-01 -1.40115602e-04 -1.36397662e+01] [-7.72914850e-04 -1.68074371e-05 9.99999701e-01 -3.05102848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.91, Y:-13.64, Z:-0.30 [[ 9.78602282e-01 2.05759557e-01 7.60302482e-04 1.49914218e+02] [-2.05759511e-01 9.78602577e-01 -1.40071373e-04 -1.36447081e+01] [-7.72854992e-04 -1.93653016e-05 9.99999701e-01 -3.04292618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.94, Y:-13.65, Z:-0.30 [[ 9.78481119e-01 2.06334973e-01 7.60309179e-04 1.49942108e+02] [-2.06334926e-01 9.78481415e-01 -1.40035011e-04 -1.36520728e+01] [-7.72842521e-04 -1.98567241e-05 9.99999701e-01 -3.03116577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.97, Y:-13.66, Z:-0.30 [[ 9.78459081e-01 2.06439455e-01 7.60315970e-04 1.49968263e+02] [-2.06439409e-01 9.78459376e-01 -1.39998131e-04 -1.36603688e+01] [-7.72839427e-04 -1.99767369e-05 9.99999701e-01 -3.03954617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.00, Y:-13.67, Z:-0.30 [[ 9.78305233e-01 2.07167308e-01 7.60327775e-04 1.49995748e+02] [-2.07167262e-01 9.78305528e-01 -1.39933986e-04 -1.36693251e+01] [-7.72822613e-04 -2.06168725e-05 9.99999701e-01 -3.02010401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.02, Y:-13.67, Z:-0.30 [[ 9.78241003e-01 2.07470387e-01 7.60334445e-04 1.50022691e+02] [-2.07470341e-01 9.78241299e-01 -1.39897735e-04 -1.36748252e+01] [-7.72815192e-04 -2.08931456e-05 9.99999701e-01 -3.02153470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.05, Y:-13.68, Z:-0.30 [[ 9.78185050e-01 2.07734035e-01 7.60342718e-04 1.50050950e+02] [-2.07733989e-01 9.78185346e-01 -1.39852759e-04 -1.36804609e+01] [-7.72808282e-04 -2.11471472e-05 9.99999701e-01 -3.00518592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.08, Y:-13.68, Z:-0.30 [[ 9.78066220e-01 2.08292799e-01 7.60349253e-04 1.50078141e+02] [-2.08292753e-01 9.78066516e-01 -1.39817217e-04 -1.36844176e+01] [-7.72795065e-04 -2.16247424e-05 9.99999701e-01 -3.01183725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.11, Y:-13.69, Z:-0.30 [[ 9.77967356e-01 2.08756491e-01 7.60360589e-04 1.50106821e+02] [-2.08756445e-01 9.77967651e-01 -1.39755547e-04 -1.36885736e+01] [-7.72782936e-04 -2.20538108e-05 9.99999701e-01 -2.99531052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.13, Y:-13.69, Z:-0.30 [[ 9.77863562e-01 2.09242149e-01 7.60367324e-04 1.50133386e+02] [-2.09242103e-01 9.77863857e-01 -1.39718891e-04 -1.36929911e+01] [-7.72770805e-04 -2.24748455e-05 9.99999701e-01 -3.00510224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.16, Y:-13.70, Z:-0.30 [[ 9.77711720e-01 2.09950504e-01 7.60379063e-04 1.50161612e+02] [-2.09950459e-01 9.77712015e-01 -1.39654978e-04 -1.36984849e+01] [-7.72752379e-04 -2.30996247e-05 9.99999701e-01 -2.99204609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.19, Y:-13.70, Z:-0.30 [[ 9.77461185e-01 2.11113839e-01 7.60385918e-04 1.50189473e+02] [-2.11113795e-01 9.77461481e-01 -1.39617645e-04 -1.37018411e+01] [-7.72723162e-04 -2.40571281e-05 9.99999701e-01 -3.01286766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.22, Y:-13.70, Z:-0.30 [[ 9.77400596e-01 2.11394176e-01 7.60394430e-04 1.50216567e+02] [-2.11394131e-01 9.77400891e-01 -1.39571269e-04 -1.37041716e+01] [-7.72714747e-04 -2.43258785e-05 9.99999701e-01 -3.04242056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.25, Y:-13.70, Z:-0.30 [[ 9.77414714e-01 2.11328889e-01 7.60408351e-04 1.50246300e+02] [-2.11328845e-01 9.77415009e-01 -1.39495382e-04 -1.37040201e+01] [-7.72713940e-04 -2.43513794e-05 9.99999701e-01 -3.00191249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.27, Y:-13.71, Z:-0.30 [[ 9.77554854e-01 2.10679682e-01 7.60415128e-04 1.50274186e+02] [-2.10679637e-01 9.77555150e-01 -1.39458431e-04 -1.37064495e+01] [-7.72728782e-04 -2.38757170e-05 9.99999701e-01 -3.02563189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.30, Y:-13.71, Z:-0.30 [[ 9.77749828e-01 2.09772961e-01 7.60426470e-04 1.50302921e+02] [-2.09772916e-01 9.77750124e-01 -1.39396561e-04 -1.37084562e+01] [-7.72748704e-04 -2.32219144e-05 9.99999701e-01 -3.02535907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.33, Y:-13.71, Z:-0.30 [[ 9.78287468e-01 2.07251181e-01 7.60432993e-04 1.50332195e+02] [-2.07251135e-01 9.78287763e-01 -1.39360964e-04 -1.37083266e+01] [-7.72805016e-04 -2.12655171e-05 9.99999701e-01 -3.03314996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.36, Y:-13.71, Z:-0.30 [[ 9.78302097e-01 2.07182115e-01 7.60439545e-04 1.50360243e+02] [-2.07182069e-01 9.78302392e-01 -1.39325206e-04 -1.37133293e+01] [-7.72805517e-04 -2.12472971e-05 9.99999701e-01 -3.03337020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.39, Y:-13.72, Z:-0.30 [[ 9.78613046e-01 2.05708356e-01 7.60449377e-04 1.50388134e+02] [-2.05708310e-01 9.78613341e-01 -1.39271520e-04 -1.37164485e+01] [-7.72835221e-04 -2.01378298e-05 9.99999701e-01 -3.04063393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.184203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:150.42, Y:-13.72, Z:-0.31 [[ 9.78883589e-01 2.04417075e-01 7.60457524e-04 1.50417208e+02] [-2.04417029e-01 9.78883884e-01 -1.39227019e-04 -1.37195606e+01] [-7.72859995e-04 -1.91634230e-05 9.99999701e-01 -3.05858445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.45, Y:-13.72, Z:-0.30 [[ 9.79319163e-01 2.02320038e-01 7.60463989e-04 1.50446573e+02] [-2.02319991e-01 9.79319459e-01 -1.39191703e-04 -1.37191097e+01] [-7.72898452e-04 -1.75439656e-05 9.99999701e-01 -3.03573856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.47, Y:-13.72, Z:-0.31 [[ 9.79472899e-01 2.01574455e-01 7.60470441e-04 1.50474550e+02] [-2.01574408e-01 9.79473194e-01 -1.39156438e-04 -1.37201424e+01] [-7.72910796e-04 -1.69914190e-05 9.99999701e-01 -3.06374706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.50, Y:-13.72, Z:-0.30 [[ 9.79590530e-01 2.01002026e-01 7.60482348e-04 1.50503982e+02] [-2.01001978e-01 9.79590826e-01 -1.39091340e-04 -1.37213637e+01] [-7.72919172e-04 -1.66058963e-05 9.99999701e-01 -3.03020469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.53, Y:-13.72, Z:-0.31 [[ 9.79781437e-01 2.00069379e-01 7.60489061e-04 1.50532305e+02] [-2.00069332e-01 9.79781732e-01 -1.39054624e-04 -1.37183699e+01] [-7.72933862e-04 -1.59073986e-05 9.99999701e-01 -3.06410565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.56, Y:-13.72, Z:-0.30 [[ 9.79861363e-01 1.99677565e-01 7.60500751e-04 1.50561145e+02] [-1.99677517e-01 9.79861658e-01 -1.38990660e-04 -1.37195259e+01] [-7.72938844e-04 -1.56633242e-05 9.99999701e-01 -3.02361599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.59, Y:-13.72, Z:-0.31 [[ 9.80052231e-01 1.98738638e-01 7.60507450e-04 1.50589175e+02] [-1.98738590e-01 9.80052526e-01 -1.38953998e-04 -1.37164134e+01] [-7.72952776e-04 -1.49600030e-05 9.99999701e-01 -3.06172503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.62, Y:-13.72, Z:-0.30 [[ 9.80175286e-01 1.98130844e-01 7.60519100e-04 1.50617995e+02] [-1.98130796e-01 9.80175580e-01 -1.38890208e-04 -1.37181722e+01] [-7.72960684e-04 -1.45455052e-05 9.99999701e-01 -3.04484753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.65, Y:-13.72, Z:-0.30 [[ 9.80357561e-01 1.97226960e-01 7.60525592e-04 1.50647261e+02] [-1.97226912e-01 9.80357856e-01 -1.38854648e-04 -1.37201851e+01] [-7.72973119e-04 -1.38689098e-05 9.99999701e-01 -3.04576212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.68, Y:-13.72, Z:-0.30 [[ 9.80540937e-01 1.96313252e-01 7.60532091e-04 1.50675794e+02] [-1.96313203e-01 9.80541232e-01 -1.38819044e-04 -1.37217438e+01] [-7.72985091e-04 -1.31847359e-05 9.99999701e-01 -3.03963388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.71, Y:-13.72, Z:-0.30 [[ 9.81103028e-01 1.93484547e-01 7.60538646e-04 1.50705994e+02] [-1.93484498e-01 9.81103323e-01 -1.38783120e-04 -1.37194504e+01] [-7.73019382e-04 -1.09918985e-05 9.99999701e-01 -3.01615703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.73, Y:-13.72, Z:-0.30 [[ 9.81546040e-01 1.91224455e-01 7.60545488e-04 1.50733828e+02] [-1.91224405e-01 9.81546335e-01 -1.38745617e-04 -1.37208116e+01] [-7.73042191e-04 -9.24964765e-06 9.99999701e-01 -3.02173903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.76, Y:-13.72, Z:-0.30 [[ 9.82025784e-01 1.88745281e-01 7.60554027e-04 1.50761936e+02] [-1.88745230e-01 9.82026079e-01 -1.38698795e-04 -1.37224923e+01] [-7.73062631e-04 -7.34515137e-06 9.99999701e-01 -3.02814262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.79, Y:-13.72, Z:-0.30 [[ 9.82591275e-01 1.85778921e-01 7.60562408e-04 1.50790974e+02] [-1.85778869e-01 9.82591570e-01 -1.38652822e-04 -1.37244308e+01] [-7.73080982e-04 -5.05737122e-06 9.99999701e-01 -3.01029240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.82, Y:-13.72, Z:-0.30 [[ 9.83774260e-01 1.79409106e-01 7.60569021e-04 1.50819200e+02] [-1.79409052e-01 9.83774554e-01 -1.38616537e-04 -1.37249680e+01] [-7.73097518e-04 -8.55862854e-08 9.99999701e-01 -2.98380281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.85, Y:-13.73, Z:-0.30 [[ 9.84345325e-01 1.76248979e-01 7.60579413e-04 1.50846944e+02] [-1.76248925e-01 9.84345619e-01 -1.38559492e-04 -1.37293904e+01] [-7.73093982e-04 2.33908416e-06 9.99999701e-01 -3.00354258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.87, Y:-13.73, Z:-0.30 [[ 9.85223798e-01 1.71270224e-01 7.60587981e-04 1.50874733e+02] [-1.71270168e-01 9.85224091e-01 -1.38512447e-04 -1.37326787e+01] [-7.73072660e-04 6.19972774e-06 9.99999701e-01 -3.02455234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.90, Y:-13.74, Z:-0.30 [[ 9.85501352e-01 1.69665869e-01 7.60596381e-04 1.50903221e+02] [-1.69665812e-01 9.85501645e-01 -1.38466301e-04 -1.37363804e+01] [-7.73061991e-04 7.41152374e-06 9.99999701e-01 -3.00126296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.93, Y:-13.74, Z:-0.30 [[ 9.85700087e-01 1.68507447e-01 7.60603073e-04 1.50931967e+02] [-1.68507390e-01 9.85700381e-01 -1.38429535e-04 -1.37390899e+01] [-7.73053146e-04 8.28276568e-06 9.99999701e-01 -3.00496015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.96, Y:-13.74, Z:-0.30 [[ 9.85643930e-01 1.68835614e-01 7.60609794e-04 1.50959408e+02] [-1.68835558e-01 9.85644223e-01 -1.38392596e-04 -1.37428879e+01] [-7.73056249e-04 7.98784315e-06 9.99999701e-01 -3.04623009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.99, Y:-13.75, Z:-0.31 [[ 9.85470125e-01 1.69847148e-01 7.60618138e-04 1.50988446e+02] [-1.69847092e-01 9.85470419e-01 -1.38346720e-04 -1.37467158e+01] [-7.73064471e-04 7.14778056e-06 9.99999701e-01 -3.05590779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.02, Y:-13.75, Z:-0.30 [[ 9.85219757e-01 1.71293470e-01 7.60624607e-04 1.51016820e+02] [-1.71293414e-01 9.85220050e-01 -1.38311143e-04 -1.37501745e+01] [-7.73074409e-04 5.97688468e-06 9.99999701e-01 -3.03758034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.05, Y:-13.75, Z:-0.30 [[ 9.84612132e-01 1.74752311e-01 7.60631354e-04 1.51045702e+02] [-1.74752256e-01 9.84612426e-01 -1.38274033e-04 -1.37528932e+01] [-7.73090789e-04 3.22424545e-06 9.99999701e-01 -3.04913946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.07, Y:-13.76, Z:-0.30 [[ 9.84324941e-01 1.76362783e-01 7.60638073e-04 1.51074084e+02] [-1.76362729e-01 9.84325235e-01 -1.38237058e-04 -1.37573638e+01] [-7.73095123e-04 1.92197792e-06 9.99999701e-01 -3.03899902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.10, Y:-13.76, Z:-0.30 [[ 9.84051492e-01 1.77882217e-01 7.60644789e-04 1.51101247e+02] [-1.77882164e-01 9.84051786e-01 -1.38200096e-04 -1.37614355e+01] [-7.73097202e-04 6.90869554e-07 9.99999701e-01 -3.02546541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.13, Y:-13.77, Z:-0.30 [[ 9.83657011e-01 1.80050841e-01 7.60657329e-04 1.51128854e+02] [-1.80050788e-01 9.83657305e-01 -1.38131038e-04 -1.37652512e+01] [-7.73096749e-04 -1.08338737e-06 9.99999701e-01 -3.02257892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.16, Y:-13.77, Z:-0.30 [[ 9.83685386e-01 1.79895756e-01 7.60669658e-04 1.51156760e+02] [-1.79895703e-01 9.83685680e-01 -1.38063111e-04 -1.37708695e+01] [-7.73096818e-04 -1.03053840e-06 9.99999701e-01 -2.99800667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.19, Y:-13.78, Z:-0.30 [[ 9.83912271e-01 1.78650674e-01 7.60679493e-04 1.51185055e+02] [-1.78650621e-01 9.83912565e-01 -1.38008906e-04 -1.37756551e+01] [-7.73097495e-04 -1.07208150e-07 9.99999701e-01 -2.97499849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.21, Y:-13.78, Z:-0.30 [[ 9.84005208e-01 1.78138072e-01 7.60686059e-04 1.51213407e+02] [-1.78138019e-01 9.84005502e-01 -1.37972704e-04 -1.37796064e+01] [-7.73097459e-04 2.58751481e-07 9.99999701e-01 -2.95621013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.24, Y:-13.78, Z:-0.30 [[ 9.84125964e-01 1.77469741e-01 7.60692826e-04 1.51241164e+02] [-1.77469687e-01 9.84126258e-01 -1.37935382e-04 -1.37843053e+01] [-7.73097141e-04 7.45873146e-07 9.99999701e-01 -2.98466680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.27, Y:-13.79, Z:-0.30 [[ 9.84164818e-01 1.77254143e-01 7.60701213e-04 1.51268313e+02] [-1.77254090e-01 9.84165112e-01 -1.37889114e-04 -1.37925987e+01] [-7.73097012e-04 8.68213970e-07 9.99999701e-01 -3.01033897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.30, Y:-13.80, Z:-0.30 [[ 9.84101109e-01 1.77607512e-01 7.60709282e-04 1.51296516e+02] [-1.77607458e-01 9.84101403e-01 -1.37844584e-04 -1.37984959e+01] [-7.73097306e-04 5.45366020e-07 9.99999701e-01 -3.00161332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.32, Y:-13.80, Z:-0.30 [[ 9.83928907e-01 1.78559031e-01 7.60730925e-04 1.51324152e+02] [-1.78558978e-01 9.83929201e-01 -1.37725038e-04 -1.38036931e+01] [-7.73097421e-04 -3.23690570e-07 9.99999701e-01 -3.03635949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.35, Y:-13.81, Z:-0.30 [[ 9.83731253e-01 1.79644772e-01 7.60739242e-04 1.51352915e+02] [-1.79644719e-01 9.83731547e-01 -1.37679083e-04 -1.38089793e+01] [-7.73096519e-04 -1.22357101e-06 9.99999701e-01 -3.00600224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.38, Y:-13.81, Z:-0.30 [[ 9.83070400e-01 1.83226662e-01 7.60746053e-04 1.51379819e+02] [-1.83226610e-01 9.83070694e-01 -1.37641441e-04 -1.38143909e+01] [-7.73086732e-04 -4.07769395e-06 9.99999701e-01 -3.04475115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.41, Y:-13.82, Z:-0.30 [[ 9.82679216e-01 1.85313194e-01 7.60757922e-04 1.51407954e+02] [-1.85313143e-01 9.82679510e-01 -1.37575810e-04 -1.38188623e+01] [-7.73075835e-04 -5.78555262e-06 9.99999701e-01 -3.01429486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.44, Y:-13.82, Z:-0.30 [[ 9.81831614e-01 1.89752742e-01 7.60764524e-04 1.51436290e+02] [-1.89752693e-01 9.81831909e-01 -1.37539293e-04 -1.38239096e+01] [-7.73041342e-04 -9.31669061e-06 9.99999701e-01 -3.00762345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.46, Y:-13.83, Z:-0.30 [[ 9.81506999e-01 1.91424745e-01 7.60787702e-04 1.51463685e+02] [-1.91424696e-01 9.81507293e-01 -1.37410965e-04 -1.38291865e+01] [-7.73022537e-04 -1.07637300e-05 9.99999701e-01 -2.99833709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.49, Y:-13.83, Z:-0.30 [[ 9.81217710e-01 1.92902117e-01 7.60814523e-04 1.51491931e+02] [-1.92902069e-01 9.81218005e-01 -1.37262300e-04 -1.38346722e+01] [-7.73003097e-04 -1.20784964e-05 9.99999701e-01 -2.99139005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.52, Y:-13.84, Z:-0.30 [[ 9.80841208e-01 1.94807460e-01 7.60838037e-04 1.51519743e+02] [-1.94807412e-01 9.80841503e-01 -1.37131842e-04 -1.38390700e+01] [-7.72975829e-04 -1.37123278e-05 9.99999701e-01 -2.96856790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.55, Y:-13.84, Z:-0.29 [[ 9.80868326e-01 1.94670871e-01 7.60846385e-04 1.51548033e+02] [-1.94670823e-01 9.80868621e-01 -1.37085508e-04 -1.38434578e+01] [-7.72976900e-04 -1.36517588e-05 9.99999701e-01 -2.94722114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.58, Y:-13.85, Z:-0.30 [[ 9.80903328e-01 1.94494429e-01 7.60870008e-04 1.51575103e+02] [-1.94494382e-01 9.80903623e-01 -1.36954267e-04 -1.38485527e+01] [-7.72976989e-04 -1.36460451e-05 9.99999701e-01 -2.95524319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.60, Y:-13.85, Z:-0.29 [[ 9.81295982e-01 1.92503549e-01 7.60878389e-04 1.51601738e+02] [-1.92503500e-01 9.81296277e-01 -1.36907689e-04 -1.38549881e+01] [-7.73002346e-04 -1.21247880e-05 9.99999701e-01 -2.94902196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.63, Y:-13.86, Z:-0.29 [[ 9.81657153e-01 1.90653235e-01 7.60887999e-04 1.51629720e+02] [-1.90653186e-01 9.81657447e-01 -1.36854257e-04 -1.38615319e+01] [-7.73023078e-04 -1.07217613e-05 9.99999701e-01 -2.93045112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.66, Y:-13.87, Z:-0.29 [[ 9.82087593e-01 1.88423408e-01 7.60910883e-04 1.51657249e+02] [-1.88423359e-01 9.82087888e-01 -1.36726904e-04 -1.38679124e+01] [-7.73043911e-04 -9.09558800e-06 9.99999701e-01 -2.92967518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.68, Y:-13.87, Z:-0.29 [[ 9.82506955e-01 1.86224341e-01 7.60919000e-04 1.51684879e+02] [-1.86224291e-01 9.82507249e-01 -1.36681715e-04 -1.38740567e+01] [-7.73061896e-04 -7.41086549e-06 9.99999701e-01 -2.92578605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.71, Y:-13.88, Z:-0.29 [[ 9.83310538e-01 1.81933522e-01 7.60928757e-04 1.51711291e+02] [-1.81933471e-01 9.83310833e-01 -1.36627375e-04 -1.38821827e+01] [-7.73086589e-04 -4.09127255e-06 9.99999701e-01 -2.93390919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.74, Y:-13.89, Z:-0.29 [[ 9.83654054e-01 1.80066998e-01 7.60940030e-04 1.51739682e+02] [-1.80066947e-01 9.83654348e-01 -1.36564562e-04 -1.38897984e+01] [-7.73092740e-04 -2.68786254e-06 9.99999701e-01 -2.91240290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.77, Y:-13.90, Z:-0.29 [[ 9.83935752e-01 1.78521305e-01 7.60946597e-04 1.51766375e+02] [-1.78521253e-01 9.83936047e-01 -1.36527959e-04 -1.38967330e+01] [-7.73095936e-04 -1.51039965e-06 9.99999701e-01 -2.90612197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.79, Y:-13.90, Z:-0.29 [[ 9.83909547e-01 1.78665675e-01 7.60954717e-04 1.51793620e+02] [-1.78665623e-01 9.83909842e-01 -1.36482686e-04 -1.39035329e+01] [-7.73095607e-04 -1.66983127e-06 9.99999701e-01 -2.92433024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.82, Y:-13.91, Z:-0.29 [[ 9.83606601e-01 1.80326024e-01 7.60962800e-04 1.51822154e+02] [-1.80325973e-01 9.83606896e-01 -1.36437604e-04 -1.39087936e+01] [-7.73091508e-04 -3.02042940e-06 9.99999701e-01 -2.93030816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.85, Y:-13.91, Z:-0.29 [[ 9.82612038e-01 1.85669072e-01 7.60969220e-04 1.51849953e+02] [-1.85669022e-01 9.82612332e-01 -1.36401787e-04 -1.39131364e+01] [-7.73063334e-04 -7.25837314e-06 9.99999701e-01 -2.91852894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.88, Y:-13.92, Z:-0.29 [[ 9.82019960e-01 1.88775581e-01 7.60977221e-04 1.51878050e+02] [-1.88775532e-01 9.82020254e-01 -1.36357137e-04 -1.39176479e+01] [-7.73035942e-04 -9.74845010e-06 9.99999701e-01 -2.91686824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.91, Y:-13.92, Z:-0.29 [[ 9.81468601e-01 1.91621520e-01 7.60983608e-04 1.51905976e+02] [-1.91621472e-01 9.81468896e-01 -1.36321482e-04 -1.39218903e+01] [-7.73003871e-04 -1.20255453e-05 9.99999701e-01 -2.92954125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.93, Y:-13.93, Z:-0.30 [[ 9.80438867e-01 1.96822378e-01 7.61009106e-04 1.51933433e+02] [-1.96822332e-01 9.80439162e-01 -1.36178991e-04 -1.39251399e+01] [-7.72926204e-04 -1.62684109e-05 9.99999701e-01 -2.95528201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.96, Y:-13.93, Z:-0.30 [[ 9.80085658e-01 1.98573724e-01 7.61017011e-04 1.51960942e+02] [-1.98573678e-01 9.80085953e-01 -1.36134801e-04 -1.39293729e+01] [-7.72894877e-04 -1.76941808e-05 9.99999701e-01 -2.97309068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.99, Y:-13.93, Z:-0.30 [[ 9.80006577e-01 1.98963640e-01 7.61024863e-04 1.51989849e+02] [-1.98963594e-01 9.80006872e-01 -1.36090896e-04 -1.39334752e+01] [-7.72886735e-04 -1.80462690e-05 9.99999701e-01 -2.98995685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.02, Y:-13.94, Z:-0.30 [[ 9.80132000e-01 1.98344858e-01 7.61046724e-04 1.52017609e+02] [-1.98344812e-01 9.80132296e-01 -1.35968532e-04 -1.39372087e+01] [-7.72895132e-04 -1.76825603e-05 9.99999701e-01 -3.00190535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.04, Y:-13.94, Z:-0.30 [[ 9.80292950e-01 1.97547851e-01 7.61054516e-04 1.52044163e+02] [-1.97547805e-01 9.80293245e-01 -1.35924906e-04 -1.39415859e+01] [-7.72908274e-04 -1.70984221e-05 9.99999701e-01 -3.00095853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.07, Y:-13.95, Z:-0.30 [[ 9.80453794e-01 1.96748010e-01 7.61065337e-04 1.52072255e+02] [-1.96747964e-01 9.80454089e-01 -1.35864288e-04 -1.39457672e+01] [-7.72920650e-04 -1.65293986e-05 9.99999701e-01 -2.99851393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.10, Y:-13.95, Z:-0.30 [[ 9.80589469e-01 1.96070688e-01 7.61090030e-04 1.52100341e+02] [-1.96070641e-01 9.80589764e-01 -1.35725823e-04 -1.39465552e+01] [-7.72928948e-04 -1.61360981e-05 9.99999701e-01 -2.99340271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.13, Y:-13.95, Z:-0.30 [[ 9.80657377e-01 1.95730760e-01 7.61097718e-04 1.52129365e+02] [-1.95730713e-01 9.80657672e-01 -1.35682697e-04 -1.39494063e+01] [-7.72933594e-04 -1.59119619e-05 9.99999701e-01 -2.98143437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.16, Y:-13.95, Z:-0.29 [[ 9.80800732e-01 1.95011142e-01 7.61119053e-04 1.52158690e+02] [-1.95011095e-01 9.80801027e-01 -1.35562913e-04 -1.39504977e+01] [-7.72942627e-04 -1.54664553e-05 9.99999701e-01 -2.92560171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.19, Y:-13.96, Z:-0.29 [[ 9.80839056e-01 1.94818292e-01 7.61142409e-04 1.52186753e+02] [-1.94818246e-01 9.80839351e-01 -1.35431646e-04 -1.39552976e+01] [-7.72942989e-04 -1.54477813e-05 9.99999701e-01 -2.92582187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.21, Y:-13.96, Z:-0.29 [[ 9.80884024e-01 1.94591757e-01 7.61169009e-04 1.52214445e+02] [-1.94591711e-01 9.80884319e-01 -1.35281985e-04 -1.39575915e+01] [-7.72943504e-04 -1.54212422e-05 9.99999701e-01 -2.92722003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.24, Y:-13.96, Z:-0.30 [[ 9.80872481e-01 1.94649934e-01 7.61195459e-04 1.52241538e+02] [-1.94649888e-01 9.80872776e-01 -1.35132992e-04 -1.39594584e+01] [-7.72939531e-04 -1.56183780e-05 9.99999701e-01 -2.97625647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.27, Y:-13.96, Z:-0.30 [[ 9.80843613e-01 1.94795348e-01 7.61206949e-04 1.52269226e+02] [-1.94795302e-01 9.80843908e-01 -1.35068236e-04 -1.39609951e+01] [-7.72935863e-04 -1.57987205e-05 9.99999701e-01 -2.97500019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.30, Y:-13.96, Z:-0.29 [[ 9.80654330e-01 1.95746023e-01 7.61230814e-04 1.52299218e+02] [-1.95745977e-01 9.80654625e-01 -1.34933605e-04 -1.39591144e+01] [-7.72917235e-04 -1.66846456e-05 9.99999701e-01 -2.90270553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.33, Y:-13.96, Z:-0.29 [[ 9.80526720e-01 1.96384247e-01 7.61254346e-04 1.52326295e+02] [-1.96384201e-01 9.80527015e-01 -1.34800713e-04 -1.39606655e+01] [-7.72903188e-04 -1.73226260e-05 9.99999701e-01 -2.90925386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.35, Y:-13.96, Z:-0.29 [[ 9.80612191e-01 1.95957014e-01 7.61266054e-04 1.52354815e+02] [-1.95956969e-01 9.80612486e-01 -1.34734559e-04 -1.39591171e+01] [-7.72909180e-04 -1.70530375e-05 9.99999701e-01 -2.92568929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.284203822 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:152.38, Y:-13.96, Z:-0.29 [[ 9.80910129e-01 1.94460123e-01 7.61274284e-04 1.52383409e+02] [-1.94460077e-01 9.80910424e-01 -1.34688040e-04 -1.39604067e+01] [-7.72933334e-04 -1.59205933e-05 9.99999701e-01 -2.93676709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.41, Y:-13.96, Z:-0.29 [[ 9.81371082e-01 1.92120326e-01 7.61300639e-04 1.52411404e+02] [-1.92120279e-01 9.81371377e-01 -1.34538912e-04 -1.39618327e+01] [-7.72966316e-04 -1.42286930e-05 9.99999701e-01 -2.92806156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.44, Y:-13.96, Z:-0.29 [[ 9.82526879e-01 1.86119189e-01 7.61327393e-04 1.52439638e+02] [-1.86119140e-01 9.82527174e-01 -1.34387344e-04 -1.39601025e+01] [-7.73036915e-04 -9.65842241e-06 9.99999701e-01 -2.92527080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.47, Y:-13.96, Z:-0.29 [[ 9.83292978e-01 1.82028403e-01 7.61335684e-04 1.52468500e+02] [-1.82028354e-01 9.83293273e-01 -1.34340355e-04 -1.39622765e+01] [-7.73070017e-04 -6.48875316e-06 9.99999701e-01 -2.90287612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.404203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:152.50, Y:-13.97, Z:-0.29 [[ 9.84107158e-01 1.77573990e-01 7.61359017e-04 1.52495679e+02] [-1.77573939e-01 9.84107453e-01 -1.34207991e-04 -1.39655861e+01] [-7.73090931e-04 -3.12247491e-06 9.99999701e-01 -2.91810091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.52, Y:-13.97, Z:-0.29 [[ 9.85719088e-01 1.68396257e-01 7.61367277e-04 1.52523670e+02] [-1.68396204e-01 9.85719382e-01 -1.34161117e-04 -1.39711964e+01] [-7.73086711e-04 4.03381427e-06 9.99999701e-01 -2.92418166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.55, Y:-13.98, Z:-0.29 [[ 9.86385078e-01 1.64450288e-01 7.61390391e-04 1.52550769e+02] [-1.64450234e-01 9.86385372e-01 -1.34029806e-04 -1.39766282e+01] [-7.73065585e-04 6.99417316e-06 9.99999701e-01 -2.92321785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.58, Y:-13.98, Z:-0.29 [[ 9.86940738e-01 1.61081965e-01 7.61400243e-04 1.52578108e+02] [-1.61081910e-01 9.86941032e-01 -1.33973819e-04 -1.39813352e+01] [-7.73037907e-04 9.57641437e-06 9.99999701e-01 -2.92139696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.61, Y:-13.99, Z:-0.29 [[ 9.87341693e-01 1.58605805e-01 7.61408426e-04 1.52605487e+02] [-1.58605748e-01 9.87341987e-01 -1.33927295e-04 -1.39855490e+01] [-7.73012154e-04 1.14682487e-05 9.99999701e-01 -2.91475348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.63, Y:-13.99, Z:-0.29 [[ 9.87862226e-01 1.55330750e-01 7.61416362e-04 1.52633223e+02] [-1.55330693e-01 9.87862520e-01 -1.33882161e-04 -1.39919878e+01] [-7.72970703e-04 1.39857983e-05 9.99999701e-01 -2.90922114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.66, Y:-14.00, Z:-0.29 [[ 9.87997542e-01 1.54467721e-01 7.61425954e-04 1.52660982e+02] [-1.54467664e-01 9.87997835e-01 -1.33827587e-04 -1.39983587e+01] [-7.72959237e-04 1.46056383e-05 9.99999701e-01 -2.89697974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.69, Y:-14.01, Z:-0.29 [[ 9.87864321e-01 1.55317430e-01 7.61432426e-04 1.52688952e+02] [-1.55317373e-01 9.87864614e-01 -1.33790755e-04 -1.40062318e+01] [-7.72972186e-04 1.39034286e-05 9.99999701e-01 -2.89915750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.72, Y:-14.01, Z:-0.29 [[ 9.87610651e-01 1.56922347e-01 7.61438910e-04 1.52715228e+02] [-1.56922290e-01 9.87610944e-01 -1.33753843e-04 -1.40128391e+01] [-7.72994367e-04 1.26099829e-05 9.99999701e-01 -2.91727451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.74, Y:-14.02, Z:-0.29 [[ 9.87262141e-01 1.59100239e-01 7.61450165e-04 1.52743734e+02] [-1.59100183e-01 9.87262434e-01 -1.33689734e-04 -1.40198255e+01] [-7.73021212e-04 1.08399521e-05 9.99999701e-01 -2.89414665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.77, Y:-14.03, Z:-0.29 [[ 9.86121166e-01 1.66025499e-01 7.61456676e-04 1.52771357e+02] [-1.66025446e-01 9.86121460e-01 -1.33652640e-04 -1.40267430e+01] [-7.73078516e-04 5.37651293e-06 9.99999701e-01 -2.89457818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.80, Y:-14.03, Z:-0.29 [[ 9.85396467e-01 1.70273967e-01 7.61463226e-04 1.52797766e+02] [-1.70273915e-01 9.85396761e-01 -1.33615315e-04 -1.40315042e+01] [-7.73094606e-04 2.00673510e-06 9.99999701e-01 -2.91578653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.83, Y:-14.04, Z:-0.29 [[ 9.84660981e-01 1.74476857e-01 7.61474665e-04 1.52825418e+02] [-1.74476806e-01 9.84661275e-01 -1.33550090e-04 -1.40358493e+01] [-7.73096015e-04 -1.35810447e-06 9.99999701e-01 -2.91403014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.85, Y:-14.04, Z:-0.29 [[ 9.82983613e-01 1.83691691e-01 7.61499900e-04 1.52854327e+02] [-1.83691643e-01 9.82983908e-01 -1.33406044e-04 -1.40390961e+01] [-7.73047729e-04 -8.74521303e-06 9.99999701e-01 -2.91854139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.88, Y:-14.04, Z:-0.29 [[ 9.82176771e-01 1.87958000e-01 7.61520711e-04 1.52881764e+02] [-1.87957953e-01 9.82177067e-01 -1.33287142e-04 -1.40424999e+01] [-7.73000563e-04 -1.22223390e-05 9.99999701e-01 -2.92533485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.91, Y:-14.04, Z:-0.30 [[ 9.80709559e-01 1.95469130e-01 7.61546364e-04 1.52910006e+02] [-1.95469085e-01 9.80709855e-01 -1.33140412e-04 -1.40439151e+01] [-7.72880865e-04 -1.82866963e-05 9.99999701e-01 -2.96815604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.94, Y:-14.05, Z:-0.30 [[ 9.80226160e-01 1.97878993e-01 7.61558218e-04 1.52938212e+02] [-1.97878949e-01 9.80226455e-01 -1.33072573e-04 -1.40463477e+01] [-7.72831779e-04 -2.02551227e-05 9.99999701e-01 -2.96041244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.97, Y:-14.05, Z:-0.30 [[ 9.79830567e-01 1.99828628e-01 7.61584006e-04 1.52967198e+02] [-1.99828585e-01 9.79830863e-01 -1.32924823e-04 -1.40483261e+01] [-7.72785698e-04 -2.19424490e-05 9.99999701e-01 -2.95685052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.00, Y:-14.05, Z:-0.29 [[ 9.79321052e-01 2.02310894e-01 7.61606677e-04 1.52996370e+02] [-2.02310852e-01 9.79321347e-01 -1.32794801e-04 -1.40476754e+01] [-7.72723512e-04 -2.40325510e-05 9.99999701e-01 -2.94763595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.02, Y:-14.05, Z:-0.30 [[ 9.79174854e-01 2.03017305e-01 7.61629368e-04 1.53022947e+02] [-2.03017263e-01 9.79175149e-01 -1.32664533e-04 -1.40496642e+01] [-7.72701746e-04 -2.47221350e-05 9.99999701e-01 -2.96416793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.05, Y:-14.05, Z:-0.30 [[ 9.79167658e-01 2.03052007e-01 7.61640631e-04 1.53051045e+02] [-2.03051965e-01 9.79167954e-01 -1.32599838e-04 -1.40516594e+01] [-7.72698761e-04 -2.48151540e-05 9.99999701e-01 -2.95459984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.08, Y:-14.05, Z:-0.30 [[ 9.79641075e-01 2.00755535e-01 7.61666345e-04 1.53079597e+02] [-2.00755493e-01 9.79641370e-01 -1.32451971e-04 -1.40494525e+01] [-7.72750328e-04 -2.31533106e-05 9.99999701e-01 -2.96401999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.11, Y:-14.05, Z:-0.30 [[ 9.80101713e-01 1.98494465e-01 7.61674316e-04 1.53107825e+02] [-1.98494422e-01 9.80102008e-01 -1.32406113e-04 -1.40503264e+01] [-7.72800408e-04 -2.14166448e-05 9.99999701e-01 -2.97307018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.14, Y:-14.05, Z:-0.29 [[ 9.80728049e-01 1.95376341e-01 7.61682023e-04 1.53136056e+02] [-1.95376297e-01 9.80728344e-01 -1.32361767e-04 -1.40511981e+01] [-7.72863507e-04 -1.90037153e-05 9.99999701e-01 -2.94743634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.16, Y:-14.05, Z:-0.30 [[ 9.82298558e-01 1.87320480e-01 7.61707330e-04 1.53164246e+02] [-1.87320434e-01 9.82298854e-01 -1.32215969e-04 -1.40504918e+01] [-7.72990996e-04 -1.28077915e-05 9.99999701e-01 -2.97072276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.19, Y:-14.05, Z:-0.30 [[ 9.83171705e-01 1.82682288e-01 7.61715172e-04 1.53192500e+02] [-1.82682241e-01 9.83172000e-01 -1.32170777e-04 -1.40527672e+01] [-7.73042289e-04 -9.20526620e-06 9.99999701e-01 -2.96702114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:-14.06, Z:-0.30 [[ 9.84086070e-01 1.77690820e-01 7.61739971e-04 1.53220632e+02] [-1.77690771e-01 9.84086364e-01 -1.32027695e-04 -1.40556114e+01] [-7.73078028e-04 -5.42754703e-06 9.99999701e-01 -2.96369431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:-14.06, Z:-0.30 [[ 9.85900849e-01 1.67328825e-01 7.61764633e-04 1.53248837e+02] [-1.67328773e-01 9.85901143e-01 -1.31885248e-04 -1.40586823e+01] [-7.73092826e-04 2.56063669e-06 9.99999701e-01 -2.95181088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.244203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:153.28, Y:-14.06, Z:-0.29 [[ 9.86739214e-01 1.62311869e-01 7.61789576e-04 1.53277008e+02] [-1.62311815e-01 9.86739508e-01 -1.31741016e-04 -1.40621132e+01] [-7.73071002e-04 6.34657797e-06 9.99999701e-01 -2.92925613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.30, Y:-14.07, Z:-0.29 [[ 9.87467690e-01 1.57819457e-01 7.61811961e-04 1.53304334e+02] [-1.57819402e-01 9.87467984e-01 -1.31611442e-04 -1.40653858e+01] [-7.73035768e-04 9.73333870e-06 9.99999701e-01 -2.91925805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:-14.07, Z:-0.29 [[ 9.88586450e-01 1.50652749e-01 7.61819870e-04 1.53331845e+02] [-1.50652693e-01 9.88586743e-01 -1.31565647e-04 -1.40688429e+01] [-7.72945751e-04 1.52938007e-05 9.99999701e-01 -2.92021524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.36, Y:-14.07, Z:-0.29 [[ 9.89003882e-01 1.47887593e-01 7.61827662e-04 1.53360003e+02] [-1.47887535e-01 9.89004176e-01 -1.31520514e-04 -1.40736498e+01] [-7.72900991e-04 1.74094834e-05 9.99999701e-01 -2.91083383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.39, Y:-14.08, Z:-0.29 [[ 9.89252818e-01 1.46213137e-01 7.61849105e-04 1.53387597e+02] [-1.46213079e-01 9.89253111e-01 -1.31396184e-04 -1.40781619e+01] [-7.72873446e-04 1.85917417e-05 9.99999701e-01 -2.90957111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.42, Y:-14.08, Z:-0.29 [[ 9.89301082e-01 1.45886215e-01 7.61856692e-04 1.53415855e+02] [-1.45886158e-01 9.89301376e-01 -1.31352177e-04 -1.40822735e+01] [-7.72868346e-04 1.88025052e-05 9.99999701e-01 -2.92921534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.424203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.44, Y:-14.09, Z:-0.29 [[ 9.89140440e-01 1.46971461e-01 7.61877842e-04 1.53443136e+02] [-1.46971403e-01 9.89140733e-01 -1.31229391e-04 -1.40864806e+01] [-7.72891382e-04 1.78300424e-05 9.99999701e-01 -2.93026286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:-14.09, Z:-0.29 [[ 9.88432424e-01 1.51660025e-01 7.61902035e-04 1.53471021e+02] [-1.51659969e-01 9.88432717e-01 -1.31088778e-04 -1.40888070e+01] [-7.72969826e-04 1.40223597e-05 9.99999701e-01 -2.92344793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.50, Y:-14.09, Z:-0.29 [[ 9.87967796e-01 1.54657860e-01 7.61926412e-04 1.53499183e+02] [-1.54657805e-01 9.87968090e-01 -1.30946934e-04 -1.40919961e+01] [-7.73010955e-04 1.15334870e-05 9.99999701e-01 -2.92061261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.53, Y:-14.10, Z:-0.29 [[ 9.87517337e-01 1.57508503e-01 7.61933987e-04 1.53528155e+02] [-1.57508449e-01 9.87517631e-01 -1.30902848e-04 -1.40957933e+01] [-7.73041557e-04 9.25779127e-06 9.99999701e-01 -2.91071251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54420382200001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:153.56, Y:-14.10, Z:-0.29 [[ 9.86726041e-01 1.62391931e-01 7.61955272e-04 1.53555654e+02] [-1.62391878e-01 9.86726335e-01 -1.30778832e-04 -1.40995278e+01] [-7.73078760e-04 5.30753117e-06 9.99999701e-01 -2.89279597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.58, Y:-14.10, Z:-0.29 [[ 9.86485922e-01 1.63844272e-01 7.61962837e-04 1.53583892e+02] [-1.63844220e-01 9.86486216e-01 -1.30734741e-04 -1.41031769e+01] [-7.73085974e-04 4.12477451e-06 9.99999701e-01 -2.86210506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.61, Y:-14.11, Z:-0.29 [[ 9.86364631e-01 1.64572883e-01 7.61984874e-04 1.53611452e+02] [-1.64572831e-01 9.86364925e-01 -1.30606171e-04 -1.41065583e+01] [-7.73089388e-04 3.42329955e-06 9.99999701e-01 -2.87028099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.64, Y:-14.11, Z:-0.29 [[ 9.86477915e-01 1.63892475e-01 7.61996688e-04 1.53639379e+02] [-1.63892423e-01 9.86478209e-01 -1.30537209e-04 -1.41130491e+01] [-7.73087194e-04 3.88659050e-06 9.99999701e-01 -2.89013858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.67, Y:-14.12, Z:-0.29 [[ 9.86712432e-01 1.62474602e-01 7.62018114e-04 1.53666347e+02] [-1.62474550e-01 9.86712726e-01 -1.30412016e-04 -1.41190672e+01] [-7.73081611e-04 4.87060724e-06 9.99999701e-01 -2.90047986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.69, Y:-14.12, Z:-0.29 [[ 9.87270166e-01 1.59050427e-01 7.62042561e-04 1.53694167e+02] [-1.59050374e-01 9.87270460e-01 -1.30269006e-04 -1.41248931e+01] [-7.73061451e-04 7.40754888e-06 9.99999701e-01 -2.87690034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.72, Y:-14.13, Z:-0.29 [[ 9.87571268e-01 1.57170004e-01 7.62068002e-04 1.53721716e+02] [-1.57169950e-01 9.87571562e-01 -1.30120007e-04 -1.41306196e+01] [-7.73047649e-04 8.72859020e-06 9.99999701e-01 -2.90352276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.75, Y:-14.14, Z:-0.29 [[ 9.87916405e-01 1.54985791e-01 7.62075874e-04 1.53749081e+02] [-1.54985736e-01 9.87916699e-01 -1.30073886e-04 -1.41363923e+01] [-7.73027086e-04 1.03912356e-05 9.99999701e-01 -2.89616147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.78, Y:-14.14, Z:-0.29 [[ 9.88312902e-01 1.52436962e-01 7.62100333e-04 1.53777208e+02] [-1.52436907e-01 9.88313196e-01 -1.29930422e-04 -1.41424283e+01] [-7.73000014e-04 1.22396946e-05 9.99999701e-01 -2.87229371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.80, Y:-14.15, Z:-0.29 [[ 9.88471731e-01 1.51403623e-01 7.62121907e-04 1.53804821e+02] [-1.51403568e-01 9.88472024e-01 -1.29803754e-04 -1.41480076e+01] [-7.72988943e-04 1.29193651e-05 9.99999701e-01 -2.87270095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.83, Y:-14.15, Z:-0.29 [[ 9.88629098e-01 1.50372625e-01 7.62146398e-04 1.53832408e+02] [-1.50372570e-01 9.88629391e-01 -1.29659797e-04 -1.41548140e+01] [-7.72977613e-04 1.35795359e-05 9.99999701e-01 -2.87946075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.86, Y:-14.16, Z:-0.29 [[ 9.88834819e-01 1.49013825e-01 7.62171061e-04 1.53859185e+02] [-1.49013770e-01 9.88835112e-01 -1.29514658e-04 -1.41647059e+01] [-7.72960981e-04 1.44946206e-05 9.99999701e-01 -2.90129798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.89, Y:-14.17, Z:-0.29 [[ 9.88864144e-01 1.48819095e-01 7.62178747e-04 1.53886945e+02] [-1.48819039e-01 9.88864438e-01 -1.29469410e-04 -1.41706300e+01] [-7.72958979e-04 1.46009486e-05 9.99999701e-01 -2.87374163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.92, Y:-14.18, Z:-0.29 [[ 9.88891951e-01 1.48634208e-01 7.62184776e-04 1.53915033e+02] [-1.48634152e-01 9.88892245e-01 -1.29433909e-04 -1.41752167e+01] [-7.72956921e-04 1.47094627e-05 9.99999701e-01 -2.87396169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.94, Y:-14.18, Z:-0.29 [[ 9.88924685e-01 1.48416261e-01 7.62208949e-04 1.53942919e+02] [-1.48416205e-01 9.88924979e-01 -1.29291402e-04 -1.41807853e+01] [-7.72956415e-04 1.47352988e-05 9.99999701e-01 -2.86731084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.97, Y:-14.19, Z:-0.29 [[ 9.88909508e-01 1.48517352e-01 7.62218100e-04 1.53970717e+02] [-1.48517297e-01 9.88909802e-01 -1.29237430e-04 -1.41885511e+01] [-7.72958951e-04 1.46015513e-05 9.99999701e-01 -2.88001646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.00, Y:-14.19, Z:-0.29 [[ 9.88832561e-01 1.49028805e-01 7.62224296e-04 1.53998265e+02] [-1.49028750e-01 9.88832855e-01 -1.29200876e-04 -1.41945460e+01] [-7.72967079e-04 1.41646995e-05 9.99999701e-01 -2.89653094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.03, Y:-14.20, Z:-0.29 [[ 9.88697760e-01 1.49920505e-01 7.62235890e-04 1.54025807e+02] [-1.49920450e-01 9.88698054e-01 -1.29132438e-04 -1.42002798e+01] [-7.72980742e-04 1.33982044e-05 9.99999701e-01 -2.91011485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.05, Y:-14.21, Z:-0.29 [[ 9.88456428e-01 1.51503495e-01 7.62243508e-04 1.54053338e+02] [-1.51503441e-01 9.88456722e-01 -1.29087456e-04 -1.42078828e+01] [-7.73001920e-04 1.21148114e-05 9.99999701e-01 -2.93704187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.08, Y:-14.21, Z:-0.30 [[ 9.88320723e-01 1.52386241e-01 7.62263232e-04 1.54080502e+02] [-1.52386187e-01 9.88321017e-01 -1.28970882e-04 -1.42146666e+01] [-7.73014161e-04 1.13062078e-05 9.99999701e-01 -2.95822356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.11, Y:-14.22, Z:-0.29 [[ 9.88217202e-01 1.53056137e-01 7.62270812e-04 1.54108276e+02] [-1.53056083e-01 9.88217496e-01 -1.28926063e-04 -1.42216502e+01] [-7.73022278e-04 1.07367681e-05 9.99999701e-01 -2.94943088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.13, Y:-14.23, Z:-0.30 [[ 9.88009870e-01 1.54388847e-01 7.62277041e-04 1.54134773e+02] [-1.54388793e-01 9.88010164e-01 -1.28889226e-04 -1.42293471e+01] [-7.73036523e-04 9.65679532e-06 9.99999701e-01 -2.95625416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.16, Y:-14.23, Z:-0.29 [[ 9.87937371e-01 1.54852089e-01 7.62284781e-04 1.54162680e+02] [-1.54852035e-01 9.87937665e-01 -1.28843432e-04 -1.42348235e+01] [-7.73041522e-04 9.24789150e-06 9.99999701e-01 -2.94312097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.19, Y:-14.24, Z:-0.29 [[ 9.87848761e-01 1.55416357e-01 7.62293940e-04 1.54190117e+02] [-1.55416304e-01 9.87849055e-01 -1.28789221e-04 -1.42403781e+01] [-7.73047300e-04 8.75136636e-06 9.99999701e-01 -2.93632827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.22, Y:-14.25, Z:-0.29 [[ 9.87874713e-01 1.55251316e-01 7.62301524e-04 1.54217923e+02] [-1.55251263e-01 9.87875007e-01 -1.28744317e-04 -1.42493429e+01] [-7.73046348e-04 8.83498051e-06 9.99999701e-01 -2.92354012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.25, Y:-14.26, Z:-0.29 [[ 9.87987041e-01 1.54534867e-01 7.62322798e-04 1.54245381e+02] [-1.54534814e-01 9.87987335e-01 -1.28618225e-04 -1.42571205e+01] [-7.73041270e-04 9.26772803e-06 9.99999701e-01 -2.91544850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.27, Y:-14.27, Z:-0.29 [[ 9.88311844e-01 1.52443817e-01 7.62331998e-04 1.54272609e+02] [-1.52443763e-01 9.88312138e-01 -1.28563670e-04 -1.42662598e+01] [-7.73020704e-04 1.08482392e-05 9.99999701e-01 -2.89549521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.30, Y:-14.27, Z:-0.29 [[ 9.88465226e-01 1.51446084e-01 7.62338235e-04 1.54300005e+02] [-1.51446030e-01 9.88465520e-01 -1.28526681e-04 -1.42726634e+01] [-7.73009922e-04 1.15910561e-05 9.99999701e-01 -2.90098956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.33, Y:-14.28, Z:-0.29 [[ 9.88624592e-01 1.50402242e-01 7.62345984e-04 1.54328174e+02] [-1.50402188e-01 9.88624886e-01 -1.28480701e-04 -1.42800005e+01] [-7.72997997e-04 1.23606767e-05 9.99999701e-01 -2.87797733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.35, Y:-14.29, Z:-0.29 [[ 9.88715670e-01 1.49802344e-01 7.62352181e-04 1.54354863e+02] [-1.49802289e-01 9.88715964e-01 -1.28443918e-04 -1.42879030e+01] [-7.72990972e-04 1.27924132e-05 9.99999701e-01 -2.89790503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.38, Y:-14.30, Z:-0.29 [[ 9.88719663e-01 1.49775986e-01 7.62359881e-04 1.54382101e+02] [-1.49775932e-01 9.88719957e-01 -1.28398203e-04 -1.42985883e+01] [-7.72991396e-04 1.27666669e-05 9.99999701e-01 -2.89415418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.41, Y:-14.31, Z:-0.29 [[ 9.88450756e-01 1.51540498e-01 7.62366153e-04 1.54408935e+02] [-1.51540444e-01 9.88451050e-01 -1.28360950e-04 -1.43079062e+01] [-7.73013506e-04 1.13491728e-05 9.99999701e-01 -2.91951645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.44, Y:-14.31, Z:-0.29 [[ 9.88219920e-01 1.53038586e-01 7.62373947e-04 1.54437324e+02] [-1.53038532e-01 9.88220214e-01 -1.28314640e-04 -1.43144652e+01] [-7.73030436e-04 1.01304931e-05 9.99999701e-01 -2.92327404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.47, Y:-14.32, Z:-0.29 [[ 9.87953880e-01 1.54746731e-01 7.62379947e-04 1.54465560e+02] [-1.54746678e-01 9.87954174e-01 -1.28278983e-04 -1.43201382e+01] [-7.73047204e-04 8.75795520e-06 9.99999701e-01 -2.93144949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.49, Y:-14.33, Z:-0.29 [[ 9.87246167e-01 1.59199325e-01 7.62385942e-04 1.54493803e+02] [-1.59199273e-01 9.87246461e-01 -1.28243346e-04 -1.43273764e+01] [-7.73079077e-04 5.23646391e-06 9.99999701e-01 -2.93723702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.52, Y:-14.33, Z:-0.30 [[ 9.86803822e-01 1.61918608e-01 7.62392124e-04 1.54520895e+02] [-1.61918557e-01 9.86804117e-01 -1.28206583e-04 -1.43348484e+01] [-7.73090718e-04 3.06931295e-06 9.99999701e-01 -2.95168888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.55, Y:-14.34, Z:-0.30 [[ 9.86404476e-01 1.64333893e-01 7.62399795e-04 1.54548516e+02] [-1.64333843e-01 9.86404771e-01 -1.28160948e-04 -1.43411794e+01] [-7.73095983e-04 1.13044500e-06 9.99999701e-01 -2.95400648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.57, Y:-14.35, Z:-0.30 [[ 9.85630902e-01 1.68911646e-01 7.62409067e-04 1.54574996e+02] [-1.68911598e-01 9.85631197e-01 -1.28105769e-04 -1.43473535e+01] [-7.73092717e-04 -2.51472912e-06 9.99999701e-01 -2.96462172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.60, Y:-14.35, Z:-0.29 [[ 9.85363218e-01 1.70466265e-01 7.62425987e-04 1.54603118e+02] [-1.70466217e-01 9.85363513e-01 -1.28004989e-04 -1.43529176e+01] [-7.73087281e-04 -3.83646550e-06 9.99999701e-01 -2.94360314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.63, Y:-14.36, Z:-0.29 [[ 9.84892824e-01 1.73163344e-01 7.62432148e-04 1.54630922e+02] [-1.73163297e-01 9.84893119e-01 -1.27968278e-04 -1.43589664e+01] [-7.73073592e-04 -5.99022534e-06 9.99999701e-01 -2.92377223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.66, Y:-14.36, Z:-0.30 [[ 9.84713986e-01 1.74177452e-01 7.62438447e-04 1.54657108e+02] [-1.74177405e-01 9.84714281e-01 -1.27930739e-04 -1.43637833e+01] [-7.73066678e-04 -6.82436305e-06 9.99999701e-01 -2.96689846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.774203822 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:154.69, Y:-14.37, Z:-0.30 [[ 9.84660952e-01 1.74477012e-01 7.62449397e-04 1.54685504e+02] [-1.74476966e-01 9.84661247e-01 -1.27865449e-04 -1.43689757e+01] [-7.73063955e-04 -7.12574251e-06 9.99999701e-01 -2.95257219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.71, Y:-14.37, Z:-0.30 [[ 9.84640912e-01 1.74590070e-01 7.62455377e-04 1.54711968e+02] [-1.74590023e-01 9.84641208e-01 -1.27829779e-04 -1.43737554e+01] [-7.73062793e-04 -7.25067165e-06 9.99999701e-01 -2.97661081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.74, Y:-14.38, Z:-0.30 [[ 9.84618668e-01 1.74715478e-01 7.62465786e-04 1.54740853e+02] [-1.74715431e-01 9.84618963e-01 -1.27767663e-04 -1.43782400e+01] [-7.73061259e-04 -7.41211271e-06 9.99999701e-01 -2.98308762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.77, Y:-14.38, Z:-0.30 [[ 9.84624006e-01 1.74685390e-01 7.62471700e-04 1.54768985e+02] [-1.74685344e-01 9.84624301e-01 -1.27732359e-04 -1.43835465e+01] [-7.73061142e-04 -7.42428438e-06 9.99999701e-01 -2.97328584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.80, Y:-14.39, Z:-0.30 [[ 9.84579075e-01 1.74938456e-01 7.62477989e-04 1.54795996e+02] [-1.74938409e-01 9.84579370e-01 -1.27694809e-04 -1.43895760e+01] [-7.73058831e-04 -7.66104974e-06 9.99999701e-01 -2.98783844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.82, Y:-14.39, Z:-0.30 [[ 9.84506043e-01 1.75348993e-01 7.62489793e-04 1.54822307e+02] [-1.75348946e-01 9.84506339e-01 -1.27624284e-04 -1.43938660e+01] [-7.73054824e-04 -8.05490337e-06 9.99999701e-01 -3.00083155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.85, Y:-14.40, Z:-0.30 [[ 9.84540733e-01 1.75154115e-01 7.62500604e-04 1.54850173e+02] [-1.75154069e-01 9.84541028e-01 -1.27559658e-04 -1.43972135e+01] [-7.73055728e-04 -7.96740381e-06 9.99999701e-01 -3.00002241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.88, Y:-14.40, Z:-0.30 [[ 9.84812191e-01 1.73621331e-01 7.62508113e-04 1.54879164e+02] [-1.73621284e-01 9.84812486e-01 -1.27514757e-04 -1.44006993e+01] [-7.73066793e-04 -6.80955074e-06 9.99999701e-01 -2.97249542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.91, Y:-14.40, Z:-0.30 [[ 9.85034152e-01 1.72357585e-01 7.62514372e-04 1.54906273e+02] [-1.72357538e-01 9.85034448e-01 -1.27477322e-04 -1.44044719e+01] [-7.73074606e-04 -5.85558386e-06 9.99999701e-01 -2.98764195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.93, Y:-14.41, Z:-0.30 [[ 9.85325795e-01 1.70682442e-01 7.62531436e-04 1.54933436e+02] [-1.70682395e-01 9.85326090e-01 -1.27375164e-04 -1.44083682e+01] [-7.73082823e-04 -4.64465747e-06 9.99999701e-01 -3.00211263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.96, Y:-14.41, Z:-0.30 [[ 9.85698992e-01 1.68513842e-01 7.62541964e-04 1.54961434e+02] [-1.68513794e-01 9.85699287e-01 -1.27312105e-04 -1.44130367e+01] [-7.73090923e-04 -3.00742565e-06 9.99999701e-01 -2.97748248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.99, Y:-14.42, Z:-0.30 [[ 9.86606989e-01 1.63113665e-01 7.62551304e-04 1.54988114e+02] [-1.63113615e-01 9.86607284e-01 -1.27256138e-04 -1.44196912e+01] [-7.73095886e-04 1.16929520e-06 9.99999701e-01 -2.99310183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.02, Y:-14.43, Z:-0.30 [[ 9.87113004e-01 1.60022924e-01 7.62562944e-04 1.55016296e+02] [-1.60022874e-01 9.87113298e-01 -1.27186350e-04 -1.44254535e+01] [-7.73088755e-04 3.51978612e-06 9.99999701e-01 -2.97692499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.04, Y:-14.43, Z:-0.30 [[ 9.87894401e-01 1.55125984e-01 7.62569129e-04 1.55044517e+02] [-1.55125932e-01 9.87894695e-01 -1.27149260e-04 -1.44318931e+01] [-7.73062151e-04 7.31579490e-06 9.99999701e-01 -2.98558404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.07, Y:-14.44, Z:-0.30 [[ 9.88161840e-01 1.53413158e-01 7.62575348e-04 1.55071366e+02] [-1.53413106e-01 9.88162134e-01 -1.27111948e-04 -1.44364247e+01] [-7.73048728e-04 8.61812370e-06 9.99999701e-01 -2.99169520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.10, Y:-14.44, Z:-0.30 [[ 9.88309304e-01 1.52460285e-01 7.62586140e-04 1.55097510e+02] [-1.52460233e-01 9.88309598e-01 -1.27047173e-04 -1.44407713e+01] [-7.73040849e-04 9.29784241e-06 9.99999701e-01 -3.00880359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.13, Y:-14.45, Z:-0.30 [[ 9.88262038e-01 1.52766369e-01 7.62602007e-04 1.55126168e+02] [-1.52766317e-01 9.88262332e-01 -1.26951855e-04 -1.44467591e+01] [-7.73044812e-04 8.96179848e-06 9.99999701e-01 -2.98682934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.15, Y:-14.45, Z:-0.30 [[ 9.88136362e-01 1.53577173e-01 7.62607924e-04 1.55154532e+02] [-1.53577121e-01 9.88136656e-01 -1.26916302e-04 -1.44529024e+01] [-7.73052291e-04 8.29148396e-06 9.99999701e-01 -2.95633816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.18, Y:-14.46, Z:-0.29 [[ 9.87702297e-01 1.56344464e-01 7.62614055e-04 1.55181882e+02] [-1.56344412e-01 9.87702591e-01 -1.26879450e-04 -1.44583650e+01] [-7.73072778e-04 6.08867741e-06 9.99999701e-01 -2.94686441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.21, Y:-14.46, Z:-0.29 [[ 9.87428013e-01 1.58067507e-01 7.62621708e-04 1.55210437e+02] [-1.58067456e-01 9.87428308e-01 -1.26833436e-04 -1.44620036e+01] [-7.73082508e-04 4.69321482e-06 9.99999701e-01 -2.94102278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.24, Y:-14.47, Z:-0.30 [[ 9.87190195e-01 1.59546036e-01 7.62627796e-04 1.55239351e+02] [-1.59545985e-01 9.87190489e-01 -1.26796820e-04 -1.44663952e+01] [-7.73088837e-04 3.49837394e-06 9.99999701e-01 -2.95097331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.27, Y:-14.47, Z:-0.30 [[ 9.87002282e-01 1.60704428e-01 7.62633896e-04 1.55265465e+02] [-1.60704378e-01 9.87002577e-01 -1.26760123e-04 -1.44716726e+01] [-7.73092533e-04 2.55392430e-06 9.99999701e-01 -2.96355407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.29, Y:-14.48, Z:-0.30 [[ 9.86827143e-01 1.61776415e-01 7.62644490e-04 1.55292033e+02] [-1.61776365e-01 9.86827438e-01 -1.26696347e-04 -1.44785814e+01] [-7.73094989e-04 1.64954075e-06 9.99999701e-01 -2.97127153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.32, Y:-14.48, Z:-0.30 [[ 9.86860851e-01 1.61570662e-01 7.62654940e-04 1.55320649e+02] [-1.61570612e-01 9.86861146e-01 -1.26633415e-04 -1.44841327e+01] [-7.73094773e-04 1.74693423e-06 9.99999701e-01 -2.95878853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.35, Y:-14.49, Z:-0.30 [[ 9.87150067e-01 1.59794126e-01 7.62661114e-04 1.55348705e+02] [-1.59794076e-01 9.87150362e-01 -1.26596217e-04 -1.44929089e+01] [-7.73090527e-04 3.10073597e-06 9.99999701e-01 -2.97591327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.38, Y:-14.50, Z:-0.30 [[ 9.87347435e-01 1.58570053e-01 7.62667293e-04 1.55375744e+02] [-1.58570003e-01 9.87347729e-01 -1.26558981e-04 -1.45004433e+01] [-7.73086285e-04 4.02153039e-06 9.99999701e-01 -3.00801991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.40, Y:-14.51, Z:-0.30 [[ 9.87487061e-01 1.57698202e-01 7.62674981e-04 1.55403442e+02] [-1.57698152e-01 9.87487355e-01 -1.26512636e-04 -1.45072162e+01] [-7.73082715e-04 4.65715651e-06 9.99999701e-01 -3.00472935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.43, Y:-14.51, Z:-0.30 [[ 9.87500854e-01 1.57611806e-01 7.62683800e-04 1.55431301e+02] [-1.57611755e-01 9.87501149e-01 -1.26459447e-04 -1.45144775e+01] [-7.73082631e-04 4.67087891e-06 9.99999701e-01 -2.96730805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.46, Y:-14.52, Z:-0.30 [[ 9.87386178e-01 1.58328627e-01 7.62689992e-04 1.55459186e+02] [-1.58328577e-01 9.87386472e-01 -1.26422094e-04 -1.45212217e+01] [-7.73086017e-04 4.07180752e-06 9.99999701e-01 -2.95925065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.49, Y:-14.53, Z:-0.30 [[ 9.87210640e-01 1.59419482e-01 7.62696209e-04 1.55486839e+02] [-1.59419432e-01 9.87210934e-01 -1.26384577e-04 -1.45287686e+01] [-7.73090201e-04 3.17960297e-06 9.99999701e-01 -2.95638160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.51, Y:-14.54, Z:-0.29 [[ 9.86659791e-01 1.62793964e-01 7.62702413e-04 1.55514025e+02] [-1.62793915e-01 9.86660086e-01 -1.26347122e-04 -1.45371660e+01] [-7.73096578e-04 4.98312968e-07 9.99999701e-01 -2.93538606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.54, Y:-14.54, Z:-0.29 [[ 9.86254074e-01 1.65234137e-01 7.62710155e-04 1.55542577e+02] [-1.65234089e-01 9.86254369e-01 -1.26300371e-04 -1.45431981e+01] [-7.73095355e-04 -1.46146199e-06 9.99999701e-01 -2.92650040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.57, Y:-14.55, Z:-0.29 [[ 9.85757583e-01 1.68170763e-01 7.62716360e-04 1.55569431e+02] [-1.68170715e-01 9.85757878e-01 -1.26262891e-04 -1.45492528e+01] [-7.73087387e-04 -3.80195387e-06 9.99999701e-01 -2.92910558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.60, Y:-14.56, Z:-0.29 [[ 9.84483341e-01 1.75476408e-01 7.62727721e-04 1.55596094e+02] [-1.75476363e-01 9.84483636e-01 -1.26194221e-04 -1.45554344e+01] [-7.73037069e-04 -9.60457826e-06 9.99999701e-01 -2.94116685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.62, Y:-14.56, Z:-0.30 [[ 9.83798513e-01 1.79276056e-01 7.62738356e-04 1.55624846e+02] [-1.79276012e-01 9.83798809e-01 -1.26129909e-04 -1.45596557e+01] [-7.72993159e-04 -1.26542732e-05 9.99999701e-01 -2.95162537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.65, Y:-14.56, Z:-0.30 [[ 9.82740077e-01 1.84990161e-01 7.62744340e-04 1.55653947e+02] [-1.84990119e-01 9.82740373e-01 -1.26093716e-04 -1.45628221e+01] [-7.72905753e-04 -1.71828175e-05 9.99999701e-01 -2.98324910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85420382200002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:155.68, Y:-14.57, Z:-0.30 [[ 9.82496828e-01 1.86277754e-01 7.62750301e-04 1.55682252e+02] [-1.86277713e-01 9.82497124e-01 -1.26057646e-04 -1.45667907e+01] [-7.72881712e-04 -1.82321443e-05 9.99999701e-01 -2.99473766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88420382200002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:155.71, Y:-14.57, Z:-0.30 [[ 9.82510578e-01 1.86205216e-01 7.62756505e-04 1.55710382e+02] [-1.86205174e-01 9.82510874e-01 -1.26020093e-04 -1.45713035e+01] [-7.72882159e-04 -1.82131336e-05 9.99999701e-01 -2.99495792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.74, Y:-14.58, Z:-0.30 [[ 9.82418774e-01 1.86688970e-01 7.62765805e-04 1.55738056e+02] [-1.86688929e-01 9.82419069e-01 -1.25963778e-04 -1.45761390e+01] [-7.72871720e-04 -1.86507509e-05 9.99999701e-01 -3.01487883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.77, Y:-14.58, Z:-0.30 [[ 9.82544626e-01 1.86025469e-01 7.62773509e-04 1.55766420e+02] [-1.86025428e-01 9.82544922e-01 -1.25917110e-04 -1.45816275e+01] [-7.72883028e-04 -1.81760882e-05 9.99999701e-01 -3.03127539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.79, Y:-14.59, Z:-0.31 [[ 9.83338998e-01 1.81779630e-01 7.62779638e-04 1.55794880e+02] [-1.81779587e-01 9.83339293e-01 -1.25879973e-04 -1.45877192e+01] [-7.72953605e-04 -1.48750813e-05 9.99999701e-01 -3.05269671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.82, Y:-14.59, Z:-0.31 [[ 9.83885339e-01 1.78798933e-01 7.62785766e-04 1.55821983e+02] [-1.78798889e-01 9.83885634e-01 -1.25842827e-04 -1.45921025e+01] [-7.72994520e-04 -1.25703349e-05 9.99999701e-01 -3.07312073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.85, Y:-14.60, Z:-0.30 [[ 9.85091353e-01 1.72030356e-01 7.62793391e-04 1.55849891e+02] [-1.72030310e-01 9.85091649e-01 -1.25796590e-04 -1.45971903e+01] [-7.73062231e-04 -7.30245021e-06 9.99999701e-01 -3.02949072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.88, Y:-14.60, Z:-0.30 [[ 9.85685235e-01 1.68594296e-01 7.62800818e-04 1.55877754e+02] [-1.68594249e-01 9.85685530e-01 -1.25751538e-04 -1.46024037e+01] [-7.73082720e-04 -4.65239694e-06 9.99999701e-01 -3.01807478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.91, Y:-14.61, Z:-0.30 [[ 9.86261510e-01 1.65189746e-01 7.62808243e-04 1.55906414e+02] [-1.65189699e-01 9.86261805e-01 -1.25706482e-04 -1.46079549e+01] [-7.73094056e-04 -2.02859937e-06 9.99999701e-01 -2.99440646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.93, Y:-14.62, Z:-0.29 [[ 9.87169078e-01 1.59676643e-01 7.62814213e-04 1.55933998e+02] [-1.59676594e-01 9.87169372e-01 -1.25670242e-04 -1.46173215e+01] [-7.73093431e-04 2.25420164e-06 9.99999701e-01 -2.91317132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.96, Y:-14.62, Z:-0.29 [[ 9.87498326e-01 1.57627647e-01 7.62820632e-04 1.55960712e+02] [-1.57627597e-01 9.87498620e-01 -1.25631268e-04 -1.46248322e+01] [-7.73087283e-04 3.81908415e-06 9.99999701e-01 -2.92441004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.184203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:155.99, Y:-14.63, Z:-0.29 [[ 9.87779427e-01 1.55856412e-01 7.62828562e-04 1.55988545e+02] [-1.55856362e-01 9.87779722e-01 -1.25583097e-04 -1.46304754e+01] [-7.73079516e-04 5.15671540e-06 9.99999701e-01 -2.92956931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.02, Y:-14.64, Z:-0.29 [[ 9.88021224e-01 1.54316165e-01 7.62837323e-04 1.56017315e+02] [-1.54316114e-01 9.88021519e-01 -1.25529861e-04 -1.46356140e+01] [-7.73070977e-04 6.30807564e-06 9.99999701e-01 -2.92718652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.04, Y:-14.64, Z:-0.30 [[ 9.88026949e-01 1.54279507e-01 7.62843455e-04 1.56044805e+02] [-1.54279456e-01 9.88027243e-01 -1.25492584e-04 -1.46408097e+01] [-7.73071050e-04 6.29898137e-06 9.99999701e-01 -2.95754192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.07, Y:-14.65, Z:-0.30 [[ 9.87946387e-01 1.54794553e-01 7.62851075e-04 1.56072620e+02] [-1.54794502e-01 9.87946682e-01 -1.25446245e-04 -1.46468048e+01] [-7.73074584e-04 5.84901231e-06 9.99999701e-01 -2.96725602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.10, Y:-14.65, Z:-0.29 [[ 9.87449212e-01 1.57935024e-01 7.62856930e-04 1.56100749e+02] [-1.57934975e-01 9.87449507e-01 -1.25410630e-04 -1.46543177e+01] [-7.73089430e-04 3.35483768e-06 9.99999701e-01 -2.94867781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.13, Y:-14.66, Z:-0.30 [[ 9.87100679e-01 1.60098930e-01 7.62863093e-04 1.56128372e+02] [-1.60098881e-01 9.87100974e-01 -1.25373129e-04 -1.46601208e+01] [-7.73095006e-04 1.62237322e-06 9.99999701e-01 -2.98758937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.16, Y:-14.66, Z:-0.29 [[ 9.86315580e-01 1.64866598e-01 7.62870763e-04 1.56157273e+02] [-1.64866550e-01 9.86315875e-01 -1.25326442e-04 -1.46644184e+01] [-7.73093688e-04 -2.16044893e-06 9.99999701e-01 -2.94552777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.18, Y:-14.67, Z:-0.30 [[ 9.85875242e-01 1.67479625e-01 7.62877187e-04 1.56184804e+02] [-1.67479578e-01 9.85875537e-01 -1.25287327e-04 -1.46678212e+01] [-7.73085031e-04 -4.24867561e-06 9.99999701e-01 -2.98864096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.21, Y:-14.67, Z:-0.30 [[ 9.85486023e-01 1.69754873e-01 7.62885176e-04 1.56212970e+02] [-1.69754827e-01 9.85486318e-01 -1.25238665e-04 -1.46715216e+01] [-7.73072776e-04 -6.08248726e-06 9.99999701e-01 -2.95742284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.24, Y:-14.68, Z:-0.29 [[ 9.84876168e-01 1.73258049e-01 7.62891068e-04 1.56240852e+02] [-1.73258004e-01 9.84876463e-01 -1.25202760e-04 -1.46756944e+01] [-7.73045843e-04 -8.86776938e-06 9.99999701e-01 -2.93241545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.27, Y:-14.68, Z:-0.29 [[ 9.84664051e-01 1.74459523e-01 7.62898403e-04 1.56269681e+02] [-1.74459478e-01 9.84664346e-01 -1.25158049e-04 -1.46801252e+01] [-7.73033871e-04 -9.85622536e-06 9.99999701e-01 -2.89932218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.30, Y:-14.68, Z:-0.29 [[ 9.84455597e-01 1.75631987e-01 7.62904610e-04 1.56296951e+02] [-1.75631943e-01 9.84455893e-01 -1.25120205e-04 -1.46830029e+01] [-7.73021049e-04 -1.08151333e-05 9.99999701e-01 -2.91201049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.32, Y:-14.69, Z:-0.29 [[ 9.84434648e-01 1.75749370e-01 7.62915287e-04 1.56323845e+02] [-1.75749326e-01 9.84434944e-01 -1.25055065e-04 -1.46858934e+01] [-7.73018817e-04 -1.09733085e-05 9.99999701e-01 -2.90787228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.35, Y:-14.69, Z:-0.29 [[ 9.84415378e-01 1.75857274e-01 7.62930415e-04 1.56352176e+02] [-1.75857230e-01 9.84415674e-01 -1.24962707e-04 -1.46891193e+01] [-7.73016260e-04 -1.11516186e-05 9.99999701e-01 -2.89914735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.38, Y:-14.69, Z:-0.29 [[ 9.84458869e-01 1.75613648e-01 7.62936489e-04 1.56379965e+02] [-1.75613604e-01 9.84459165e-01 -1.24925610e-04 -1.46924641e+01] [-7.73018461e-04 -1.09979017e-05 9.99999701e-01 -2.89943029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.41, Y:-14.69, Z:-0.29 [[ 9.84608683e-01 1.74771736e-01 7.62945785e-04 1.56407562e+02] [-1.74771692e-01 9.84608978e-01 -1.24868817e-04 -1.46949550e+01] [-7.73026809e-04 -1.03944039e-05 9.99999701e-01 -2.93555367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.44, Y:-14.70, Z:-0.29 [[ 9.84711480e-01 1.74191617e-01 7.62953491e-04 1.56436642e+02] [-1.74191573e-01 9.84711775e-01 -1.24821712e-04 -1.46977995e+01] [-7.73032183e-04 -9.98669589e-06 9.99999701e-01 -2.94225869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.46, Y:-14.70, Z:-0.30 [[ 9.85048084e-01 1.72277943e-01 7.62959398e-04 1.56464033e+02] [-1.72277898e-01 9.85048380e-01 -1.24785597e-04 -1.47002923e+01] [-7.73049725e-04 -8.52122839e-06 9.99999701e-01 -2.95167562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.49, Y:-14.70, Z:-0.29 [[ 9.85298886e-01 1.70837710e-01 7.62969674e-04 1.56492902e+02] [-1.70837664e-01 9.85299181e-01 -1.24722734e-04 -1.47044207e+01] [-7.73060742e-04 -7.45478580e-06 9.99999701e-01 -2.93796664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.52, Y:-14.71, Z:-0.29 [[ 9.85589220e-01 1.69154683e-01 7.62975656e-04 1.56521043e+02] [-1.69154637e-01 9.85589516e-01 -1.24686132e-04 -1.47082373e+01] [-7.73072050e-04 -6.17156277e-06 9.99999701e-01 -2.92808225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:-14.71, Z:-0.29 [[ 9.86204526e-01 1.65529610e-01 7.62981730e-04 1.56548338e+02] [-1.65529563e-01 9.86204821e-01 -1.24648950e-04 -1.47117398e+01] [-7.73089352e-04 -3.36667356e-06 9.99999701e-01 -2.94444951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:-14.72, Z:-0.29 [[ 9.86557348e-01 1.63413640e-01 7.62989278e-04 1.56575732e+02] [-1.63413593e-01 9.86557643e-01 -1.24602731e-04 -1.47165625e+01] [-7.73094689e-04 -1.75507911e-06 9.99999701e-01 -2.93965232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.60, Y:-14.72, Z:-0.30 [[ 9.86891469e-01 1.61383536e-01 7.62998304e-04 1.56602983e+02] [-1.61383488e-01 9.86891764e-01 -1.24547439e-04 -1.47218526e+01] [-7.73096648e-04 -2.20522960e-07 9.99999701e-01 -2.95050485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.63, Y:-14.73, Z:-0.30 [[ 9.87246714e-01 1.59195925e-01 7.63005786e-04 1.56631477e+02] [-1.59195876e-01 9.87247009e-01 -1.24501585e-04 -1.47274439e+01] [-7.73095325e-04 1.44640554e-06 9.99999701e-01 -2.95084612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:-14.73, Z:-0.30 [[ 9.87260729e-01 1.59108991e-01 7.63011840e-04 1.56659140e+02] [-1.59108942e-01 9.87261024e-01 -1.24464473e-04 -1.47317735e+01] [-7.73095267e-04 1.47687970e-06 9.99999701e-01 -2.97254269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.934203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:156.69, Y:-14.74, Z:-0.29 [[ 9.87174020e-01 1.59646085e-01 7.63019351e-04 1.56687940e+02] [-1.59646037e-01 9.87174315e-01 -1.24418410e-04 -1.47358304e+01] [-7.73096017e-04 1.00960626e-06 9.99999701e-01 -2.94836042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.72, Y:-14.74, Z:-0.29 [[ 9.86614233e-01 1.63069840e-01 7.63025404e-04 1.56717263e+02] [-1.63069792e-01 9.86614528e-01 -1.24381274e-04 -1.47374568e+01] [-7.73094784e-04 -1.71005937e-06 9.99999701e-01 -2.89561288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.75, Y:-14.74, Z:-0.29 [[ 9.86182370e-01 1.65661553e-01 7.63031480e-04 1.56745041e+02] [-1.65661506e-01 9.86182666e-01 -1.24343988e-04 -1.47401179e+01] [-7.73087437e-04 -3.77909587e-06 9.99999701e-01 -2.89666744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.77, Y:-14.74, Z:-0.29 [[ 9.85744080e-01 1.68249891e-01 7.63040602e-04 1.56773690e+02] [-1.68249845e-01 9.85744376e-01 -1.24287988e-04 -1.47433855e+01] [-7.73074422e-04 -5.86531417e-06 9.99999701e-01 -2.91295444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.80, Y:-14.75, Z:-0.30 [[ 9.84969527e-01 1.72726512e-01 7.63046723e-04 1.56802039e+02] [-1.72726468e-01 9.84969823e-01 -1.24250397e-04 -1.47450218e+01] [-7.73039333e-04 -9.41551052e-06 9.99999701e-01 -2.96282128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.83, Y:-14.75, Z:-0.30 [[ 9.84654889e-01 1.74511225e-01 7.63054348e-04 1.56829912e+02] [-1.74511181e-01 9.84655184e-01 -1.24203550e-04 -1.47477964e+01] [-7.73020334e-04 -1.08638825e-05 9.99999701e-01 -3.00563233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.86, Y:-14.75, Z:-0.30 [[ 9.84446309e-01 1.75684041e-01 7.63061916e-04 1.56859024e+02] [-1.75683998e-01 9.84446605e-01 -1.24157039e-04 -1.47505994e+01] [-7.73006123e-04 -1.18318289e-05 9.99999701e-01 -3.01881823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.89, Y:-14.75, Z:-0.30 [[ 9.84382619e-01 1.76040555e-01 7.63067770e-04 1.56888422e+02] [-1.76040512e-01 9.84382915e-01 -1.24121049e-04 -1.47511898e+01] [-7.73001214e-04 -1.21482377e-05 9.99999701e-01 -3.03743487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.92, Y:-14.75, Z:-0.31 [[ 9.84586276e-01 1.74897921e-01 7.63073710e-04 1.56916483e+02] [-1.74897877e-01 9.84586572e-01 -1.24084522e-04 -1.47537533e+01] [-7.73014253e-04 -1.12880552e-05 9.99999701e-01 -3.05102299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.95, Y:-14.76, Z:-0.31 [[ 9.84931772e-01 1.72941674e-01 7.63081112e-04 1.56945339e+02] [-1.72941629e-01 9.84932067e-01 -1.24038985e-04 -1.47572280e+01] [-7.73034567e-04 -9.79855416e-06 9.99999701e-01 -3.05294387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.97, Y:-14.76, Z:-0.30 [[ 9.85958909e-01 1.66986372e-01 7.63086929e-04 1.56973749e+02] [-1.66986326e-01 9.85959204e-01 -1.24003189e-04 -1.47619027e+01] [-7.73079424e-04 -5.16303364e-06 9.99999701e-01 -3.04733058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.00, Y:-14.77, Z:-0.30 [[ 9.86537868e-01 1.63531196e-01 7.63092744e-04 1.57002474e+02] [-1.63531149e-01 9.86538163e-01 -1.23967393e-04 -1.47668426e+01] [-7.73092650e-04 -2.49090513e-06 9.99999701e-01 -3.02630948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.03, Y:-14.77, Z:-0.30 [[ 9.87157314e-01 1.59749349e-01 7.63098752e-04 1.57030268e+02] [-1.59749301e-01 9.87157609e-01 -1.23930402e-04 -1.47713099e+01] [-7.73096540e-04 4.34310165e-07 9.99999701e-01 -3.02637020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.06, Y:-14.78, Z:-0.30 [[ 9.88334814e-01 1.52294824e-01 7.63109625e-04 1.57057521e+02] [-1.52294774e-01 9.88335108e-01 -1.23863415e-04 -1.47761683e+01] [-7.73071791e-04 6.20091733e-06 9.99999701e-01 -3.00041308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.08, Y:-14.78, Z:-0.30 [[ 9.88875744e-01 1.48741992e-01 7.63116881e-04 1.57084907e+02] [-1.48741941e-01 9.88876039e-01 -1.23818691e-04 -1.47818634e+01] [-7.73045037e-04 8.93381414e-06 9.99999701e-01 -2.99950697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38420382200002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:157.11, Y:-14.79, Z:-0.30 [[ 9.89309733e-01 1.45827537e-01 7.63125574e-04 1.57112566e+02] [-1.45827485e-01 9.89310027e-01 -1.23765090e-04 -1.47888293e+01] [-7.73016141e-04 1.11573245e-05 9.99999701e-01 -2.98904733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.14, Y:-14.80, Z:-0.30 [[ 9.89809729e-01 1.42394234e-01 7.63131654e-04 1.57139957e+02] [-1.42394181e-01 9.89810023e-01 -1.23727589e-04 -1.47976719e+01] [-7.72973456e-04 1.38012647e-05 9.99999701e-01 -2.98624109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.17, Y:-14.80, Z:-0.30 [[ 9.89874431e-01 1.41943751e-01 7.63137699e-04 1.57167588e+02] [-1.41943697e-01 9.89874725e-01 -1.23690298e-04 -1.48031082e+01] [-7.72967784e-04 1.41152770e-05 9.99999701e-01 -3.00978680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.20, Y:-14.81, Z:-0.30 [[ 9.89560220e-01 1.44117965e-01 7.63145582e-04 1.57195651e+02] [-1.44117913e-01 9.89560515e-01 -1.23641638e-04 -1.48088443e+01] [-7.72997716e-04 1.23678985e-05 9.99999701e-01 -2.97726905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.22, Y:-14.81, Z:-0.30 [[ 9.89254699e-01 1.46200401e-01 7.63151609e-04 1.57222801e+02] [-1.46200349e-01 9.89254994e-01 -1.23604427e-04 -1.48143783e+01] [-7.73022557e-04 1.07032282e-05 9.99999701e-01 -2.98239538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.25, Y:-14.82, Z:-0.30 [[ 9.88861890e-01 1.48834068e-01 7.63159090e-04 1.57251303e+02] [-1.48834017e-01 9.88862185e-01 -1.23558224e-04 -1.48201492e+01] [-7.73048838e-04 8.59798648e-06 9.99999701e-01 -2.95817829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.28, Y:-14.83, Z:-0.30 [[ 9.87870190e-01 1.55280085e-01 7.63165053e-04 1.57277930e+02] [-1.55280036e-01 9.87870485e-01 -1.23521379e-04 -1.48267291e+01] [-7.73088641e-04 3.51879112e-06 9.99999701e-01 -2.96794583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.31, Y:-14.83, Z:-0.30 [[ 9.87329215e-01 1.58683455e-01 7.63175424e-04 1.57306605e+02] [-1.58683407e-01 9.87329510e-01 -1.23457267e-04 -1.48317759e+01] [-7.73096243e-04 7.89689456e-07 9.99999701e-01 -2.97282659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.33, Y:-14.84, Z:-0.30 [[ 9.86720342e-01 1.62426548e-01 7.63181320e-04 1.57333601e+02] [-1.62426501e-01 9.86720637e-01 -1.23420811e-04 -1.48364531e+01] [-7.73093575e-04 -2.17904653e-06 9.99999701e-01 -2.98717946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.36, Y:-14.84, Z:-0.30 [[ 9.86096291e-01 1.66173172e-01 7.63188656e-04 1.57362235e+02] [-1.66173127e-01 9.86096586e-01 -1.23375433e-04 -1.48411343e+01] [-7.73079415e-04 -5.16138793e-06 9.99999701e-01 -2.99805250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.39, Y:-14.85, Z:-0.30 [[ 9.84956097e-01 1.72803078e-01 7.63194569e-04 1.57389571e+02] [-1.72803034e-01 9.84956393e-01 -1.23338844e-04 -1.48463034e+01] [-7.73026702e-04 -1.03989908e-05 9.99999701e-01 -3.02832835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.42, Y:-14.85, Z:-0.30 [[ 9.84412624e-01 1.75872688e-01 7.63205166e-04 1.57417606e+02] [-1.75872645e-01 9.84412920e-01 -1.23273233e-04 -1.48506000e+01] [-7.72989421e-04 -1.28751843e-05 9.99999701e-01 -3.03398821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.45, Y:-14.86, Z:-0.30 [[ 9.84425132e-01 1.75802667e-01 7.63211021e-04 1.57445753e+02] [-1.75802624e-01 9.84425427e-01 -1.23236975e-04 -1.48550073e+01] [-7.72989724e-04 -1.28569247e-05 9.99999701e-01 -3.03420846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.47, Y:-14.86, Z:-0.30 [[ 9.83435572e-01 1.81256431e-01 7.63219783e-04 1.57474010e+02] [-1.81256390e-01 9.83435868e-01 -1.23182687e-04 -1.48569211e+01] [-7.72905364e-04 -1.71962259e-05 9.99999701e-01 -3.03126567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.50, Y:-14.86, Z:-0.30 [[ 9.83043394e-01 1.83371487e-01 7.63227043e-04 1.57502573e+02] [-1.83371447e-01 9.83043690e-01 -1.23137691e-04 -1.48603668e+01] [-7.72865470e-04 -1.89043537e-05 9.99999701e-01 -3.01842926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.53, Y:-14.86, Z:-0.30 [[ 9.82686112e-01 1.85276614e-01 7.63232862e-04 1.57529972e+02] [-1.85276574e-01 9.82686408e-01 -1.23101607e-04 -1.48643060e+01] [-7.72826409e-04 -2.04389300e-05 9.99999701e-01 -3.01781654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.56, Y:-14.87, Z:-0.30 [[ 9.82431378e-01 1.86622628e-01 7.63240065e-04 1.57556414e+02] [-1.86622588e-01 9.82431674e-01 -1.23056932e-04 -1.48677021e+01] [-7.72796423e-04 -2.15428454e-05 9.99999701e-01 -3.02059831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.58, Y:-14.87, Z:-0.30 [[ 9.82133343e-01 1.88184788e-01 7.63250047e-04 1.57584690e+02] [-1.88184749e-01 9.82133639e-01 -1.22994989e-04 -1.48680937e+01] [-7.72759332e-04 -2.28345389e-05 9.99999701e-01 -2.99400542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.924203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:157.61, Y:-14.87, Z:-0.30 [[ 9.82070432e-01 1.88512820e-01 7.63259132e-04 1.57611890e+02] [-1.88512782e-01 9.82070729e-01 -1.22938585e-04 -1.48697573e+01] [-7.72749952e-04 -2.31497530e-05 9.99999701e-01 -3.01345457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.64, Y:-14.87, Z:-0.30 [[ 9.82271433e-01 1.87462664e-01 7.63269644e-04 1.57640015e+02] [-1.87462625e-01 9.82271729e-01 -1.22873286e-04 -1.48689127e+01] [-7.72772347e-04 -2.23896124e-05 9.99999701e-01 -3.02972790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.67, Y:-14.87, Z:-0.30 [[ 9.82483196e-01 1.86349636e-01 7.63277019e-04 1.57669026e+02] [-1.86349597e-01 9.82483492e-01 -1.22827461e-04 -1.48708297e+01] [-7.72795923e-04 -2.15604489e-05 9.99999701e-01 -3.03819460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.70, Y:-14.87, Z:-0.30 [[ 9.82763277e-01 1.84866866e-01 7.63282786e-04 1.57697555e+02] [-1.84866826e-01 9.82763574e-01 -1.22791612e-04 -1.48722602e+01] [-7.72826619e-04 -2.04305797e-05 9.99999701e-01 -3.03498224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.73, Y:-14.87, Z:-0.30 [[ 9.83484166e-01 1.80992574e-01 7.63305035e-04 1.57725841e+02] [-1.80992534e-01 9.83484462e-01 -1.22653149e-04 -1.48724831e+01] [-7.72897951e-04 -1.75250820e-05 9.99999701e-01 -3.04897746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.75, Y:-14.88, Z:-0.30 [[ 9.83895867e-01 1.78740987e-01 7.63312439e-04 1.57754540e+02] [-1.78740946e-01 9.83896163e-01 -1.22607052e-04 -1.48755419e+01] [-7.72935086e-04 -1.58026155e-05 9.99999701e-01 -3.03127448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.78, Y:-14.88, Z:-0.31 [[ 9.84937288e-01 1.72910253e-01 7.63318508e-04 1.57782483e+02] [-1.72910210e-01 9.84937584e-01 -1.22569256e-04 -1.48763003e+01] [-7.73014568e-04 -1.12625331e-05 9.99999701e-01 -3.05601224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.81, Y:-14.88, Z:-0.31 [[ 9.85484849e-01 1.69761684e-01 7.63326033e-04 1.57810563e+02] [-1.69761640e-01 9.85485145e-01 -1.22522379e-04 -1.48790545e+01] [-7.73046071e-04 -8.83953085e-06 9.99999701e-01 -3.06225407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.84, Y:-14.88, Z:-0.31 [[ 9.86015608e-01 1.66651249e-01 7.63333319e-04 1.57838205e+02] [-1.66651205e-01 9.86015903e-01 -1.22476964e-04 -1.48816875e+01] [-7.73069731e-04 -6.44621903e-06 9.99999701e-01 -3.05622669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.87, Y:-14.88, Z:-0.31 [[ 9.86488560e-01 1.63828383e-01 7.63341929e-04 1.57866454e+02] [-1.63828338e-01 9.86488855e-01 -1.22423281e-04 -1.48847691e+01] [-7.73084714e-04 -4.28787284e-06 9.99999701e-01 -3.05836765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.90, Y:-14.89, Z:-0.31 [[ 9.87361533e-01 1.58482243e-01 7.63350516e-04 1.57895573e+02] [-1.58482196e-01 9.87361828e-01 -1.22369712e-04 -1.48864200e+01] [-7.73096587e-04 -1.54319435e-07 9.99999701e-01 -3.05393602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.92, Y:-14.89, Z:-0.30 [[ 9.87689236e-01 1.56426948e-01 7.63356228e-04 1.57924705e+02] [-1.56426900e-01 9.87689531e-01 -1.22334074e-04 -1.48892875e+01] [-7.73095301e-04 1.41859949e-06 9.99999701e-01 -3.01523745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.95, Y:-14.89, Z:-0.31 [[ 9.88242980e-01 1.52889598e-01 7.63362448e-04 1.57951904e+02] [-1.52889549e-01 9.88243275e-01 -1.22295250e-04 -1.48926746e+01] [-7.73085477e-04 4.14728185e-06 9.99999701e-01 -3.07233626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.314203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.98, Y:-14.90, Z:-0.31 [[ 9.88474269e-01 1.51387041e-01 7.63370143e-04 1.57980803e+02] [-1.51386992e-01 9.88474564e-01 -1.22247198e-04 -1.48971848e+01] [-7.73078611e-04 5.27390019e-06 9.99999701e-01 -3.06830462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.01, Y:-14.90, Z:-0.30 [[ 9.88685561e-01 1.50000927e-01 7.63375893e-04 1.58009274e+02] [-1.50000877e-01 9.88685856e-01 -1.22211280e-04 -1.49008370e+01] [-7.73070753e-04 6.32147446e-06 9.99999701e-01 -3.03945882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.04, Y:-14.90, Z:-0.30 [[ 9.88877731e-01 1.48728783e-01 7.63381843e-04 1.58037956e+02] [-1.48728733e-01 9.88878025e-01 -1.22174103e-04 -1.49033345e+01] [-7.73062335e-04 7.27843494e-06 9.99999701e-01 -2.99933752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.07, Y:-14.91, Z:-0.30 [[ 9.88966159e-01 1.48139643e-01 7.63388043e-04 1.58065901e+02] [-1.48139593e-01 9.88966454e-01 -1.22135353e-04 -1.49071708e+01] [-7.73058253e-04 7.69973713e-06 9.99999701e-01 -3.03268808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.09, Y:-14.91, Z:-0.30 [[ 9.89024895e-01 1.47746992e-01 7.63399300e-04 1.58093971e+02] [-1.47746942e-01 9.89025190e-01 -1.22064947e-04 -1.49112155e+01] [-7.73055867e-04 7.93535907e-06 9.99999701e-01 -2.99582490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.12, Y:-14.91, Z:-0.30 [[ 9.89238804e-01 1.46307914e-01 7.63405404e-04 1.58121901e+02] [-1.46307863e-01 9.89239099e-01 -1.22026763e-04 -1.49149668e+01] [-7.73043955e-04 9.02139534e-06 9.99999701e-01 -3.03573937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.15, Y:-14.92, Z:-0.30 [[ 9.89413820e-01 1.45119640e-01 7.63413018e-04 1.58150554e+02] [-1.45119589e-01 9.89414114e-01 -1.21979107e-04 -1.49194769e+01] [-7.73033180e-04 9.90163031e-06 9.99999701e-01 -3.01578619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.18, Y:-14.92, Z:-0.30 [[ 9.89597664e-01 1.43860629e-01 7.63418949e-04 1.58178644e+02] [-1.43860578e-01 9.89597958e-01 -1.21941975e-04 -1.49247252e+01] [-7.73020483e-04 1.08476026e-05 9.99999701e-01 -3.01620498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.21, Y:-14.93, Z:-0.30 [[ 9.89799801e-01 1.42463230e-01 7.63424828e-04 1.58206419e+02] [-1.42463178e-01 9.89800095e-01 -1.21905162e-04 -1.49316948e+01] [-7.73004970e-04 1.19017776e-05 9.99999701e-01 -2.98446500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.23, Y:-14.94, Z:-0.30 [[ 9.89816573e-01 1.42346654e-01 7.63430733e-04 1.58233226e+02] [-1.42346602e-01 9.89816867e-01 -1.21868167e-04 -1.49370715e+01] [-7.73004142e-04 1.19553608e-05 9.99999701e-01 -2.98291339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.26, Y:-14.94, Z:-0.30 [[ 9.89684738e-01 1.43260383e-01 7.63440968e-04 1.58260622e+02] [-1.43260332e-01 9.89685032e-01 -1.21804019e-04 -1.49444623e+01] [-7.73015789e-04 1.11767727e-05 9.99999701e-01 -2.98125347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.29, Y:-14.95, Z:-0.30 [[ 9.89571657e-01 1.44039412e-01 7.63449771e-04 1.58286893e+02] [-1.44039361e-01 9.89571952e-01 -1.21748815e-04 -1.49505078e+01] [-7.73025108e-04 1.05123600e-05 9.99999701e-01 -2.98648483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.31, Y:-14.96, Z:-0.30 [[ 9.89384853e-01 1.45317001e-01 7.63464832e-04 1.58314328e+02] [-1.45316950e-01 9.89385147e-01 -1.21654301e-04 -1.49561733e+01] [-7.73039203e-04 9.41854169e-06 9.99999701e-01 -2.98559990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.34, Y:-14.96, Z:-0.30 [[ 9.88796489e-01 1.49267950e-01 7.63473553e-04 1.58341597e+02] [-1.49267900e-01 9.88796784e-01 -1.21599545e-04 -1.49614017e+01] [-7.73071108e-04 6.27510938e-06 9.99999701e-01 -3.00923260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.37, Y:-14.97, Z:-0.30 [[ 9.88344183e-01 1.52234008e-01 7.63480791e-04 1.58370343e+02] [-1.52233959e-01 9.88344478e-01 -1.21554083e-04 -1.49671671e+01] [-7.73086689e-04 3.90956762e-06 9.99999701e-01 -3.00745319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.40, Y:-14.97, Z:-0.30 [[ 9.87849921e-01 1.55408977e-01 7.63485155e-04 1.58396558e+02] [-1.55408929e-01 9.87850216e-01 -1.21526666e-04 -1.49726562e+01] [-7.73095310e-04 1.39769677e-06 9.99999701e-01 -3.01871823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.43, Y:-14.98, Z:-0.30 [[ 9.86793765e-01 1.61979880e-01 7.63500188e-04 1.58425132e+02] [-1.61979835e-01 9.86794061e-01 -1.21432147e-04 -1.49791317e+01] [-7.73087015e-04 -3.84314862e-06 9.99999701e-01 -3.02000736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.45, Y:-14.98, Z:-0.30 [[ 9.86374598e-01 1.64513130e-01 7.63506034e-04 1.58452160e+02] [-1.64513086e-01 9.86374893e-01 -1.21395377e-04 -1.49833901e+01] [-7.73074316e-04 -5.86541767e-06 9.99999701e-01 -3.04599351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.48, Y:-14.99, Z:-0.30 [[ 9.86004686e-01 1.66715852e-01 7.63516230e-04 1.58480531e+02] [-1.66715808e-01 9.86004982e-01 -1.21331218e-04 -1.49879521e+01] [-7.73058644e-04 -7.65707615e-06 9.99999701e-01 -3.03077594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.51, Y:-14.99, Z:-0.31 [[ 9.85600638e-01 1.69088142e-01 7.63522119e-04 1.58507521e+02] [-1.69088099e-01 9.85600934e-01 -1.21294148e-04 -1.49945894e+01] [-7.73037515e-04 -9.55491388e-06 9.99999701e-01 -3.05144550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.53, Y:-15.00, Z:-0.30 [[ 9.85617364e-01 1.68990616e-01 7.63529439e-04 1.58534732e+02] [-1.68990573e-01 9.85617660e-01 -1.21248051e-04 -1.50010809e+01] [-7.73037882e-04 -9.52509311e-06 9.99999701e-01 -3.04056331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.56, Y:-15.01, Z:-0.31 [[ 9.85960800e-01 1.66975201e-01 7.63538081e-04 1.58560265e+02] [-1.66975157e-01 9.85961096e-01 -1.21193608e-04 -1.50097166e+01] [-7.73055169e-04 -7.99974461e-06 9.99999701e-01 -3.07447725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.59, Y:-15.02, Z:-0.31 [[ 9.86183494e-01 1.65654864e-01 7.63548106e-04 1.58588627e+02] [-1.65654819e-01 9.86183789e-01 -1.21130413e-04 -1.50156154e+01] [-7.73064606e-04 -7.02860939e-06 9.99999701e-01 -3.05984953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.62, Y:-15.02, Z:-0.30 [[ 9.86421845e-01 1.64229595e-01 7.63553518e-04 1.58616940e+02] [-1.64229550e-01 9.86422141e-01 -1.21096285e-04 -1.50206183e+01] [-7.73073690e-04 -5.94603011e-06 9.99999701e-01 -3.02071779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.65, Y:-15.03, Z:-0.30 [[ 9.86833508e-01 1.61737581e-01 7.63559207e-04 1.58645337e+02] [-1.61737536e-01 9.86833803e-01 -1.21060403e-04 -1.50269069e+01] [-7.73086053e-04 -4.02972225e-06 9.99999701e-01 -3.00203154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.67, Y:-15.03, Z:-0.30 [[ 9.86917277e-01 1.61225633e-01 7.63564908e-04 1.58672623e+02] [-1.61225588e-01 9.86917573e-01 -1.21024434e-04 -1.50331013e+01] [-7.73087867e-04 -3.66509604e-06 9.99999701e-01 -3.00355902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.70, Y:-15.04, Z:-0.30 [[ 9.86827975e-01 1.61771336e-01 7.63575276e-04 1.58700956e+02] [-1.61771291e-01 9.86828270e-01 -1.20958985e-04 -1.50397538e+01] [-7.73085366e-04 -4.15884771e-06 9.99999701e-01 -2.99562341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.73, Y:-15.05, Z:-0.30 [[ 9.86289032e-01 1.65025340e-01 7.63580947e-04 1.58728448e+02] [-1.65025296e-01 9.86289327e-01 -1.20923174e-04 -1.50473150e+01] [-7.73067127e-04 -6.74497144e-06 9.99999701e-01 -2.98442516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.76, Y:-15.05, Z:-0.30 [[ 9.85959040e-01 1.66985596e-01 7.63588067e-04 1.58756095e+02] [-1.66985553e-01 9.85959335e-01 -1.20878197e-04 -1.50532270e+01] [-7.73051701e-04 -8.32722429e-06 9.99999701e-01 -2.99818422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.78, Y:-15.06, Z:-0.30 [[ 9.85627910e-01 1.68929099e-01 7.63598467e-04 1.58783483e+02] [-1.68929056e-01 9.85628206e-01 -1.20812469e-04 -1.50585140e+01] [-7.73032928e-04 -9.91782689e-06 9.99999701e-01 -2.96605155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.81, Y:-15.06, Z:-0.30 [[ 9.85295168e-01 1.70859152e-01 7.63607159e-04 1.58810968e+02] [-1.70859110e-01 9.85295463e-01 -1.20757503e-04 -1.50631291e+01] [-7.73011194e-04 -1.14874553e-05 9.99999701e-01 -2.97946147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.84, Y:-15.07, Z:-0.30 [[ 9.84753290e-01 1.73955096e-01 7.63614347e-04 1.58839416e+02] [-1.73955054e-01 9.84753586e-01 -1.20712033e-04 -1.50651504e+01] [-7.72970439e-04 -1.39630039e-05 9.99999701e-01 -2.98170753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.87, Y:-15.07, Z:-0.30 [[ 9.84619757e-01 1.74709334e-01 7.63620106e-04 1.58866019e+02] [-1.74709293e-01 9.84620053e-01 -1.20675592e-04 -1.50692021e+01] [-7.72958821e-04 -1.45919568e-05 9.99999701e-01 -2.99086235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.89, Y:-15.07, Z:-0.30 [[ 9.84592595e-01 1.74862344e-01 7.63630119e-04 1.58892717e+02] [-1.74862303e-01 9.84592891e-01 -1.20612197e-04 -1.50736298e+01] [-7.72955317e-04 -1.47762448e-05 9.99999701e-01 -3.00967045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.92, Y:-15.08, Z:-0.30 [[ 9.84567141e-01 1.75005602e-01 7.63644500e-04 1.58920958e+02] [-1.75005561e-01 9.84567437e-01 -1.20521071e-04 -1.50773721e+01] [-7.72951372e-04 -1.49809479e-05 9.99999701e-01 -2.97590940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.95, Y:-15.08, Z:-0.30 [[ 9.84631439e-01 1.74643485e-01 7.63650199e-04 1.58948492e+02] [-1.74643444e-01 9.84631735e-01 -1.20484956e-04 -1.50821432e+01] [-7.72956132e-04 -1.47332253e-05 9.99999701e-01 -2.98622343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.98, Y:-15.09, Z:-0.30 [[ 9.84783386e-01 1.73784633e-01 7.63657276e-04 1.58976774e+02] [-1.73784591e-01 9.84783682e-01 -1.20440080e-04 -1.50883453e+01] [-7.72967860e-04 -1.41044777e-05 9.99999701e-01 -3.01186749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.00, Y:-15.09, Z:-0.30 [[ 9.84861887e-01 1.73339208e-01 7.63662861e-04 1.59004582e+02] [-1.73339167e-01 9.84862183e-01 -1.20404658e-04 -1.50915459e+01] [-7.72973520e-04 -1.37907251e-05 9.99999701e-01 -3.01016324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.03, Y:-15.09, Z:-0.30 [[ 9.84968188e-01 1.72734149e-01 7.63671297e-04 1.59033163e+02] [-1.72734107e-01 9.84968484e-01 -1.20351126e-04 -1.50939060e+01] [-7.72980909e-04 -1.33700499e-05 9.99999701e-01 -3.01274084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.06, Y:-15.10, Z:-0.31 [[ 9.85295240e-01 1.70858734e-01 7.63676996e-04 1.59061408e+02] [-1.70858692e-01 9.85295536e-01 -1.20314956e-04 -1.50955706e+01] [-7.73004396e-04 -1.19350989e-05 9.99999701e-01 -3.05404593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.09, Y:-15.10, Z:-0.31 [[ 9.85483292e-01 1.69770724e-01 7.63687007e-04 1.59090162e+02] [-1.69770681e-01 9.85483588e-01 -1.20251378e-04 -1.50999164e+01] [-7.73016175e-04 -1.11459400e-05 9.99999701e-01 -3.06948773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.12, Y:-15.10, Z:-0.31 [[ 9.85649187e-01 1.68804906e-01 7.63692618e-04 1.59119153e+02] [-1.68804863e-01 9.85649483e-01 -1.20215733e-04 -1.51044010e+01] [-7.73026240e-04 -1.04244882e-05 9.99999701e-01 -3.05860594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.15, Y:-15.11, Z:-0.30 [[ 9.85620745e-01 1.68970897e-01 7.63696952e-04 1.59147652e+02] [-1.68970854e-01 9.85621041e-01 -1.20188192e-04 -1.51070774e+01] [-7.73024091e-04 -1.05825511e-05 9.99999701e-01 -3.03310268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.18, Y:-15.11, Z:-0.30 [[ 9.85437951e-01 1.70033704e-01 7.63702785e-04 1.59175909e+02] [-1.70033662e-01 9.85438247e-01 -1.20151116e-04 -1.51089574e+01] [-7.73011674e-04 -1.14537121e-05 9.99999701e-01 -3.02716440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.20, Y:-15.11, Z:-0.30 [[ 9.84842702e-01 1.73448173e-01 7.63711475e-04 1.59204127e+02] [-1.73448132e-01 9.84842998e-01 -1.20095854e-04 -1.51071484e+01] [-7.72966306e-04 -1.41888039e-05 9.99999701e-01 -3.02682858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.23, Y:-15.11, Z:-0.30 [[ 9.84594182e-01 1.74853405e-01 7.63718676e-04 1.59232391e+02] [-1.74853365e-01 9.84594478e-01 -1.20050044e-04 -1.51099260e+01] [-7.72944351e-04 -1.53382052e-05 9.99999701e-01 -3.00685849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.26, Y:-15.11, Z:-0.30 [[ 9.84606606e-01 1.74783434e-01 7.63725790e-04 1.59260555e+02] [-1.74783394e-01 9.84606902e-01 -1.20004773e-04 -1.51142133e+01] [-7.72944530e-04 -1.53290927e-05 9.99999701e-01 -3.00707875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.29, Y:-15.12, Z:-0.30 [[ 9.84397188e-01 1.75959064e-01 7.63734314e-04 1.59288325e+02] [-1.75959024e-01 9.84397485e-01 -1.19950498e-04 -1.51171625e+01] [-7.72924515e-04 -1.63070110e-05 9.99999701e-01 -3.00246625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.32, Y:-15.12, Z:-0.30 [[ 9.84088921e-01 1.77675016e-01 7.63741377e-04 1.59317460e+02] [-1.77674977e-01 9.84089218e-01 -1.19905512e-04 -1.51153041e+01] [-7.72893868e-04 -1.77000456e-05 9.99999701e-01 -2.98625220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.35, Y:-15.11, Z:-0.30 [[ 9.84071189e-01 1.77773203e-01 7.63746998e-04 1.59346338e+02] [-1.77773163e-01 9.84071485e-01 -1.19869695e-04 -1.51149980e+01] [-7.72891263e-04 -1.78134063e-05 9.99999701e-01 -2.98709726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.37, Y:-15.12, Z:-0.30 [[ 9.84158565e-01 1.77288849e-01 7.63752583e-04 1.59374628e+02] [-1.77288810e-01 9.84158861e-01 -1.19834100e-04 -1.51153749e+01] [-7.72899122e-04 -1.74690311e-05 9.99999701e-01 -2.98282159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.40, Y:-15.11, Z:-0.30 [[ 9.84693858e-01 1.74291201e-01 7.63761186e-04 1.59403096e+02] [-1.74291161e-01 9.84694154e-01 -1.19779242e-04 -1.51147648e+01] [-7.72947643e-04 -1.51709399e-05 9.99999701e-01 -3.00261422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.43, Y:-15.12, Z:-0.30 [[ 9.85045288e-01 1.72293926e-01 7.63768306e-04 1.59430548e+02] [-1.72293885e-01 9.85045584e-01 -1.19733830e-04 -1.51163749e+01] [-7.72976008e-04 -1.36493638e-05 9.99999701e-01 -3.01189450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.46, Y:-15.11, Z:-0.30 [[ 9.85862261e-01 1.67556018e-01 7.63778131e-04 1.59459174e+02] [-1.67555975e-01 9.85862557e-01 -1.19671124e-04 -1.51139918e+01] [-7.73031878e-04 -9.99634496e-06 9.99999701e-01 -3.00201132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.49, Y:-15.11, Z:-0.30 [[ 9.86320553e-01 1.64836838e-01 7.63786555e-04 1.59486016e+02] [-1.64836795e-01 9.86320849e-01 -1.19617332e-04 -1.51147395e+01] [-7.73055946e-04 -7.91909479e-06 9.99999701e-01 -3.00547779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.51, Y:-15.12, Z:-0.30 [[ 9.86821487e-01 1.61810908e-01 7.63796310e-04 1.59514782e+02] [-1.61810864e-01 9.86821782e-01 -1.19555013e-04 -1.51156256e+01] [-7.73076141e-04 -5.61108436e-06 9.99999701e-01 -2.98197563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.54, Y:-15.12, Z:-0.30 [[ 9.87296544e-01 1.58886597e-01 7.63802076e-04 1.59543294e+02] [-1.58886552e-01 9.87296840e-01 -1.19518161e-04 -1.51165223e+01] [-7.73089210e-04 -3.35801099e-06 9.99999701e-01 -2.97885187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.57, Y:-15.12, Z:-0.30 [[ 9.88330401e-01 1.52323456e-01 7.63809258e-04 1.59571549e+02] [-1.52323410e-01 9.88330696e-01 -1.19472246e-04 -1.51156260e+01] [-7.73094561e-04 1.73202189e-06 9.99999701e-01 -2.98309481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.60, Y:-15.12, Z:-0.30 [[ 9.88853101e-01 1.48892447e-01 7.63817825e-04 1.59598222e+02] [-1.48892399e-01 9.88853396e-01 -1.19417450e-04 -1.51190668e+01] [-7.73084207e-04 4.35964698e-06 9.99999701e-01 -2.99145042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.63, Y:-15.12, Z:-0.30 [[ 9.89888774e-01 1.41843685e-01 7.63827772e-04 1.59626681e+02] [-1.41843635e-01 9.89889069e-01 -1.19353790e-04 -1.51214809e+01] [-7.73034344e-04 9.80286897e-06 9.99999701e-01 -2.97354285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.65, Y:-15.12, Z:-0.30 [[ 9.90367112e-01 1.38464435e-01 7.63833535e-04 1.59654380e+02] [-1.38464384e-01 9.90367407e-01 -1.19316902e-04 -1.51236510e+01] [-7.72996984e-04 1.24037959e-05 9.99999701e-01 -2.97624161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.68, Y:-15.13, Z:-0.30 [[ 9.90782323e-01 1.35461453e-01 7.63842220e-04 1.59682636e+02] [-1.35461402e-01 9.90782617e-01 -1.19261276e-04 -1.51263509e+01] [-7.72956899e-04 1.46908260e-05 9.99999701e-01 -3.00891074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.71, Y:-15.13, Z:-0.30 [[ 9.91464764e-01 1.30372693e-01 7.63847964e-04 1.59711802e+02] [-1.30372640e-01 9.91465058e-01 -1.19224476e-04 -1.51291688e+01] [-7.72872181e-04 1.86219914e-05 9.99999701e-01 -3.01853616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.74, Y:-15.13, Z:-0.30 [[ 9.91733872e-01 1.28309562e-01 7.63853484e-04 1.59740161e+02] [-1.28309508e-01 9.91734166e-01 -1.19189096e-04 -1.51334498e+01] [-7.72832699e-04 2.01941988e-05 9.99999701e-01 -3.01649874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.77, Y:-15.14, Z:-0.30 [[ 9.92175329e-01 1.24850039e-01 7.63858959e-04 1.59767960e+02] [-1.24849984e-01 9.92175623e-01 -1.19153997e-04 -1.51399059e+01] [-7.72758620e-04 2.28538776e-05 9.99999701e-01 -3.02149524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.79, Y:-15.15, Z:-0.31 [[ 9.92346686e-01 1.23480652e-01 7.63864593e-04 1.59794866e+02] [-1.23480597e-01 9.92346980e-01 -1.19117872e-04 -1.51459565e+01] [-7.72727474e-04 2.38837695e-05 9.99999701e-01 -3.05874609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.82, Y:-15.15, Z:-0.30 [[ 9.92506216e-01 1.22191762e-01 7.63871587e-04 1.59823384e+02] [-1.22191707e-01 9.92506510e-01 -1.19072999e-04 -1.51520696e+01] [-7.72697263e-04 2.48419181e-05 9.99999701e-01 -3.04927718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.85, Y:-15.16, Z:-0.30 [[ 9.92666903e-01 1.20879429e-01 7.63877085e-04 1.59851858e+02] [-1.20879374e-01 9.92667196e-01 -1.19037723e-04 -1.51590999e+01] [-7.72664936e-04 2.58278243e-05 9.99999701e-01 -3.01192426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.88, Y:-15.17, Z:-0.30 [[ 9.92700723e-01 1.20601375e-01 7.63882757e-04 1.59878910e+02] [-1.20601320e-01 9.92701016e-01 -1.19001313e-04 -1.51655692e+01] [-7.72658911e-04 2.60074210e-05 9.99999701e-01 -3.01520821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.91, Y:-15.17, Z:-0.30 [[ 9.92714713e-01 1.20486160e-01 7.63889770e-04 1.59906951e+02] [-1.20486104e-01 9.92715007e-01 -1.18956274e-04 -1.51738196e+01] [-7.72657423e-04 2.60515414e-05 9.99999701e-01 -3.00691664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.93, Y:-15.19, Z:-0.30 [[ 9.92648312e-01 1.21032000e-01 7.63893866e-04 1.59933393e+02] [-1.21031944e-01 9.92648606e-01 -1.18929966e-04 -1.51867155e+01] [-7.72672513e-04 2.56000699e-05 9.99999701e-01 -2.98318704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.96, Y:-15.19, Z:-0.30 [[ 9.92544657e-01 1.21879123e-01 7.63902497e-04 1.59959040e+02] [-1.21879067e-01 9.92544951e-01 -1.18874505e-04 -1.51947919e+01] [-7.72695886e-04 2.48845311e-05 9.99999701e-01 -2.99616831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.99, Y:-15.21, Z:-0.30 [[ 9.92132732e-01 1.25188096e-01 7.63915107e-04 1.59985431e+02] [-1.25188042e-01 9.92133025e-01 -1.18793416e-04 -1.52089572e+01] [-7.72776927e-04 2.22258002e-05 9.99999701e-01 -2.98659777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.01, Y:-15.22, Z:-0.30 [[ 9.91805411e-01 1.27755401e-01 7.63923651e-04 1.60011492e+02] [-1.27755348e-01 9.91805705e-01 -1.18738443e-04 -1.52178274e+01] [-7.72833313e-04 2.01700987e-05 9.99999701e-01 -3.00044538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.04, Y:-15.23, Z:-0.30 [[ 9.91375758e-01 1.31047788e-01 7.63936252e-04 1.60039849e+02] [-1.31047735e-01 9.91376052e-01 -1.18657316e-04 -1.52261027e+01] [-7.72897885e-04 1.75218712e-05 9.99999701e-01 -2.98483626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.07, Y:-15.24, Z:-0.30 [[ 9.90238961e-01 1.39377962e-01 7.63941960e-04 1.60066237e+02] [-1.39377912e-01 9.90239256e-01 -1.18620556e-04 -1.52361238e+01] [-7.73018409e-04 1.09860609e-05 9.99999701e-01 -2.97836850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.09, Y:-15.24, Z:-0.30 [[ 9.89522413e-01 1.44377319e-01 7.63949081e-04 1.60093858e+02] [-1.44377271e-01 9.89522708e-01 -1.18574674e-04 -1.52434115e+01] [-7.73064457e-04 7.03541481e-06 9.99999701e-01 -2.96931890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.12, Y:-15.25, Z:-0.30 [[ 9.87925293e-01 1.54929120e-01 7.63954664e-04 1.60121536e+02] [-1.54929074e-01 9.87925588e-01 -1.18538697e-04 -1.52541533e+01] [-7.73095457e-04 -1.25141198e-06 9.99999701e-01 -2.98799323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.15, Y:-15.26, Z:-0.30 [[ 9.87154569e-01 1.59766309e-01 7.63960287e-04 1.60149416e+02] [-1.59766265e-01 9.87154865e-01 -1.18502449e-04 -1.52611466e+01] [-7.73079812e-04 -5.07484786e-06 9.99999701e-01 -2.99398289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.18, Y:-15.27, Z:-0.30 [[ 9.86436300e-01 1.64142749e-01 7.63965910e-04 1.60176281e+02] [-1.64142707e-01 9.86436596e-01 -1.18466187e-04 -1.52680001e+01] [-7.73049297e-04 -8.54008490e-06 9.99999701e-01 -3.00048847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.20, Y:-15.27, Z:-0.30 [[ 9.85842773e-01 1.67670637e-01 7.63972916e-04 1.60202716e+02] [-1.67670595e-01 9.85843069e-01 -1.18420984e-04 -1.52742887e+01] [-7.73013127e-04 -1.13513228e-05 9.99999701e-01 -3.00447844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.23, Y:-15.28, Z:-0.30 [[ 9.84958472e-01 1.72789538e-01 7.63987026e-04 1.60230809e+02] [-1.72789498e-01 9.84958768e-01 -1.18329884e-04 -1.52822406e+01] [-7.72941886e-04 -1.54589132e-05 9.99999701e-01 -3.01147065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.26, Y:-15.29, Z:-0.30 [[ 9.84675660e-01 1.74393980e-01 7.63992576e-04 1.60258874e+02] [-1.74393941e-01 9.84675957e-01 -1.18294044e-04 -1.52870546e+01] [-7.72914889e-04 -1.67544107e-05 9.99999701e-01 -3.00114829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.29, Y:-15.29, Z:-0.30 [[ 9.84332025e-01 1.76323226e-01 7.64001149e-04 1.60285817e+02] [-1.76323188e-01 9.84332322e-01 -1.18238647e-04 -1.52920741e+01] [-7.72879244e-04 -1.83250314e-05 9.99999701e-01 -3.02241854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.31, Y:-15.30, Z:-0.30 [[ 9.84253237e-01 1.76762500e-01 7.64011065e-04 1.60312939e+02] [-1.76762462e-01 9.84253533e-01 -1.18174541e-04 -1.52964764e+01] [-7.72869417e-04 -1.87348018e-05 9.99999701e-01 -3.03619388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.34, Y:-15.30, Z:-0.30 [[ 9.84262522e-01 1.76710792e-01 7.64020678e-04 1.60341008e+02] [-1.76710754e-01 9.84262818e-01 -1.18112354e-04 -1.53011854e+01] [-7.72868874e-04 -1.87571068e-05 9.99999701e-01 -3.02232983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.37, Y:-15.31, Z:-0.30 [[ 9.84315250e-01 1.76416848e-01 7.64028954e-04 1.60368203e+02] [-1.76416810e-01 9.84315547e-01 -1.18058800e-04 -1.53058393e+01] [-7.72873139e-04 -1.85804738e-05 9.99999701e-01 -3.01478202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.40, Y:-15.31, Z:-0.30 [[ 9.84624899e-01 1.74680348e-01 7.64037384e-04 1.60396830e+02] [-1.74680309e-01 9.84625196e-01 -1.18004218e-04 -1.53123552e+01] [-7.72903476e-04 -1.72723947e-05 9.99999701e-01 -3.01581273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.42, Y:-15.32, Z:-0.30 [[ 9.84820785e-01 1.73572569e-01 7.64043134e-04 1.60423805e+02] [-1.73572530e-01 9.84821082e-01 -1.17966974e-04 -1.53165532e+01] [-7.72921617e-04 -1.64405718e-05 9.99999701e-01 -3.03859928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.45, Y:-15.32, Z:-0.30 [[ 9.85188844e-01 1.71471157e-01 7.64053142e-04 1.60451718e+02] [-1.71471117e-01 9.85189140e-01 -1.17902116e-04 -1.53170290e+01] [-7.72953671e-04 -1.48571968e-05 9.99999701e-01 -3.02190786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.48, Y:-15.32, Z:-0.30 [[ 9.85322048e-01 1.70704063e-01 7.64059968e-04 1.60479534e+02] [-1.70704023e-01 9.85322345e-01 -1.17857867e-04 -1.53195087e+01] [-7.72964176e-04 -1.43001553e-05 9.99999701e-01 -3.02024010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.51, Y:-15.32, Z:-0.30 [[ 9.85470447e-01 1.69845265e-01 7.64066753e-04 1.60507635e+02] [-1.69845225e-01 9.85470743e-01 -1.17813864e-04 -1.53229818e+01] [-7.72975558e-04 -1.36710084e-05 9.99999701e-01 -2.98198249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.53, Y:-15.33, Z:-0.30 [[ 9.85804357e-01 1.67896352e-01 7.64075404e-04 1.60534885e+02] [-1.67896312e-01 9.85804653e-01 -1.17757732e-04 -1.53261234e+01] [-7.73000182e-04 -1.21993564e-05 9.99999701e-01 -2.98839388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.56, Y:-15.33, Z:-0.30 [[ 9.85999044e-01 1.66749217e-01 7.64085488e-04 1.60562872e+02] [-1.66749176e-01 9.85999340e-01 -1.17692265e-04 -1.53293157e+01] [-7.73012880e-04 -1.13661650e-05 9.99999701e-01 -2.98793689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.59, Y:-15.33, Z:-0.30 [[ 9.86256471e-01 1.65219824e-01 7.64094122e-04 1.60589477e+02] [-1.65219782e-01 9.86256767e-01 -1.17636184e-04 -1.53321104e+01] [-7.73028827e-04 -1.02240165e-05 9.99999701e-01 -2.99221007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.62, Y:-15.33, Z:-0.30 [[ 9.86850356e-01 1.61634744e-01 7.64104114e-04 1.60617666e+02] [-1.61634702e-01 9.86850652e-01 -1.17571243e-04 -1.53338514e+01] [-7.73060241e-04 -7.48051788e-06 9.99999701e-01 -2.99192786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.65, Y:-15.34, Z:-0.30 [[ 9.87143785e-01 1.59832922e-01 7.64114457e-04 1.60645991e+02] [-1.59832879e-01 9.87144081e-01 -1.17503984e-04 -1.53354928e+01] [-7.73072069e-04 -6.13728605e-06 9.99999701e-01 -2.98583128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.68, Y:-15.34, Z:-0.30 [[ 9.87695602e-01 1.56386744e-01 7.64121370e-04 1.60675110e+02] [-1.56386700e-01 9.87695898e-01 -1.17459013e-04 -1.53350794e+01] [-7.73088575e-04 -3.48466886e-06 9.99999701e-01 -2.97683275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.70, Y:-15.34, Z:-0.30 [[ 9.87902645e-01 1.55073467e-01 7.64126878e-04 1.60703355e+02] [-1.55073423e-01 9.87902940e-01 -1.17423169e-04 -1.53381923e+01] [-7.73092408e-04 -2.49311154e-06 9.99999701e-01 -2.97937437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.73, Y:-15.34, Z:-0.30 [[ 9.88155712e-01 1.53452617e-01 7.64132357e-04 1.60730973e+02] [-1.53452572e-01 9.88156007e-01 -1.17387504e-04 -1.53414894e+01] [-7.73095398e-04 -1.26094329e-06 9.99999701e-01 -3.00538716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.76, Y:-15.35, Z:-0.30 [[ 9.88292015e-01 1.52572309e-01 7.64139173e-04 1.60759046e+02] [-1.52572264e-01 9.88292310e-01 -1.17343118e-04 -1.53454750e+01] [-7.73096179e-04 -6.17177482e-07 9.99999701e-01 -2.99714154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.79, Y:-15.35, Z:-0.30 [[ 9.88418551e-01 1.51750400e-01 7.64143254e-04 1.60787707e+02] [-1.51750354e-01 9.88418847e-01 -1.17316537e-04 -1.53496740e+01] [-7.73096425e-04 -1.16802420e-09 9.99999701e-01 -2.98108397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.82, Y:-15.35, Z:-0.30 [[ 9.88560791e-01 1.50821012e-01 7.64148972e-04 1.60816896e+02] [-1.50820966e-01 9.88561087e-01 -1.17279277e-04 -1.53519581e+01] [-7.73096118e-04 6.88008160e-07 9.99999701e-01 -2.95258315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.84, Y:-15.35, Z:-0.29 [[ 9.88595443e-01 1.50593710e-01 7.64154693e-04 1.60844494e+02] [-1.50593664e-01 9.88595739e-01 -1.17241992e-04 -1.53541127e+01] [-7.73095980e-04 8.28044125e-07 9.99999701e-01 -2.94779644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.87, Y:-15.36, Z:-0.30 [[ 9.88611194e-01 1.50490273e-01 7.64163209e-04 1.60872063e+02] [-1.50490228e-01 9.88611490e-01 -1.17186462e-04 -1.53553065e+01] [-7.73095951e-04 8.52752684e-07 9.99999701e-01 -2.96278499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.90, Y:-15.36, Z:-0.30 [[ 9.88628539e-01 1.50376289e-01 7.64170287e-04 1.60899238e+02] [-1.50376243e-01 9.88628834e-01 -1.17140283e-04 -1.53604446e+01] [-7.73095901e-04 8.95169885e-07 9.99999701e-01 -2.96159892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.93, Y:-15.37, Z:-0.30 [[ 9.88690231e-01 1.49970141e-01 7.64178644e-04 1.60926777e+02] [-1.49970095e-01 9.88690526e-01 -1.17085745e-04 -1.53675289e+01] [-7.73095551e-04 1.15758835e-06 9.99999701e-01 -2.97669066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.95, Y:-15.38, Z:-0.30 [[ 9.88989927e-01 1.47980880e-01 7.64188289e-04 1.60954354e+02] [-1.47980833e-01 9.88990222e-01 -1.17022760e-04 -1.53757690e+01] [-7.73091876e-04 2.64911068e-06 9.99999701e-01 -2.98375683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.98, Y:-15.38, Z:-0.30 [[ 9.89233915e-01 1.46340966e-01 7.64193890e-04 1.60981005e+02] [-1.46340919e-01 9.89234210e-01 -1.16986168e-04 -1.53802064e+01] [-7.73086608e-04 3.89384892e-06 9.99999701e-01 -2.99601165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.01, Y:-15.38, Z:-0.30 [[ 9.89244222e-01 1.46271272e-01 7.64203638e-04 1.61009187e+02] [-1.46271225e-01 9.89244517e-01 -1.16922460e-04 -1.53843809e+01] [-7.73086656e-04 3.88386525e-06 9.99999701e-01 -2.99623192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.04, Y:-15.39, Z:-0.30 [[ 9.89764638e-01 1.42707310e-01 7.64211871e-04 1.61035667e+02] [-1.42707263e-01 9.89764933e-01 -1.16868619e-04 -1.53925785e+01] [-7.73068118e-04 6.61384226e-06 9.99999701e-01 -3.02648398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.06, Y:-15.40, Z:-0.30 [[ 9.89966984e-01 1.41296805e-01 7.64218694e-04 1.61064067e+02] [-1.41296757e-01 9.89967279e-01 -1.16823991e-04 -1.53996292e+01] [-7.73058357e-04 7.67027108e-06 9.99999701e-01 -3.04224690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.09, Y:-15.41, Z:-0.31 [[ 9.90057205e-01 1.40663241e-01 7.64224146e-04 1.61092165e+02] [-1.40663193e-01 9.90057500e-01 -1.16788312e-04 -1.54062207e+01] [-7.73053670e-04 8.12890111e-06 9.99999701e-01 -3.05123045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.12, Y:-15.41, Z:-0.31 [[ 9.89993205e-01 1.41112971e-01 7.64229631e-04 1.61119384e+02] [-1.41112923e-01 9.89993500e-01 -1.16752406e-04 -1.54132435e+01] [-7.73057646e-04 7.74141165e-06 9.99999701e-01 -3.06406927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.15, Y:-15.42, Z:-0.30 [[ 9.89482715e-01 1.44649138e-01 7.64236451e-04 1.61147291e+02] [-1.44649091e-01 9.89483010e-01 -1.16707749e-04 -1.54239628e+01] [-7.73080659e-04 4.93419279e-06 9.99999701e-01 -3.03151163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.17, Y:-15.43, Z:-0.30 [[ 9.88989766e-01 1.47981955e-01 7.64242126e-04 1.61174411e+02] [-1.47981909e-01 9.88990061e-01 -1.16670578e-04 -1.54292359e+01] [-7.73093007e-04 2.29199891e-06 9.99999701e-01 -3.04381259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.20, Y:-15.44, Z:-0.31 [[ 9.87770887e-01 1.55910523e-01 7.64249206e-04 1.61200776e+02] [-1.55910479e-01 9.87771182e-01 -1.16624180e-04 -1.54350887e+01] [-7.73086279e-04 -3.95648993e-06 9.99999701e-01 -3.05817859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.23, Y:-15.44, Z:-0.30 [[ 9.87254581e-01 1.59147125e-01 7.64258730e-04 1.61228851e+02] [-1.59147083e-01 9.87254877e-01 -1.16561734e-04 -1.54414989e+01] [-7.73068623e-04 -6.55344107e-06 9.99999701e-01 -3.04755227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85420382200002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:161.26, Y:-15.45, Z:-0.31 [[ 9.86330334e-01 1.64778303e-01 7.64264229e-04 1.61256865e+02] [-1.64778262e-01 9.86330630e-01 -1.16525665e-04 -1.54481051e+01] [-7.73018120e-04 -1.10013332e-05 9.99999701e-01 -3.05420581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.29, Y:-15.45, Z:-0.30 [[ 9.86020708e-01 1.66621068e-01 7.64269792e-04 1.61285475e+02] [-1.66621027e-01 9.86021004e-01 -1.16489170e-04 -1.54526522e+01] [-7.72995617e-04 -1.24826838e-05 9.99999701e-01 -3.04821045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.31, Y:-15.46, Z:-0.30 [[ 9.85810868e-01 1.67858121e-01 7.64275306e-04 1.61314002e+02] [-1.67858081e-01 9.85811164e-01 -1.16452983e-04 -1.54570740e+01] [-7.72978708e-04 -1.34891704e-05 9.99999701e-01 -3.02958290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.34, Y:-15.46, Z:-0.30 [[ 9.85767341e-01 1.68113548e-01 7.64280895e-04 1.61341383e+02] [-1.68113508e-01 9.85767637e-01 -1.16416286e-04 -1.54621500e+01] [-7.72974527e-04 -1.37265696e-05 9.99999701e-01 -3.02458033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.37, Y:-15.47, Z:-0.30 [[ 9.85871157e-01 1.67503665e-01 7.64289757e-04 1.61367650e+02] [-1.67503625e-01 9.85871453e-01 -1.16358082e-04 -1.54673456e+01] [-7.72981858e-04 -1.33072275e-05 9.99999701e-01 -3.03696726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.40, Y:-15.48, Z:-0.30 [[ 9.86314736e-01 1.64871637e-01 7.64299068e-04 1.61395184e+02] [-1.64871596e-01 9.86315032e-01 -1.16296888e-04 -1.54764067e+01] [-7.73013718e-04 -1.13058725e-05 9.99999701e-01 -3.00429537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.42, Y:-15.48, Z:-0.30 [[ 9.86684359e-01 1.62644988e-01 7.64304623e-04 1.61423652e+02] [-1.62644947e-01 9.86684655e-01 -1.16260369e-04 -1.54819970e+01] [-7.73036809e-04 -9.59799765e-06 9.99999701e-01 -2.97895554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.45, Y:-15.49, Z:-0.30 [[ 9.87113614e-01 1.60019152e-01 7.64310345e-04 1.61451234e+02] [-1.60019110e-01 9.87113910e-01 -1.16222740e-04 -1.54867451e+01] [-7.73059237e-04 -7.57921251e-06 9.99999701e-01 -2.98094366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.48, Y:-15.49, Z:-0.30 [[ 9.87599189e-01 1.56994448e-01 7.64318575e-04 1.61478320e+02] [-1.56994406e-01 9.87599485e-01 -1.16168589e-04 -1.54916395e+01] [-7.73078455e-04 -5.26573651e-06 9.99999701e-01 -2.99288773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.51, Y:-15.50, Z:-0.30 [[ 9.88631560e-01 1.50356423e-01 7.64325564e-04 1.61506395e+02] [-1.50356378e-01 9.88631856e-01 -1.16122587e-04 -1.54994232e+01] [-7.73096378e-04 -1.18769208e-07 9.99999701e-01 -3.00328337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.53, Y:-15.51, Z:-0.30 [[ 9.89134934e-01 1.47008497e-01 7.64331138e-04 1.61533890e+02] [-1.47008451e-01 9.89135229e-01 -1.16085886e-04 -1.55067031e+01] [-7.73092467e-04 2.46146847e-06 9.99999701e-01 -3.02012164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.56, Y:-15.52, Z:-0.30 [[ 9.89936644e-01 1.41509214e-01 7.64338044e-04 1.61561022e+02] [-1.41509166e-01 9.89936939e-01 -1.16040398e-04 -1.55180020e+01] [-7.73067249e-04 6.71180302e-06 9.99999701e-01 -3.01585314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.59, Y:-15.52, Z:-0.30 [[ 9.90183362e-01 1.39772406e-01 7.64343569e-04 1.61589048e+02] [-1.39772358e-01 9.90183657e-01 -1.16004000e-04 -1.55246148e+01] [-7.73054668e-04 8.03112754e-06 9.99999701e-01 -3.00278813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.62, Y:-15.53, Z:-0.30 [[ 9.90311477e-01 1.38861779e-01 7.64349244e-04 1.61616046e+02] [-1.38861731e-01 9.90311772e-01 -1.15966590e-04 -1.55306493e+01] [-7.73047382e-04 8.70418616e-06 9.99999701e-01 -3.01800711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.64, Y:-15.54, Z:-0.30 [[ 9.90172809e-01 1.39847146e-01 7.64356262e-04 1.61644480e+02] [-1.39847098e-01 9.90173104e-01 -1.15920318e-04 -1.55385793e+01] [-7.73056138e-04 7.88814225e-06 9.99999701e-01 -3.00135138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.67, Y:-15.54, Z:-0.30 [[ 9.89954031e-01 1.41387528e-01 7.64361838e-04 1.61672595e+02] [-1.41387480e-01 9.89954326e-01 -1.15883538e-04 -1.55441843e+01] [-7.73067795e-04 6.64818124e-06 9.99999701e-01 -3.00476375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.70, Y:-15.55, Z:-0.30 [[ 9.89604032e-01 1.43816815e-01 7.64367513e-04 1.61699985e+02] [-1.43816769e-01 9.89604327e-01 -1.15846093e-04 -1.55493333e+01] [-7.73082014e-04 4.71289481e-06 9.99999701e-01 -3.03681907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.73, Y:-15.56, Z:-0.31 [[ 9.88732349e-01 1.49692210e-01 7.64374576e-04 1.61728560e+02] [-1.49692165e-01 9.88732644e-01 -1.15799471e-04 -1.55566814e+01] [-7.73096375e-04 7.37979273e-08 9.99999701e-01 -3.06459002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.76, Y:-15.56, Z:-0.30 [[ 9.88294714e-01 1.52554821e-01 7.64378628e-04 1.61756611e+02] [-1.52554777e-01 9.88295010e-01 -1.15772716e-04 -1.55630591e+01] [-7.73093270e-04 -2.19204717e-06 9.99999701e-01 -3.04457219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.78, Y:-15.57, Z:-0.30 [[ 9.87531032e-01 1.57422606e-01 7.64384266e-04 1.61784321e+02] [-1.57422563e-01 9.87531328e-01 -1.15735480e-04 -1.55686001e+01] [-7.73072790e-04 -6.03895291e-06 9.99999701e-01 -3.02401924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.81, Y:-15.57, Z:-0.30 [[ 9.87184228e-01 1.59582940e-01 7.64391296e-04 1.61812314e+02] [-1.59582899e-01 9.87184524e-01 -1.15689030e-04 -1.55726001e+01] [-7.73057254e-04 -7.77739257e-06 9.99999701e-01 -3.01747957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.84, Y:-15.58, Z:-0.30 [[ 9.86909942e-01 1.61270523e-01 7.64398852e-04 1.61840500e+02] [-1.61270482e-01 9.86910238e-01 -1.15639088e-04 -1.55773382e+01] [-7.73042229e-04 -9.14960588e-06 9.99999701e-01 -2.97791622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.514203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.87, Y:-15.58, Z:-0.29 [[ 9.86587171e-01 1.63233482e-01 7.64404236e-04 1.61868874e+02] [-1.63233442e-01 9.86587467e-01 -1.15603486e-04 -1.55830010e+01] [-7.73021998e-04 -1.07234181e-05 9.99999701e-01 -2.92537021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.90, Y:-15.59, Z:-0.29 [[ 9.86439645e-01 1.64122645e-01 7.64409775e-04 1.61896386e+02] [-1.64122605e-01 9.86439941e-01 -1.15566848e-04 -1.55872811e+01] [-7.73011470e-04 -1.14572025e-05 9.99999701e-01 -2.93365480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.92, Y:-15.59, Z:-0.29 [[ 9.86311250e-01 1.64892491e-01 7.64416656e-04 1.61924958e+02] [-1.64892451e-01 9.86311546e-01 -1.15521315e-04 -1.55912785e+01] [-7.73001571e-04 -1.21065638e-05 9.99999701e-01 -2.92872198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.95, Y:-15.60, Z:-0.30 [[ 9.85996888e-01 1.66761963e-01 7.64422178e-04 1.61952674e+02] [-1.66761923e-01 9.85997184e-01 -1.15484767e-04 -1.55958154e+01] [-7.72976581e-04 -1.36088922e-05 9.99999701e-01 -2.95524917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.98, Y:-15.60, Z:-0.30 [[ 9.85770143e-01 1.68097116e-01 7.64429035e-04 1.61981337e+02] [-1.68097077e-01 9.85770439e-01 -1.15439356e-04 -1.55991916e+01] [-7.72956569e-04 -1.47016160e-05 9.99999701e-01 -2.95454465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.01, Y:-15.60, Z:-0.30 [[ 9.85209517e-01 1.71352337e-01 7.64434504e-04 1.62011270e+02] [-1.71352299e-01 9.85209813e-01 -1.15403128e-04 -1.55977310e+01] [-7.72902971e-04 -1.72913497e-05 9.99999701e-01 -2.98798796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.04, Y:-15.60, Z:-0.30 [[ 9.84906009e-01 1.73088325e-01 7.64438599e-04 1.62039292e+02] [-1.73088287e-01 9.84906306e-01 -1.15376001e-04 -1.55992476e+01] [-7.72870635e-04 -1.86808514e-05 9.99999701e-01 -3.00632594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.07, Y:-15.60, Z:-0.30 [[ 9.84686754e-01 1.74331329e-01 7.64446013e-04 1.62067609e+02] [-1.74331292e-01 9.84687050e-01 -1.15326853e-04 -1.56014448e+01] [-7.72845174e-04 -1.97060370e-05 9.99999701e-01 -3.04116010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.10, Y:-15.60, Z:-0.30 [[ 9.84720597e-01 1.74140063e-01 7.64451327e-04 1.62096904e+02] [-1.74140026e-01 9.84720894e-01 -1.15291623e-04 -1.55994135e+01] [-7.72848084e-04 -1.95915383e-05 9.99999701e-01 -3.02395956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.13, Y:-15.60, Z:-0.30 [[ 9.84975799e-01 1.72690737e-01 7.64456878e-04 1.62125163e+02] [-1.72690700e-01 9.84976096e-01 -1.15254804e-04 -1.55995483e+01] [-7.72875188e-04 -1.84914006e-05 9.99999701e-01 -3.04476438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.15, Y:-15.60, Z:-0.31 [[ 9.85976988e-01 1.66879583e-01 7.64464626e-04 1.62153498e+02] [-1.66879544e-01 9.85977284e-01 -1.15203387e-04 -1.55983166e+01] [-7.72969849e-04 -1.39856196e-05 9.99999701e-01 -3.06386977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.18, Y:-15.60, Z:-0.30 [[ 9.86683206e-01 1.62651983e-01 7.64471297e-04 1.62182285e+02] [-1.62651942e-01 9.86683502e-01 -1.15159100e-04 -1.56010013e+01] [-7.73022073e-04 -1.07171915e-05 9.99999701e-01 -3.04648437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.21, Y:-15.60, Z:-0.30 [[ 9.87512215e-01 1.57540603e-01 7.64476637e-04 1.62210554e+02] [-1.57540561e-01 9.87512511e-01 -1.15123640e-04 -1.56044413e+01] [-7.73066891e-04 -6.75007744e-06 9.99999701e-01 -3.02686133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.24, Y:-15.61, Z:-0.30 [[ 9.88433219e-01 1.51654828e-01 7.64482284e-04 1.62238381e+02] [-1.51654785e-01 9.88433515e-01 -1.15086130e-04 -1.56087203e+01] [-7.73093278e-04 -2.18244209e-06 9.99999701e-01 -3.04361743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.27, Y:-15.62, Z:-0.30 [[ 9.90273320e-01 1.39133633e-01 7.64489322e-04 1.62265515e+02] [-1.39133586e-01 9.90273615e-01 -1.15039357e-04 -1.56152392e+01] [-7.73059449e-04 7.55426591e-06 9.99999701e-01 -3.04075159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.29, Y:-15.62, Z:-0.30 [[ 9.91104026e-01 1.33087285e-01 7.64496125e-04 1.62293771e+02] [-1.33087235e-01 9.91104321e-01 -1.14994136e-04 -1.56198636e+01] [-7.72999670e-04 1.22264751e-05 9.99999701e-01 -3.02243926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.32, Y:-15.62, Z:-0.30 [[ 9.92356918e-01 1.23398392e-01 7.64501519e-04 1.62323004e+02] [-1.23398340e-01 9.92357212e-01 -1.14958262e-04 -1.56226482e+01] [-7.72844261e-04 1.97414077e-05 9.99999701e-01 -2.99333013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.35, Y:-15.63, Z:-0.30 [[ 9.92761992e-01 1.20095975e-01 7.64504307e-04 1.62350646e+02] [-1.20095922e-01 9.92762286e-01 -1.14939715e-04 -1.56266735e+01] [-7.72774841e-04 2.22939309e-05 9.99999701e-01 -3.00333797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.38, Y:-15.63, Z:-0.30 [[ 9.93097384e-01 1.17290248e-01 7.64511224e-04 1.62379304e+02] [-1.17290195e-01 9.93097678e-01 -1.14893689e-04 -1.56328516e+01] [-7.72710231e-04 2.44309518e-05 9.99999701e-01 -3.00769953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.41, Y:-15.64, Z:-0.30 [[ 9.93047687e-01 1.17710266e-01 7.64516781e-04 1.62407697e+02] [-1.17710213e-01 9.93047981e-01 -1.14856700e-04 -1.56385890e+01] [-7.72721659e-04 2.40667473e-05 9.99999701e-01 -3.03337294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.44, Y:-15.64, Z:-0.30 [[ 9.92864933e-01 1.19241942e-01 7.64520913e-04 1.62436257e+02] [-1.19241889e-01 9.92865227e-01 -1.14829194e-04 -1.56442860e+01] [-7.72758686e-04 2.28469620e-05 9.99999701e-01 -3.03753640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.46, Y:-15.65, Z:-0.30 [[ 9.92257724e-01 1.24193496e-01 7.64526165e-04 1.62464663e+02] [-1.24193444e-01 9.92258018e-01 -1.14794216e-04 -1.56497279e+01] [-7.72863912e-04 1.89563094e-05 9.99999701e-01 -3.00629332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.49, Y:-15.65, Z:-0.30 [[ 9.91879943e-01 1.27175450e-01 7.64531707e-04 1.62493362e+02] [-1.27175399e-01 9.91880237e-01 -1.14757294e-04 -1.56535995e+01] [-7.72918201e-04 1.65958331e-05 9.99999701e-01 -3.00238033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.52, Y:-15.66, Z:-0.30 [[ 9.91475987e-01 1.30287305e-01 7.64537247e-04 1.62521031e+02] [-1.30287255e-01 9.91476282e-01 -1.14720369e-04 -1.56574771e+01] [-7.72967155e-04 1.41330317e-05 9.99999701e-01 -3.01254946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.55, Y:-15.66, Z:-0.30 [[ 9.90709392e-01 1.35993810e-01 7.64544137e-04 1.62549797e+02] [-1.35993762e-01 9.90709687e-01 -1.14674439e-04 -1.56630983e+01] [-7.73036296e-04 9.63581030e-06 9.99999701e-01 -3.00314523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.58, Y:-15.67, Z:-0.30 [[ 9.90431151e-01 1.38005617e-01 7.64549487e-04 1.62577377e+02] [-1.38005570e-01 9.90431446e-01 -1.14638754e-04 -1.56684814e+01] [-7.73054646e-04 8.02970567e-06 9.99999701e-01 -3.02656105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.61, Y:-15.68, Z:-0.30 [[ 9.90060636e-01 1.40639089e-01 7.64556157e-04 1.62605394e+02] [-1.40639043e-01 9.90060931e-01 -1.14594253e-04 -1.56757839e+01] [-7.73073612e-04 5.92881289e-06 9.99999701e-01 -3.01267119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.63, Y:-15.68, Z:-0.30 [[ 9.89934010e-01 1.41527636e-01 7.64561501e-04 1.62633513e+02] [-1.41527590e-01 9.89934305e-01 -1.14558590e-04 -1.56811298e+01] [-7.73078864e-04 5.19889815e-06 9.99999701e-01 -3.00415575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.66, Y:-15.69, Z:-0.30 [[ 9.89829548e-01 1.42256391e-01 7.64567056e-04 1.62662342e+02] [-1.42256345e-01 9.89829844e-01 -1.14521504e-04 -1.56858082e+01] [-7.73082705e-04 4.59225305e-06 9.99999701e-01 -3.01596776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.69, Y:-15.69, Z:-0.31 [[ 9.89624249e-01 1.43677628e-01 7.64572640e-04 1.62689438e+02] [-1.43677582e-01 9.89624545e-01 -1.14484210e-04 -1.56906308e+01] [-7.73088670e-04 3.44440176e-06 9.99999701e-01 -3.06697563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.72, Y:-15.70, Z:-0.31 [[ 9.89546875e-01 1.44209561e-01 7.64579594e-04 1.62718240e+02] [-1.44209515e-01 9.89547170e-01 -1.14437749e-04 -1.56959098e+01] [-7.73090591e-04 2.98186410e-06 9.99999701e-01 -3.05740810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.75, Y:-15.70, Z:-0.31 [[ 9.89373728e-01 1.45392718e-01 7.64585057e-04 1.62745025e+02] [-1.45392673e-01 9.89374023e-01 -1.14401237e-04 -1.57031044e+01] [-7.73093701e-04 2.02051239e-06 9.99999701e-01 -3.05319506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.77, Y:-15.71, Z:-0.30 [[ 9.89311562e-01 1.45815120e-01 7.64591875e-04 1.62773806e+02] [-1.45815075e-01 9.89311857e-01 -1.14355651e-04 -1.57088081e+01] [-7.73094591e-04 1.64434588e-06 9.99999701e-01 -3.04471926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.80, Y:-15.71, Z:-0.30 [[ 9.89318624e-01 1.45767193e-01 7.64597406e-04 1.62802824e+02] [-1.45767149e-01 9.89318920e-01 -1.14318658e-04 -1.57130552e+01] [-7.73094590e-04 1.64439373e-06 9.99999701e-01 -3.04494598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.83, Y:-15.72, Z:-0.31 [[ 9.89249540e-01 1.46235300e-01 7.64602942e-04 1.62830680e+02] [-1.46235255e-01 9.89249836e-01 -1.14281617e-04 -1.57187891e+01] [-7.73095342e-04 1.24113077e-06 9.99999701e-01 -3.05081497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.86, Y:-15.72, Z:-0.31 [[ 9.89212366e-01 1.46486553e-01 7.64608532e-04 1.62859042e+02] [-1.46486508e-01 9.89212662e-01 -1.14244209e-04 -1.57242531e+01] [-7.73095681e-04 1.00694991e-06 9.99999701e-01 -3.06305356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.594203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:162.89, Y:-15.73, Z:-0.31 [[ 9.89134203e-01 1.47013416e-01 7.64614073e-04 1.62886641e+02] [-1.47013372e-01 9.89134498e-01 -1.14207109e-04 -1.57286929e+01] [-7.73096135e-04 5.57664916e-07 9.99999701e-01 -3.08229169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.92, Y:-15.73, Z:-0.31 [[ 9.89048259e-01 1.47590501e-01 7.64620978e-04 1.62915234e+02] [-1.47590457e-01 9.89048555e-01 -1.14160864e-04 -1.57334542e+01] [-7.73096332e-04 5.98443450e-08 9.99999701e-01 -3.07548027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.94, Y:-15.74, Z:-0.31 [[ 9.88812008e-01 1.49165101e-01 7.64626486e-04 1.62942974e+02] [-1.49165057e-01 9.88812304e-01 -1.14123959e-04 -1.57394536e+01] [-7.73095389e-04 -1.20841250e-06 9.99999701e-01 -3.09258640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.97, Y:-15.74, Z:-0.31 [[ 9.88640716e-01 1.50296205e-01 7.64631971e-04 1.62971442e+02] [-1.50296161e-01 9.88641012e-01 -1.14087199e-04 -1.57446898e+01] [-7.73093399e-04 -2.12999980e-06 9.99999701e-01 -3.07118247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.00, Y:-15.75, Z:-0.31 [[ 9.88396647e-01 1.51892999e-01 7.64637399e-04 1.62998614e+02] [-1.51892956e-01 9.88396943e-01 -1.14050807e-04 -1.57492423e+01] [-7.73088787e-04 -3.41559990e-06 9.99999701e-01 -3.06510656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.03, Y:-15.75, Z:-0.30 [[ 9.87809860e-01 1.55663405e-01 7.64644131e-04 1.63027288e+02] [-1.55663364e-01 9.87810156e-01 -1.14005658e-04 -1.57516969e+01] [-7.73069747e-04 -6.41116449e-06 9.99999701e-01 -3.03753728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.06, Y:-15.75, Z:-0.30 [[ 9.87471683e-01 1.57794459e-01 7.64649700e-04 1.63056130e+02] [-1.57794418e-01 9.87471979e-01 -1.13968290e-04 -1.57540447e+01] [-7.73053717e-04 -8.11699507e-06 9.99999701e-01 -3.02300340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.08, Y:-15.76, Z:-0.30 [[ 9.87117581e-01 1.59994676e-01 7.64655245e-04 1.63084455e+02] [-1.59994636e-01 9.87117877e-01 -1.13931075e-04 -1.57561360e+01] [-7.73033228e-04 -9.87737059e-06 9.99999701e-01 -3.03247200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.11, Y:-15.75, Z:-0.31 [[ 9.86259025e-01 1.65204575e-01 7.64662146e-04 1.63112447e+02] [-1.65204536e-01 9.86259321e-01 -1.13884742e-04 -1.57545096e+01] [-7.72969449e-04 -1.40058009e-05 9.99999701e-01 -3.06589860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.14, Y:-15.76, Z:-0.31 [[ 9.85830000e-01 1.67745721e-01 7.64668841e-04 1.63141691e+02] [-1.67745683e-01 9.85830296e-01 -1.13839766e-04 -1.57559635e+01] [-7.72929844e-04 -1.60432403e-05 9.99999701e-01 -3.06218312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.17, Y:-15.75, Z:-0.31 [[ 9.85166168e-01 1.71601390e-01 7.64674141e-04 1.63171113e+02] [-1.71601353e-01 9.85166464e-01 -1.13804159e-04 -1.57547952e+01] [-7.72860271e-04 -1.91031104e-05 9.99999701e-01 -3.06469388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.20, Y:-15.76, Z:-0.31 [[ 9.84983055e-01 1.72649346e-01 7.64679440e-04 1.63197872e+02] [-1.72649310e-01 9.84983352e-01 -1.13768542e-04 -1.57557454e+01] [-7.72838582e-04 -1.99612916e-05 9.99999701e-01 -3.07092915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.23, Y:-15.76, Z:-0.31 [[ 9.84911119e-01 1.73059246e-01 7.64688648e-04 1.63226555e+02] [-1.73059210e-01 9.84911416e-01 -1.13706613e-04 -1.57571724e+01] [-7.72828560e-04 -2.03455056e-05 9.99999701e-01 -3.06454879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.25, Y:-15.76, Z:-0.31 [[ 9.85248065e-01 1.71130553e-01 7.64693944e-04 1.63254960e+02] [-1.71130516e-01 9.85248361e-01 -1.13670985e-04 -1.57553578e+01] [-7.72866034e-04 -1.88683508e-05 9.99999701e-01 -3.05403488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.28, Y:-15.76, Z:-0.31 [[ 9.85646050e-01 1.68823218e-01 7.64702219e-04 1.63283635e+02] [-1.68823181e-01 9.85646347e-01 -1.13615293e-04 -1.57562250e+01] [-7.72906848e-04 -1.71149967e-05 9.99999701e-01 -3.05937798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.31, Y:-15.76, Z:-0.31 [[ 9.86188709e-01 1.65623805e-01 7.64710546e-04 1.63311613e+02] [-1.65623767e-01 9.86189006e-01 -1.13559219e-04 -1.57576231e+01] [-7.72957243e-04 -1.46634215e-05 9.99999701e-01 -3.07959336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.34, Y:-15.76, Z:-0.31 [[ 9.87565889e-01 1.57203784e-01 7.64717444e-04 1.63340050e+02] [-1.57203743e-01 9.87566185e-01 -1.13512750e-04 -1.57601712e+01] [-7.73053722e-04 -8.11512448e-06 9.99999701e-01 -3.07095885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.37, Y:-15.76, Z:-0.31 [[ 9.88291862e-01 1.52573295e-01 7.64722999e-04 1.63367702e+02] [-1.52573253e-01 9.88292158e-01 -1.13475309e-04 -1.57636147e+01] [-7.73083045e-04 -4.52955066e-06 9.99999701e-01 -3.08671736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.40, Y:-15.77, Z:-0.31 [[ 9.88981732e-01 1.48035637e-01 7.64729872e-04 1.63395986e+02] [-1.48035593e-01 9.88982027e-01 -1.13428972e-04 -1.57666280e+01] [-7.73095630e-04 -1.02805927e-06 9.99999701e-01 -3.08983110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.42, Y:-15.77, Z:-0.31 [[ 9.90117467e-01 1.40238430e-01 7.64735318e-04 1.63423458e+02] [-1.40238384e-01 9.90117762e-01 -1.13392243e-04 -1.57702626e+01] [-7.73079972e-04 5.02639526e-06 9.99999701e-01 -3.12135971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.45, Y:-15.77, Z:-0.31 [[ 9.90531334e-01 1.37284711e-01 7.64742093e-04 1.63452422e+02] [-1.37284665e-01 9.90531629e-01 -1.13346537e-04 -1.57747338e+01] [-7.73061977e-04 7.28593465e-06 9.99999701e-01 -3.09216243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.48, Y:-15.78, Z:-0.31 [[ 9.90949830e-01 1.34230581e-01 7.64747508e-04 1.63480218e+02] [-1.34230534e-01 9.90950125e-01 -1.13309986e-04 -1.57772589e+01] [-7.73036305e-04 9.63204499e-06 9.99999701e-01 -3.06237761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.51, Y:-15.78, Z:-0.31 [[ 9.90993284e-01 1.33909398e-01 7.64754204e-04 1.63507878e+02] [-1.33909350e-01 9.90993579e-01 -1.13264774e-04 -1.57810163e+01] [-7.73033724e-04 9.83689187e-06 9.99999701e-01 -3.05999068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.54, Y:-15.79, Z:-0.31 [[ 9.90933787e-01 1.34348966e-01 7.64760872e-04 1.63535166e+02] [-1.34348919e-01 9.90934082e-01 -1.13219740e-04 -1.57853677e+01] [-7.73038567e-04 9.44846954e-06 9.99999701e-01 -3.07981883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.56, Y:-15.79, Z:-0.31 [[ 9.90797970e-01 1.35346950e-01 7.64767475e-04 1.63563521e+02] [-1.35346903e-01 9.90798266e-01 -1.13175120e-04 -1.57894669e+01] [-7.73048195e-04 8.62476961e-06 9.99999701e-01 -3.06225627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.59, Y:-15.79, Z:-0.31 [[ 9.90310726e-01 1.38867132e-01 7.64772811e-04 1.63591480e+02] [-1.38867086e-01 9.90311022e-01 -1.13139049e-04 -1.57903693e+01] [-7.73074239e-04 5.84104214e-06 9.99999701e-01 -3.07778205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.374203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:163.62, Y:-15.79, Z:-0.31 [[ 9.89964762e-01 1.41312365e-01 7.64779461e-04 1.63620235e+02] [-1.41312320e-01 9.89965058e-01 -1.13094082e-04 -1.57921406e+01] [-7.73086535e-04 3.88639620e-06 9.99999701e-01 -3.06297543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.65, Y:-15.79, Z:-0.31 [[ 9.89613741e-01 1.43749988e-01 7.64784772e-04 1.63648563e+02] [-1.43749943e-01 9.89614036e-01 -1.13058150e-04 -1.57947150e+01] [-7.73093853e-04 1.94613160e-06 9.99999701e-01 -3.05150977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.68, Y:-15.80, Z:-0.31 [[ 9.88893287e-01 1.48625308e-01 7.64790184e-04 1.63677317e+02] [-1.48625265e-01 9.88893583e-01 -1.13021531e-04 -1.57968349e+01] [-7.73093965e-04 -1.90091117e-06 9.99999701e-01 -3.05242809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.70, Y:-15.80, Z:-0.31 [[ 9.88640416e-01 1.50298181e-01 7.64794326e-04 1.63704546e+02] [-1.50298139e-01 9.88640712e-01 -1.12993494e-04 -1.57993712e+01] [-7.73089524e-04 -3.23722867e-06 9.99999701e-01 -3.07904054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.73, Y:-15.80, Z:-0.31 [[ 9.88375838e-01 1.52028346e-01 7.64803990e-04 1.63733054e+02] [-1.52028304e-01 9.88376134e-01 -1.12928045e-04 -1.58010266e+01] [-7.73082275e-04 -4.65650231e-06 9.99999701e-01 -3.06625053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.76, Y:-15.81, Z:-0.31 [[ 9.88397302e-01 1.51888739e-01 7.64809344e-04 1.63761831e+02] [-1.51888697e-01 9.88397598e-01 -1.12891777e-04 -1.58051428e+01] [-7.73082708e-04 -4.58396753e-06 9.99999701e-01 -3.06617097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.79, Y:-15.81, Z:-0.31 [[ 9.88539648e-01 1.50959531e-01 7.64814815e-04 1.63788851e+02] [-1.50959489e-01 9.88539944e-01 -1.12854702e-04 -1.58085064e+01] [-7.73086486e-04 -3.89470649e-06 9.99999701e-01 -3.07451791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.82, Y:-15.81, Z:-0.30 [[ 9.88694920e-01 1.49939222e-01 7.64826037e-04 1.63817682e+02] [-1.49939180e-01 9.88695216e-01 -1.12778598e-04 -1.58107373e+01] [-7.73089778e-04 -3.17376213e-06 9.99999701e-01 -3.04276179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.85, Y:-15.81, Z:-0.30 [[ 9.88955848e-01 1.48208454e-01 7.64831563e-04 1.63845823e+02] [-1.48208411e-01 9.88956144e-01 -1.12741108e-04 -1.58103123e+01] [-7.73094058e-04 -1.85849286e-06 9.99999701e-01 -3.03425347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.87, Y:-15.81, Z:-0.30 [[ 9.89154055e-01 1.46879783e-01 7.64838423e-04 1.63874471e+02] [-1.46879740e-01 9.89154351e-01 -1.12694548e-04 -1.58131340e+01] [-7.73095804e-04 -8.66999224e-07 9.99999701e-01 -3.01193991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.90, Y:-15.82, Z:-0.30 [[ 9.89262266e-01 1.46149183e-01 7.64843876e-04 1.63902366e+02] [-1.46149140e-01 9.89262562e-01 -1.12657530e-04 -1.58159056e+01] [-7.73096218e-04 -3.33430905e-07 9.99999701e-01 -3.01756150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.93, Y:-15.82, Z:-0.30 [[ 9.89361828e-01 1.45473667e-01 7.64850641e-04 1.63929162e+02] [-1.45473623e-01 9.89362124e-01 -1.12611581e-04 -1.58184369e+01] [-7.73096274e-04 1.48005933e-07 9.99999701e-01 -3.02784075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.96, Y:-15.82, Z:-0.30 [[ 9.89588466e-01 1.43923877e-01 7.64862408e-04 1.63957545e+02] [-1.43923833e-01 9.89588762e-01 -1.12531604e-04 -1.58217386e+01] [-7.73095228e-04 1.27804791e-06 9.99999701e-01 -3.01792943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.98, Y:-15.82, Z:-0.30 [[ 9.89667879e-01 1.43376793e-01 7.64867712e-04 1.63984592e+02] [-1.43376749e-01 9.89668174e-01 -1.12495541e-04 -1.58249088e+01] [-7.73094482e-04 1.66897784e-06 9.99999701e-01 -3.01990847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.01, Y:-15.83, Z:-0.30 [[ 9.89688995e-01 1.43230958e-01 7.64876934e-04 1.64013650e+02] [-1.43230914e-01 9.89689291e-01 -1.12432799e-04 -1.58279772e+01] [-7.73094368e-04 1.71948157e-06 9.99999701e-01 -2.99790093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.04, Y:-15.83, Z:-0.30 [[ 9.89632433e-01 1.43621247e-01 7.64882346e-04 1.64041241e+02] [-1.43621203e-01 9.89632729e-01 -1.12395971e-04 -1.58308352e+01] [-7.73095053e-04 1.37737497e-06 9.99999701e-01 -2.98774437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.07, Y:-15.84, Z:-0.30 [[ 9.89591172e-01 1.43905272e-01 7.64889069e-04 1.64068485e+02] [-1.43905228e-01 9.89591468e-01 -1.12350201e-04 -1.58353719e+01] [-7.73095483e-04 1.10923085e-06 9.99999701e-01 -2.99221343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.09, Y:-15.84, Z:-0.30 [[ 9.89443151e-01 1.44919517e-01 7.64897084e-04 1.64094924e+02] [-1.44919474e-01 9.89443446e-01 -1.12295611e-04 -1.58387713e+01] [-7.73096232e-04 2.61640478e-07 9.99999701e-01 -3.00278086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.12, Y:-15.84, Z:-0.30 [[ 9.89303302e-01 1.45871146e-01 7.64909353e-04 1.64122825e+02] [-1.45871103e-01 9.89303598e-01 -1.12211977e-04 -1.58411386e+01] [-7.73096064e-04 -5.66491776e-07 9.99999701e-01 -2.99632282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.15, Y:-15.84, Z:-0.30 [[ 9.89086179e-01 1.47336165e-01 7.64917278e-04 1.64150260e+02] [-1.47336123e-01 9.89086475e-01 -1.12157926e-04 -1.58436805e+01] [-7.73094253e-04 -1.76609108e-06 9.99999701e-01 -3.01000688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.18, Y:-15.85, Z:-0.30 [[ 9.88493974e-01 1.51258315e-01 7.64926355e-04 1.64179341e+02] [-1.51258274e-01 9.88494270e-01 -1.12095988e-04 -1.58464414e+01] [-7.73080769e-04 -4.89523141e-06 9.99999701e-01 -3.02475994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.21, Y:-15.85, Z:-0.30 [[ 9.88181206e-01 1.53288355e-01 7.64931605e-04 1.64207076e+02] [-1.53288314e-01 9.88181502e-01 -1.12060148e-04 -1.58498970e+01] [-7.73068778e-04 -6.51934390e-06 9.99999701e-01 -3.02917731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.24, Y:-15.85, Z:-0.30 [[ 9.87555603e-01 1.57268388e-01 7.64939492e-04 1.64235898e+02] [-1.57268348e-01 9.87555899e-01 -1.12006286e-04 -1.58538256e+01] [-7.73035556e-04 -9.68833507e-06 9.99999701e-01 -3.01532240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.26, Y:-15.86, Z:-0.30 [[ 9.87275599e-01 1.59016685e-01 7.64944795e-04 1.64263312e+02] [-1.59016646e-01 9.87275895e-01 -1.11970054e-04 -1.58572008e+01] [-7.73016665e-04 -1.10936537e-05 9.99999701e-01 -3.01524991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.29, Y:-15.86, Z:-0.30 [[ 9.87003816e-01 1.60694997e-01 7.64951400e-04 1.64290784e+02] [-1.60694958e-01 9.87004112e-01 -1.11924915e-04 -1.58595661e+01] [-7.72995951e-04 -1.24535152e-05 9.99999701e-01 -2.98054745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.32, Y:-15.86, Z:-0.30 [[ 9.86761090e-01 1.62178811e-01 7.64959662e-04 1.64318706e+02] [-1.62178773e-01 9.86761386e-01 -1.11868421e-04 -1.58607948e+01] [-7.72975344e-04 -1.36728142e-05 9.99999701e-01 -2.99440057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.35, Y:-15.86, Z:-0.30 [[ 9.86428980e-01 1.64186730e-01 7.64966494e-04 1.64348136e+02] [-1.64186692e-01 9.86429276e-01 -1.11821680e-04 -1.58604944e+01] [-7.72944981e-04 -1.52931727e-05 9.99999701e-01 -2.96655432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.38, Y:-15.86, Z:-0.30 [[ 9.86386124e-01 1.64444000e-01 7.64971901e-04 1.64376272e+02] [-1.64443963e-01 9.86386421e-01 -1.11784679e-04 -1.58635909e+01] [-7.72940215e-04 -1.55321543e-05 9.99999701e-01 -2.99037440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.41, Y:-15.87, Z:-0.30 [[ 9.86612151e-01 1.63082428e-01 7.64978610e-04 1.64405534e+02] [-1.63082390e-01 9.86612447e-01 -1.11738749e-04 -1.58657818e+01] [-7.72960045e-04 -1.45117329e-05 9.99999701e-01 -2.99598275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.43, Y:-15.87, Z:-0.30 [[ 9.86841175e-01 1.61690784e-01 7.64983885e-04 1.64433725e+02] [-1.61690746e-01 9.86841472e-01 -1.11702626e-04 -1.58679062e+01] [-7.72979108e-04 -1.34580645e-05 9.99999701e-01 -2.98832305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.46, Y:-15.87, Z:-0.30 [[ 9.87378249e-01 1.58378056e-01 7.64990454e-04 1.64463080e+02] [-1.58378017e-01 9.87378545e-01 -1.11657619e-04 -1.58697542e+01] [-7.73019278e-04 -1.09093670e-05 9.99999701e-01 -2.99005529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.49, Y:-15.87, Z:-0.30 [[ 9.87621124e-01 1.56856402e-01 7.64994465e-04 1.64490362e+02] [-1.56856363e-01 9.87621420e-01 -1.11630131e-04 -1.58730925e+01] [-7.73034820e-04 -9.74597344e-06 9.99999701e-01 -3.00743948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.52, Y:-15.88, Z:-0.30 [[ 9.87828254e-01 1.55546634e-01 7.65001112e-04 1.64518221e+02] [-1.55546594e-01 9.87828550e-01 -1.11584563e-04 -1.58760665e+01] [-7.73046542e-04 -8.76693339e-06 9.99999701e-01 -3.01616522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.55, Y:-15.88, Z:-0.30 [[ 9.87942814e-01 1.54817347e-01 7.65007654e-04 1.64546706e+02] [-1.54817307e-01 9.87943110e-01 -1.11539688e-04 -1.58786115e+01] [-7.73052320e-04 -8.24159155e-06 9.99999701e-01 -3.00111055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.57, Y:-15.88, Z:-0.30 [[ 9.87954256e-01 1.54744317e-01 7.65013149e-04 1.64574915e+02] [-1.54744277e-01 9.87954552e-01 -1.11501989e-04 -1.58825886e+01] [-7.73052522e-04 -8.22254214e-06 9.99999701e-01 -3.00133081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.60, Y:-15.88, Z:-0.30 [[ 9.87998349e-01 1.54462546e-01 7.65021387e-04 1.64603019e+02] [-1.54462506e-01 9.87998645e-01 -1.11445438e-04 -1.58834128e+01] [-7.73054240e-04 -8.05921179e-06 9.99999701e-01 -3.04970952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.63, Y:-15.89, Z:-0.30 [[ 9.87993976e-01 1.54490512e-01 7.65028211e-04 1.64632284e+02] [-1.54490472e-01 9.87994272e-01 -1.11398575e-04 -1.58852432e+01] [-7.73053514e-04 -8.12844842e-06 9.99999701e-01 -3.03704980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.66, Y:-15.88, Z:-0.31 [[ 9.87978481e-01 1.54589573e-01 7.65033677e-04 1.64659268e+02] [-1.54589533e-01 9.87978777e-01 -1.11361027e-04 -1.58839946e+01] [-7.73052290e-04 -8.24390060e-06 9.99999701e-01 -3.07282508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.69, Y:-15.89, Z:-0.31 [[ 9.88068666e-01 1.54012094e-01 7.65043189e-04 1.64687702e+02] [-1.54012054e-01 9.88068963e-01 -1.11295642e-04 -1.58870346e+01] [-7.73056305e-04 -7.85813627e-06 9.99999701e-01 -3.08280643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.72, Y:-15.89, Z:-0.31 [[ 9.88254001e-01 1.52818336e-01 7.65048362e-04 1.64716003e+02] [-1.52818296e-01 9.88254297e-01 -1.11260071e-04 -1.58909720e+01] [-7.73064910e-04 -6.96017646e-06 9.99999701e-01 -3.07519379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.74, Y:-15.89, Z:-0.31 [[ 9.88803781e-01 1.49219627e-01 7.65053688e-04 1.64743572e+02] [-1.49219586e-01 9.88804077e-01 -1.11223436e-04 -1.58948694e+01] [-7.73084925e-04 -4.18284032e-06 9.99999701e-01 -3.08434751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.77, Y:-15.90, Z:-0.31 [[ 9.89142362e-01 1.46958503e-01 7.65060308e-04 1.64772480e+02] [-1.46958461e-01 9.89142658e-01 -1.11177880e-04 -1.58982486e+01] [-7.73092322e-04 -2.46133447e-06 9.99999701e-01 -3.07540752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.80, Y:-15.90, Z:-0.30 [[ 9.89434813e-01 1.44976429e-01 7.65065512e-04 1.64801092e+02] [-1.44976386e-01 9.89435109e-01 -1.11142056e-04 -1.59011598e+01] [-7.73095657e-04 -9.48613843e-07 9.99999701e-01 -3.04778500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.83, Y:-15.90, Z:-0.30 [[ 9.89949257e-01 1.41420946e-01 7.65070877e-04 1.64829985e+02] [-1.41420903e-01 9.89949552e-01 -1.11105116e-04 -1.59022977e+01] [-7.73094162e-04 1.79141305e-06 9.99999701e-01 -3.01149293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.86, Y:-15.91, Z:-0.30 [[ 9.90140383e-01 1.40076536e-01 7.65076310e-04 1.64858784e+02] [-1.40076492e-01 9.90140679e-01 -1.11067693e-04 -1.59060305e+01] [-7.73091154e-04 2.80340263e-06 9.99999701e-01 -3.01148188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.89, Y:-15.91, Z:-0.30 [[ 9.90302143e-01 1.38928326e-01 7.65081713e-04 1.64887105e+02] [-1.38928282e-01 9.90302439e-01 -1.11030457e-04 -1.59110061e+01] [-7.73087562e-04 3.66221133e-06 9.99999701e-01 -3.02849136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.91, Y:-15.92, Z:-0.31 [[ 9.90621379e-01 1.36633446e-01 7.65087099e-04 1.64913999e+02] [-1.36633401e-01 9.90621674e-01 -1.10993334e-04 -1.59170967e+01] [-7.73077264e-04 5.41591751e-06 9.99999701e-01 -3.08312498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.94, Y:-15.92, Z:-0.31 [[ 9.90720153e-01 1.35915387e-01 7.65093789e-04 1.64942959e+02] [-1.35915341e-01 9.90720449e-01 -1.10947202e-04 -1.59209249e+01] [-7.73073493e-04 5.92964499e-06 9.99999701e-01 -3.05505024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.97, Y:-15.92, Z:-0.31 [[ 9.90728621e-01 1.35853650e-01 7.65098951e-04 1.64971520e+02] [-1.35853604e-01 9.90728916e-01 -1.10911587e-04 -1.59240904e+01] [-7.73073399e-04 5.94183300e-06 9.99999701e-01 -3.06995033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.844203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.00, Y:-15.93, Z:-0.31 [[ 9.90649835e-01 1.36426970e-01 7.65104102e-04 1.65000060e+02] [-1.36426925e-01 9.90650131e-01 -1.10876047e-04 -1.59270923e+01] [-7.73076962e-04 5.45853786e-06 9.99999701e-01 -3.08962964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.03, Y:-15.93, Z:-0.31 [[ 9.90522336e-01 1.37349617e-01 7.65109223e-04 1.65027480e+02] [-1.37349572e-01 9.90522631e-01 -1.10840693e-04 -1.59297759e+01] [-7.73081928e-04 4.70275749e-06 9.99999701e-01 -3.08666518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.06, Y:-15.93, Z:-0.31 [[ 9.90279777e-01 1.39087660e-01 7.65117062e-04 1.65055075e+02] [-1.39087616e-01 9.90280073e-01 -1.10786561e-04 -1.59334371e+01] [-7.73089223e-04 3.29138299e-06 9.99999701e-01 -3.12018046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.934203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:165.08, Y:-15.94, Z:-0.31 [[ 9.90185003e-01 1.39760772e-01 7.65123544e-04 1.65083126e+02] [-1.39760728e-01 9.90185299e-01 -1.10741775e-04 -1.59381733e+01] [-7.73091441e-04 2.72062118e-06 9.99999701e-01 -3.13170080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.964203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.11, Y:-15.94, Z:-0.31 [[ 9.89999584e-01 1.41068207e-01 7.65128691e-04 1.65110977e+02] [-1.41068164e-01 9.89999879e-01 -1.10706203e-04 -1.59435067e+01] [-7.73094437e-04 1.66379520e-06 9.99999701e-01 -3.11904272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.14, Y:-15.95, Z:-0.31 [[ 9.89928939e-01 1.41563094e-01 7.65135209e-04 1.65139367e+02] [-1.41563050e-01 9.89929235e-01 -1.10661134e-04 -1.59467572e+01] [-7.73095245e-04 1.23178489e-06 9.99999701e-01 -3.09136877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.17, Y:-15.95, Z:-0.31 [[ 9.89838033e-01 1.42197337e-01 7.65140630e-04 1.65165827e+02] [-1.42197294e-01 9.89838329e-01 -1.10623640e-04 -1.59488187e+01] [-7.73095909e-04 6.98559259e-07 9.99999701e-01 -3.13509841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.19, Y:-15.95, Z:-0.31 [[ 9.89767748e-01 1.42685735e-01 7.65156207e-04 1.65194507e+02] [-1.42685692e-01 9.89768044e-01 -1.10515790e-04 -1.59503150e+01] [-7.73096189e-04 2.08121298e-07 9.99999701e-01 -3.11068216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.22, Y:-15.95, Z:-0.31 [[ 9.89821675e-01 1.42311160e-01 7.65161324e-04 1.65222553e+02] [-1.42311117e-01 9.89821971e-01 -1.10480351e-04 -1.59547450e+01] [-7.73096077e-04 4.64883713e-07 9.99999701e-01 -3.09822641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.25, Y:-15.96, Z:-0.31 [[ 9.89916942e-01 1.41646962e-01 7.65166511e-04 1.65249506e+02] [-1.41646919e-01 9.89917238e-01 -1.10444414e-04 -1.59598627e+01] [-7.73095635e-04 9.47317335e-07 9.99999701e-01 -3.11108149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.28, Y:-15.97, Z:-0.31 [[ 9.90216049e-01 1.39540640e-01 7.65172953e-04 1.65277376e+02] [-1.39540596e-01 9.90216345e-01 -1.10399770e-04 -1.59656279e+01] [-7.73092019e-04 2.54693400e-06 9.99999701e-01 -3.11069019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.31, Y:-15.97, Z:-0.31 [[ 9.90396169e-01 1.38256437e-01 7.65178002e-04 1.65306239e+02] [-1.38256393e-01 9.90396465e-01 -1.10364762e-04 -1.59707804e+01] [-7.73088227e-04 3.51408655e-06 9.99999701e-01 -3.09834213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.33, Y:-15.98, Z:-0.31 [[ 9.90859716e-01 1.34894175e-01 7.65183234e-04 1.65334547e+02] [-1.34894130e-01 9.90860011e-01 -1.10328478e-04 -1.59781348e+01] [-7.73072136e-04 6.10131750e-06 9.99999701e-01 -3.08015610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.36, Y:-15.98, Z:-0.31 [[ 9.91076065e-01 1.33295341e-01 7.65188546e-04 1.65362126e+02] [-1.33295295e-01 9.91076360e-01 -1.10291624e-04 -1.59838619e+01] [-7.73061638e-04 7.31135550e-06 9.99999701e-01 -3.07793269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.39, Y:-15.99, Z:-0.31 [[ 9.91270793e-01 1.31839405e-01 7.65195137e-04 1.65390231e+02] [-1.31839359e-01 9.91271089e-01 -1.10245877e-04 -1.59894456e+01] [-7.73050567e-04 8.40068197e-06 9.99999701e-01 -3.06714288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.42, Y:-16.00, Z:-0.31 [[ 9.91399946e-01 1.30864668e-01 7.65200500e-04 1.65416989e+02] [-1.30864622e-01 9.91400241e-01 -1.10208635e-04 -1.59951244e+01] [-7.73042377e-04 9.12316062e-06 9.99999701e-01 -3.08825431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.44, Y:-16.00, Z:-0.31 [[ 9.91446035e-01 1.30515037e-01 7.65209847e-04 1.65444668e+02] [-1.30514991e-01 9.91446330e-01 -1.10143697e-04 -1.60045753e+01] [-7.73039904e-04 9.33017545e-06 9.99999701e-01 -3.06623968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.47, Y:-16.01, Z:-0.31 [[ 9.91353397e-01 1.31216834e-01 7.65215109e-04 1.65470679e+02] [-1.31216788e-01 9.91353692e-01 -1.10107134e-04 -1.60106200e+01] [-7.73046733e-04 8.74601286e-06 9.99999701e-01 -3.07602614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.50, Y:-16.02, Z:-0.31 [[ 9.90924802e-01 1.34415217e-01 7.65224257e-04 1.65497828e+02] [-1.34415172e-01 9.90925098e-01 -1.10043514e-04 -1.60176948e+01] [-7.73071445e-04 6.18709709e-06 9.99999701e-01 -3.05249116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.53, Y:-16.02, Z:-0.31 [[ 9.90618587e-01 1.36653681e-01 7.65232241e-04 1.65525637e+02] [-1.36653637e-01 9.90618883e-01 -1.09987973e-04 -1.60222673e+01] [-7.73083769e-04 4.38436149e-06 9.99999701e-01 -3.07587437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.55, Y:-16.03, Z:-0.31 [[ 9.89844795e-01 1.42150257e-01 7.65238888e-04 1.65554678e+02] [-1.42150215e-01 9.89845091e-01 -1.09941704e-04 -1.60264895e+01] [-7.73096198e-04 4.63509010e-08 9.99999701e-01 -3.05917157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.58, Y:-16.03, Z:-0.31 [[ 9.89478032e-01 1.44681164e-01 7.65249442e-04 1.65582591e+02] [-1.44681123e-01 9.89478328e-01 -1.09868192e-04 -1.60309519e+01] [-7.73093596e-04 -2.00498639e-06 9.99999701e-01 -3.07021654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.61, Y:-16.04, Z:-0.31 [[ 9.89154256e-01 1.46878425e-01 7.65259215e-04 1.65610223e+02] [-1.46878384e-01 9.89154552e-01 -1.09800079e-04 -1.60359778e+01] [-7.73086899e-04 -3.79082159e-06 9.99999701e-01 -3.10852315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.64, Y:-16.04, Z:-0.31 [[ 9.88867309e-01 1.48798052e-01 7.65265997e-04 1.65638154e+02] [-1.48798011e-01 9.88867605e-01 -1.09752789e-04 -1.60413742e+01] [-7.73077755e-04 -5.33911293e-06 9.99999701e-01 -3.11640451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.67, Y:-16.05, Z:-0.31 [[ 9.88388330e-01 1.51947109e-01 7.65271129e-04 1.65666347e+02] [-1.51947070e-01 9.88388626e-01 -1.09716998e-04 -1.60469397e+01] [-7.73056460e-04 -7.83770550e-06 9.99999701e-01 -3.09709686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.69, Y:-16.05, Z:-0.31 [[ 9.88222150e-01 1.53024169e-01 7.65276494e-04 1.65693320e+02] [-1.53024130e-01 9.88222446e-01 -1.09679565e-04 -1.60511293e+01] [-7.73047033e-04 -8.71799439e-06 9.99999701e-01 -3.12023140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.72, Y:-16.06, Z:-0.31 [[ 9.87918052e-01 1.54975279e-01 7.65290341e-04 1.65721381e+02] [-1.54975240e-01 9.87918348e-01 -1.09582860e-04 -1.60564033e+01] [-7.73027004e-04 -1.03421694e-05 9.99999701e-01 -3.10025306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.75, Y:-16.06, Z:-0.31 [[ 9.87825680e-01 1.55562980e-01 7.65295556e-04 1.65749825e+02] [-1.55562941e-01 9.87825976e-01 -1.09546426e-04 -1.60608463e+01] [-7.73020198e-04 -1.08388553e-05 9.99999701e-01 -3.07610084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.78, Y:-16.06, Z:-0.31 [[ 9.87727147e-01 1.56187380e-01 7.65300914e-04 1.65777511e+02] [-1.56187342e-01 9.87727443e-01 -1.09508983e-04 -1.60640526e+01] [-7.73012636e-04 -1.13653202e-05 9.99999701e-01 -3.07860561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.81, Y:-16.07, Z:-0.31 [[ 9.87749637e-01 1.56045087e-01 7.65310645e-04 1.65805719e+02] [-1.56045049e-01 9.87749933e-01 -1.09440934e-04 -1.60658729e+01] [-7.73013259e-04 -1.13226948e-05 9.99999701e-01 -3.08424556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.83, Y:-16.07, Z:-0.31 [[ 9.87921729e-01 1.54951838e-01 7.65318609e-04 1.65834416e+02] [-1.54951799e-01 9.87922025e-01 -1.09385216e-04 -1.60695744e+01] [-7.73024550e-04 -1.05234640e-05 9.99999701e-01 -3.08260921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.86, Y:-16.07, Z:-0.31 [[ 9.88180316e-01 1.53294087e-01 7.65323901e-04 1.65861739e+02] [-1.53294048e-01 9.88180612e-01 -1.09348174e-04 -1.60733440e+01] [-7.73040670e-04 -9.26388532e-06 9.99999701e-01 -3.08472457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.89, Y:-16.07, Z:-0.31 [[ 9.88851242e-01 1.48904788e-01 7.65330482e-04 1.65889460e+02] [-1.48904748e-01 9.88851538e-01 -1.09302099e-04 -1.60748442e+01] [-7.73073830e-04 -5.87782584e-06 9.99999701e-01 -3.06846540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.92, Y:-16.08, Z:-0.31 [[ 9.89158745e-01 1.46848195e-01 7.65336966e-04 1.65917352e+02] [-1.46848154e-01 9.89159041e-01 -1.09256676e-04 -1.60779795e+01] [-7.73084125e-04 -4.31612418e-06 9.99999701e-01 -3.07173810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.95, Y:-16.08, Z:-0.31 [[ 9.89716016e-01 1.43044123e-01 7.65343365e-04 1.65945828e+02] [-1.43044081e-01 9.89716312e-01 -1.09211834e-04 -1.60839598e+01] [-7.73094924e-04 -1.38913641e-06 9.99999701e-01 -3.05813402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.97, Y:-16.09, Z:-0.30 [[ 9.89921914e-01 1.41612212e-01 7.65348445e-04 1.65974567e+02] [-1.41612170e-01 9.89922210e-01 -1.09176218e-04 -1.60881633e+01] [-7.73096110e-04 -3.06723721e-07 9.99999701e-01 -3.03173429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.00, Y:-16.09, Z:-0.30 [[ 9.90083705e-01 1.40476585e-01 7.65353780e-04 1.66001106e+02] [-1.40476543e-01 9.90084001e-01 -1.09138808e-04 -1.60902822e+01] [-7.73095980e-04 5.42302247e-07 9.99999701e-01 -3.04491383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.03, Y:-16.09, Z:-0.30 [[ 9.90242011e-01 1.39356287e-01 7.65363062e-04 1.66029115e+02] [-1.39356245e-01 9.90242306e-01 -1.09073676e-04 -1.60918439e+01] [-7.73094986e-04 1.35121387e-06 9.99999701e-01 -3.03785892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.06, Y:-16.10, Z:-0.30 [[ 9.90302258e-01 1.38927505e-01 7.65370952e-04 1.66057994e+02] [-1.38927462e-01 9.90302554e-01 -1.09018282e-04 -1.60955934e+01] [-7.73094447e-04 1.63000702e-06 9.99999701e-01 -3.03865337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.09, Y:-16.10, Z:-0.30 [[ 9.90348461e-01 1.38597763e-01 7.65376279e-04 1.66086188e+02] [-1.38597721e-01 9.90348757e-01 -1.08980871e-04 -1.60989862e+01] [-7.73093952e-04 1.84962997e-06 9.99999701e-01 -3.04049710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.11, Y:-16.10, Z:-0.30 [[ 9.90565405e-01 1.37038656e-01 7.65381585e-04 1.66113587e+02] [-1.37038613e-01 9.90565700e-01 -1.08943596e-04 -1.61014635e+01] [-7.73090230e-04 3.02892640e-06 9.99999701e-01 -3.04709825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.14, Y:-16.11, Z:-0.30 [[ 9.90779916e-01 1.35479047e-01 7.65388171e-04 1.66142282e+02] [-1.35479003e-01 9.90780212e-01 -1.08897304e-04 -1.61057748e+01] [-7.73084757e-04 4.19923534e-06 9.99999701e-01 -3.02974749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.17, Y:-16.11, Z:-0.30 [[ 9.91010903e-01 1.33778937e-01 7.65393299e-04 1.66169579e+02] [-1.33778893e-01 9.91011199e-01 -1.08861249e-04 -1.61098019e+01] [-7.73076673e-04 5.48921653e-06 9.99999701e-01 -3.01963918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.20, Y:-16.11, Z:-0.30 [[ 9.91517003e-01 1.29974796e-01 7.65401184e-04 1.66197211e+02] [-1.29974751e-01 9.91517298e-01 -1.08805782e-04 -1.61136443e+01] [-7.73050523e-04 8.39995501e-06 9.99999701e-01 -3.03121146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.23, Y:-16.12, Z:-0.30 [[ 9.91738679e-01 1.28272394e-01 7.65407720e-04 1.66225214e+02] [-1.28272348e-01 9.91738974e-01 -1.08759784e-04 -1.61188957e+01] [-7.73035545e-04 9.68063866e-06 9.99999701e-01 -3.01213227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.25, Y:-16.13, Z:-0.30 [[ 9.91895462e-01 1.27054343e-01 7.65412830e-04 1.66252757e+02] [-1.27054297e-01 9.91895758e-01 -1.08723815e-04 -1.61252137e+01] [-7.73023571e-04 1.05936697e-05 9.99999701e-01 -3.02488981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.28, Y:-16.13, Z:-0.30 [[ 9.92060203e-01 1.25761551e-01 7.65419174e-04 1.66280617e+02] [-1.25761504e-01 9.92060498e-01 -1.08679132e-04 -1.61339695e+01] [-7.73009783e-04 1.15559750e-05 9.99999701e-01 -3.03405069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.31, Y:-16.14, Z:-0.31 [[ 9.92063419e-01 1.25736176e-01 7.65424439e-04 1.66308376e+02] [-1.25736129e-01 9.92063715e-01 -1.08642038e-04 -1.61394119e+01] [-7.73010047e-04 1.15382857e-05 9.99999701e-01 -3.05602728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.34, Y:-16.14, Z:-0.31 [[ 9.92069301e-01 1.25689764e-01 7.65431759e-04 1.66337422e+02] [-1.25689718e-01 9.92069596e-01 -1.08590442e-04 -1.61434428e+01] [-7.73010283e-04 1.15223421e-05 9.99999701e-01 -3.05625400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.37, Y:-16.15, Z:-0.31 [[ 9.92044282e-01 1.25887076e-01 7.65436837e-04 1.66365498e+02] [-1.25887030e-01 9.92044578e-01 -1.08554632e-04 -1.61479994e+01] [-7.73013089e-04 1.13324325e-05 9.99999701e-01 -3.06460518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.39, Y:-16.15, Z:-0.31 [[ 9.91864769e-01 1.27293730e-01 7.65441910e-04 1.66393261e+02] [-1.27293685e-01 9.91865064e-01 -1.08518852e-04 -1.61549364e+01] [-7.73028859e-04 1.02001054e-05 9.99999701e-01 -3.06980399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.42, Y:-16.16, Z:-0.31 [[ 9.91707759e-01 1.28511228e-01 7.65446981e-04 1.66420834e+02] [-1.28511182e-01 9.91708054e-01 -1.08483072e-04 -1.61609274e+01] [-7.73041229e-04 9.21500796e-06 9.99999701e-01 -3.07550865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.45, Y:-16.17, Z:-0.31 [[ 9.91254751e-01 1.31959967e-01 7.65453534e-04 1.66448649e+02] [-1.31959923e-01 9.91255046e-01 -1.08436813e-04 -1.61689781e+01] [-7.73068997e-04 6.47931624e-06 9.99999701e-01 -3.05969323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.48, Y:-16.18, Z:-0.31 [[ 9.90992060e-01 1.33918449e-01 7.65458558e-04 1.66476776e+02] [-1.33918406e-01 9.90992356e-01 -1.08401339e-04 -1.61752642e+01] [-7.73080519e-04 4.91587632e-06 9.99999701e-01 -3.05261432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.50, Y:-16.18, Z:-0.31 [[ 9.90729457e-01 1.35847555e-01 7.65463592e-04 1.66503971e+02] [-1.35847511e-01 9.90729752e-01 -1.08365782e-04 -1.61819034e+01] [-7.73088781e-04 3.37484863e-06 9.99999701e-01 -3.05536298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.53, Y:-16.19, Z:-0.30 [[ 9.90475255e-01 1.37688718e-01 7.65469857e-04 1.66531467e+02] [-1.37688675e-01 9.90475551e-01 -1.08321503e-04 -1.61881694e+01] [-7.73093828e-04 1.89323827e-06 9.99999701e-01 -3.04407802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.56, Y:-16.19, Z:-0.30 [[ 9.89772979e-01 1.42649443e-01 7.65477522e-04 1.66559986e+02] [-1.42649402e-01 9.89773275e-01 -1.08267316e-04 -1.61949983e+01] [-7.73093466e-04 -2.03484738e-06 9.99999701e-01 -3.02581956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.59, Y:-16.20, Z:-0.31 [[ 9.88914768e-01 1.48482306e-01 7.65482931e-04 1.66587327e+02] [-1.48482267e-01 9.88915065e-01 -1.08229053e-04 -1.62007413e+01] [-7.73067702e-04 -6.63133184e-06 9.99999701e-01 -3.07897191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.62, Y:-16.21, Z:-0.31 [[ 9.88471361e-01 1.51406020e-01 7.65489655e-04 1.66615655e+02] [-1.51405981e-01 9.88471657e-01 -1.08181480e-04 -1.62054679e+01] [-7.73044155e-04 -8.96541722e-06 9.99999701e-01 -3.08148498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.64, Y:-16.21, Z:-0.31 [[ 9.88072008e-01 1.53990651e-01 7.65494740e-04 1.66644452e+02] [-1.53990613e-01 9.88072305e-01 -1.08145483e-04 -1.62099763e+01] [-7.73017545e-04 -1.10234803e-05 9.99999701e-01 -3.06596265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.67, Y:-16.22, Z:-0.30 [[ 9.87387383e-01 1.58321097e-01 7.65499870e-04 1.66671633e+02] [-1.58321061e-01 9.87387680e-01 -1.08109159e-04 -1.62159121e+01] [-7.72961101e-04 -1.44491320e-05 9.99999701e-01 -3.03798024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.70, Y:-16.22, Z:-0.30 [[ 9.87195809e-01 1.59511281e-01 7.65506236e-04 1.66699614e+02] [-1.59511245e-01 9.87196106e-01 -1.08064065e-04 -1.62205776e+01] [-7.72942212e-04 -1.54264607e-05 9.99999701e-01 -3.01493668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.73, Y:-16.22, Z:-0.31 [[ 9.87122307e-01 1.59965513e-01 7.65511569e-04 1.66726148e+02] [-1.59965477e-01 9.87122604e-01 -1.08026270e-04 -1.62248325e+01] [-7.72934251e-04 -1.58202824e-05 9.99999701e-01 -3.05092458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.75, Y:-16.23, Z:-0.30 [[ 9.87194740e-01 1.59517894e-01 7.65520831e-04 1.66754173e+02] [-1.59517858e-01 9.87195037e-01 -1.07960599e-04 -1.62300321e+01] [-7.72940012e-04 -1.55361077e-05 9.99999701e-01 -3.04244544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.78, Y:-16.23, Z:-0.30 [[ 9.87386740e-01 1.58325109e-01 7.65525912e-04 1.66782828e+02] [-1.58325073e-01 9.87387036e-01 -1.07924560e-04 -1.62345897e+01] [-7.72957529e-04 -1.46386660e-05 9.99999701e-01 -3.03809673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.81, Y:-16.24, Z:-0.30 [[ 9.88120868e-01 1.53676814e-01 7.65531017e-04 1.66810254e+02] [-1.53676777e-01 9.88121165e-01 -1.07888336e-04 -1.62414407e+01] [-7.73017336e-04 -1.10376232e-05 9.99999701e-01 -3.03348691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.84, Y:-16.25, Z:-0.30 [[ 9.88587408e-01 1.50646445e-01 7.65537360e-04 1.66838901e+02] [-1.50646407e-01 9.88587704e-01 -1.07843309e-04 -1.62479886e+01] [-7.73047032e-04 -8.71291503e-06 9.99999701e-01 -3.00952871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.87, Y:-16.25, Z:-0.30 [[ 9.89079427e-01 1.47381483e-01 7.65542560e-04 1.66865972e+02] [-1.47381444e-01 9.89079723e-01 -1.07806383e-04 -1.62539985e+01] [-7.73071288e-04 -6.19769196e-06 9.99999701e-01 -3.01691070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.89, Y:-16.26, Z:-0.30 [[ 9.90003510e-01 1.41040646e-01 7.65549020e-04 1.66892594e+02] [-1.41040605e-01 9.90003806e-01 -1.07760490e-04 -1.62615860e+01] [-7.73095053e-04 -1.29023384e-06 9.99999701e-01 -3.01069412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.92, Y:-16.27, Z:-0.30 [[ 9.90399257e-01 1.38234311e-01 7.65555382e-04 1.66919511e+02] [-1.38234269e-01 9.90399553e-01 -1.07715271e-04 -1.62670194e+01] [-7.73095655e-04 8.55135738e-07 9.99999701e-01 -3.00580444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.95, Y:-16.27, Z:-0.30 [[ 9.90684851e-01 1.36172467e-01 7.65561638e-04 1.66947797e+02] [-1.36172424e-01 9.90685146e-01 -1.07670790e-04 -1.62730172e+01] [-7.73092341e-04 2.41943660e-06 9.99999701e-01 -2.98991914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.98, Y:-16.28, Z:-0.30 [[ 9.90959233e-01 1.34161140e-01 7.65566882e-04 1.66975778e+02] [-1.34161097e-01 9.90959529e-01 -1.07633496e-04 -1.62816846e+01] [-7.73086029e-04 3.95111381e-06 9.99999701e-01 -3.01983103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.00, Y:-16.29, Z:-0.30 [[ 9.90877777e-01 1.34761440e-01 7.65572131e-04 1.67002934e+02] [-1.34761397e-01 9.90878072e-01 -1.07596145e-04 -1.62873520e+01] [-7.73088449e-04 3.44505889e-06 9.99999701e-01 -3.04785142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.03, Y:-16.29, Z:-0.30 [[ 9.90527295e-01 1.37313847e-01 7.65578648e-04 1.67029760e+02] [-1.37313805e-01 9.90527590e-01 -1.07549756e-04 -1.62934808e+01] [-7.73094844e-04 1.40645166e-06 9.99999701e-01 -3.04820667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.06, Y:-16.30, Z:-0.30 [[ 9.90341511e-01 1.38647417e-01 7.65584909e-04 1.67058357e+02] [-1.38647376e-01 9.90341806e-01 -1.07505167e-04 -1.62989036e+01] [-7.73096056e-04 3.20491236e-07 9.99999701e-01 -3.02469517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.09, Y:-16.30, Z:-0.30 [[ 9.90187651e-01 1.39742010e-01 7.65590117e-04 1.67085985e+02] [-1.39741968e-01 9.90187947e-01 -1.07468068e-04 -1.63037319e+01] [-7.73095910e-04 -5.71515955e-07 9.99999701e-01 -3.03338946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.11, Y:-16.31, Z:-0.30 [[ 9.89973861e-01 1.41248604e-01 7.65596594e-04 1.67114105e+02] [-1.41248564e-01 9.89974157e-01 -1.07421905e-04 -1.63080476e+01] [-7.73094037e-04 -1.79454115e-06 9.99999701e-01 -3.00705693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.14, Y:-16.31, Z:-0.30 [[ 9.89958793e-01 1.41354175e-01 7.65601853e-04 1.67141406e+02] [-1.41354134e-01 9.89959089e-01 -1.07384413e-04 -1.63133493e+01] [-7.73093747e-04 -1.91484307e-06 9.99999701e-01 -3.02465106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:-16.32, Z:-0.30 [[ 9.90005323e-01 1.41027921e-01 7.65608389e-04 1.67169550e+02] [-1.41027880e-01 9.90005619e-01 -1.07337790e-04 -1.63194411e+01] [-7.73094232e-04 -1.70714495e-06 9.99999701e-01 -3.02928420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.20, Y:-16.33, Z:-0.30 [[ 9.90119546e-01 1.40223744e-01 7.65613438e-04 1.67197388e+02] [-1.40223703e-01 9.90119842e-01 -1.07301767e-04 -1.63263775e+01] [-7.73095312e-04 -1.11557513e-06 9.99999701e-01 -3.02759089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.22, Y:-16.33, Z:-0.30 [[ 9.90163364e-01 1.39913994e-01 7.65618618e-04 1.67224599e+02] [-1.39913953e-01 9.90163660e-01 -1.07264790e-04 -1.63316671e+01] [-7.73095579e-04 -9.11062136e-07 9.99999701e-01 -3.04498763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.25, Y:-16.34, Z:-0.30 [[ 9.90197359e-01 1.39673204e-01 7.65625050e-04 1.67253044e+02] [-1.39673163e-01 9.90197655e-01 -1.07218866e-04 -1.63388745e+01] [-7.73095731e-04 -7.69434602e-07 9.99999701e-01 -3.02175464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.28, Y:-16.34, Z:-0.31 [[ 9.90199264e-01 1.39659699e-01 7.65630290e-04 1.67280430e+02] [-1.39659658e-01 9.90199560e-01 -1.07181429e-04 -1.63433219e+01] [-7.73095703e-04 -7.96692312e-07 9.99999701e-01 -3.05140446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.31, Y:-16.35, Z:-0.30 [[ 9.90164574e-01 1.39905431e-01 7.65636807e-04 1.67309185e+02] [-1.39905389e-01 9.90164870e-01 -1.07134861e-04 -1.63477162e+01] [-7.73095418e-04 -1.03557181e-06 9.99999701e-01 -3.01245719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.34, Y:-16.35, Z:-0.30 [[ 9.90078415e-01 1.40513863e-01 7.65642008e-04 1.67336967e+02] [-1.40513822e-01 9.90078711e-01 -1.07097677e-04 -1.63524444e+01] [-7.73094561e-04 -1.54818675e-06 9.99999701e-01 -3.02803685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.36, Y:-16.36, Z:-0.30 [[ 9.89767494e-01 1.42687495e-01 7.65648485e-04 1.67364234e+02] [-1.42687455e-01 9.89767790e-01 -1.07051353e-04 -1.63589532e+01] [-7.73089098e-04 -3.29248376e-06 9.99999701e-01 -3.03634799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.39, Y:-16.36, Z:-0.30 [[ 9.89537863e-01 1.44271384e-01 7.65655190e-04 1.67392972e+02] [-1.44271344e-01 9.89538159e-01 -1.07003371e-04 -1.63628236e+01] [-7.73082552e-04 -4.57821597e-06 9.99999701e-01 -3.02522367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.42, Y:-16.37, Z:-0.31 [[ 9.89301114e-01 1.45885982e-01 7.65660286e-04 1.67421135e+02] [-1.45885943e-01 9.89301410e-01 -1.06966897e-04 -1.63655459e+01] [-7.73073772e-04 -5.87660210e-06 9.99999701e-01 -3.05783821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.45, Y:-16.37, Z:-0.31 [[ 9.88992851e-01 1.47961329e-01 7.65666607e-04 1.67450102e+02] [-1.47961290e-01 9.88993147e-01 -1.06921631e-04 -1.63698983e+01] [-7.73059294e-04 -7.54428996e-06 9.99999701e-01 -3.05942396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.48, Y:-16.37, Z:-0.30 [[ 9.88948074e-01 1.48260314e-01 7.65670361e-04 1.67478743e+02] [-1.48260276e-01 9.88948370e-01 -1.06894743e-04 -1.63744743e+01] [-7.73056704e-04 -7.80514880e-06 9.99999701e-01 -3.04975206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.51, Y:-16.38, Z:-0.31 [[ 9.88977183e-01 1.48066015e-01 7.65675596e-04 1.67506844e+02] [-1.48065977e-01 9.88977480e-01 -1.06857234e-04 -1.63774088e+01] [-7.73057846e-04 -7.69113908e-06 9.99999701e-01 -3.08657013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.54, Y:-16.38, Z:-0.31 [[ 9.89050330e-01 1.47576616e-01 7.65682387e-04 1.67535259e+02] [-1.47576578e-01 9.89050627e-01 -1.06808550e-04 -1.63809646e+01] [-7.73061089e-04 -7.35775454e-06 9.99999701e-01 -3.06013600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60420382200002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.56, Y:-16.39, Z:-0.31 [[ 9.89168674e-01 1.46781296e-01 7.65687675e-04 1.67563680e+02] [-1.46781257e-01 9.89168970e-01 -1.06770628e-04 -1.63852845e+01] [-7.73066420e-04 -6.77443918e-06 9.99999701e-01 -3.08394655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.59, Y:-16.39, Z:-0.31 [[ 9.89494669e-01 1.44567331e-01 7.65691621e-04 1.67592373e+02] [-1.44567291e-01 9.89494966e-01 -1.06742319e-04 -1.63903435e+01] [-7.73079457e-04 -5.07300751e-06 9.99999701e-01 -3.05251233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.62, Y:-16.39, Z:-0.31 [[ 9.89664454e-01 1.43400427e-01 7.65696779e-04 1.67620666e+02] [-1.43400387e-01 9.89664750e-01 -1.06705307e-04 -1.63945523e+01] [-7.73084698e-04 -4.19876504e-06 9.99999701e-01 -3.05352639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.65, Y:-16.40, Z:-0.31 [[ 9.89814366e-01 1.42361987e-01 7.65701969e-04 1.67648939e+02] [-1.42361947e-01 9.89814662e-01 -1.06668052e-04 -1.63993392e+01] [-7.73088512e-04 -3.42525352e-06 9.99999701e-01 -3.07881614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.68, Y:-16.41, Z:-0.31 [[ 9.90084655e-01 1.40469888e-01 7.65705838e-04 1.67677576e+02] [-1.40469847e-01 9.90084951e-01 -1.06640274e-04 -1.64056839e+01] [-7.73093575e-04 -1.97568366e-06 9.99999701e-01 -3.07374921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.71, Y:-16.41, Z:-0.30 [[ 9.90143795e-01 1.40052417e-01 7.65708356e-04 1.67707463e+02] [-1.40052377e-01 9.90144091e-01 -1.06622190e-04 -1.64094122e+01] [-7.73094299e-04 -1.66797503e-06 9.99999701e-01 -3.04162573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.74, Y:-16.41, Z:-0.30 [[ 9.90194938e-01 1.39690367e-01 7.65710958e-04 1.67736276e+02] [-1.39690326e-01 9.90195234e-01 -1.06603500e-04 -1.64113840e+01] [-7.73094823e-04 -1.40416760e-06 9.99999701e-01 -3.04796905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.76, Y:-16.42, Z:-0.31 [[ 9.90182663e-01 1.39777348e-01 7.65716162e-04 1.67763637e+02] [-1.39777307e-01 9.90182959e-01 -1.06566107e-04 -1.64158210e+01] [-7.73094623e-04 -1.50983171e-06 9.99999701e-01 -3.07585763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.844203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.79, Y:-16.42, Z:-0.31 [[ 9.90124673e-01 1.40187538e-01 7.65722629e-04 1.67792356e+02] [-1.40187498e-01 9.90124969e-01 -1.06519620e-04 -1.64210921e+01] [-7.73093818e-04 -1.87703516e-06 9.99999701e-01 -3.05615656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.82, Y:-16.43, Z:-0.30 [[ 9.90012370e-01 1.40978444e-01 7.65727778e-04 1.67820610e+02] [-1.40978404e-01 9.90012666e-01 -1.06482593e-04 -1.64266564e+01] [-7.73091949e-04 -2.53199551e-06 9.99999701e-01 -3.04748729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.85, Y:-16.43, Z:-0.30 [[ 9.89985474e-01 1.41167187e-01 7.65731621e-04 1.67849438e+02] [-1.41167147e-01 9.89985770e-01 -1.06454950e-04 -1.64310301e+01] [-7.73091354e-04 -2.70729368e-06 9.99999701e-01 -3.04995813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.88, Y:-16.44, Z:-0.31 [[ 9.90119947e-01 1.40220913e-01 7.65736621e-04 1.67878320e+02] [-1.40220873e-01 9.90120243e-01 -1.06418974e-04 -1.64379325e+01] [-7.73093495e-04 -2.00470906e-06 9.99999701e-01 -3.06561354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.91, Y:-16.44, Z:-0.31 [[ 9.90226856e-01 1.39463925e-01 7.65739117e-04 1.67907547e+02] [-1.39463884e-01 9.90227153e-01 -1.06401013e-04 -1.64434207e+01] [-7.73094768e-04 -1.43181108e-06 9.99999701e-01 -3.06231998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.94, Y:-16.45, Z:-0.30 [[ 9.90325078e-01 1.38764743e-01 7.65741646e-04 1.67936729e+02] [-1.38764703e-01 9.90325374e-01 -1.06382808e-04 -1.64481772e+01] [-7.73095565e-04 -9.04349603e-07 9.99999701e-01 -3.04055528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.97, Y:-16.46, Z:-0.30 [[ 9.90522638e-01 1.37347431e-01 7.65744241e-04 1.67965107e+02] [-1.37347390e-01 9.90522934e-01 -1.06364127e-04 -1.64551054e+01] [-7.73096072e-04 1.83103064e-07 9.99999701e-01 -3.03570120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.054203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.99, Y:-16.46, Z:-0.30 [[ 9.90626317e-01 1.36597634e-01 7.65740366e-04 1.67994090e+02] [-1.36597593e-01 9.90626613e-01 -1.06392011e-04 -1.64616835e+01] [-7.73095683e-04 7.96435524e-07 9.99999701e-01 -3.03940208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.02, Y:-16.47, Z:-0.30 [[ 9.90651723e-01 1.36413257e-01 7.65742888e-04 1.68023715e+02] [-1.36413215e-01 9.90652019e-01 -1.06373860e-04 -1.64691124e+01] [-7.73095543e-04 9.21998651e-07 9.99999701e-01 -3.01603658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.05, Y:-16.48, Z:-0.30 [[ 9.90562850e-01 1.37057119e-01 7.65742888e-04 1.68052241e+02] [-1.37057078e-01 9.90563146e-01 -1.06373860e-04 -1.64782602e+01] [-7.73095979e-04 4.19511694e-07 9.99999701e-01 -3.00962274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.144203822 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:168.08, Y:-16.48, Z:-0.30 [[ 9.90424430e-01 1.38053840e-01 7.65742050e-04 1.68080997e+02] [-1.38053799e-01 9.90424726e-01 -1.06379893e-04 -1.64846045e+01] [-7.73096012e-04 -3.52354812e-07 9.99999701e-01 -3.02752348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.11, Y:-16.49, Z:-0.30 [[ 9.90056796e-01 1.40666110e-01 7.65743298e-04 1.68111193e+02] [-1.40666070e-01 9.90057092e-01 -1.06370904e-04 -1.64921044e+01] [-7.73092365e-04 -2.40086443e-06 9.99999701e-01 -2.97027700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.14, Y:-16.50, Z:-0.30 [[ 9.90056796e-01 1.40666110e-01 7.65743298e-04 1.68141895e+02] [-1.40666070e-01 9.90057092e-01 -1.06370904e-04 -1.64963692e+01] [-7.73092365e-04 -2.40086443e-06 9.99999701e-01 -2.97051663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.17, Y:-16.50, Z:-0.30 [[ 9.89882557e-01 1.41887056e-01 7.65743298e-04 1.68171194e+02] [-1.41887017e-01 9.89882853e-01 -1.06370904e-04 -1.65011838e+01] [-7.73088816e-04 -3.35432991e-06 9.99999701e-01 -2.97087148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.20, Y:-16.51, Z:-0.30 [[ 9.89730645e-01 1.42942870e-01 7.65744566e-04 1.68201497e+02] [-1.42942831e-01 9.89730941e-01 -1.06361779e-04 -1.65058217e+01] [-7.73084748e-04 -4.18818399e-06 9.99999701e-01 -2.96320577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.23, Y:-16.51, Z:-0.30 [[ 9.89435998e-01 1.44968341e-01 7.65744566e-04 1.68229888e+02] [-1.44968302e-01 9.89436294e-01 -1.06361779e-04 -1.65125685e+01] [-7.73074556e-04 -5.77051664e-06 9.99999701e-01 -2.98307475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.26, Y:-16.52, Z:-0.30 [[ 9.89296415e-01 1.45917841e-01 7.65743101e-04 1.68258578e+02] [-1.45917802e-01 9.89296712e-01 -1.06372327e-04 -1.65195056e+01] [-7.73068752e-04 -6.50178881e-06 9.99999701e-01 -2.99673211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.29, Y:-16.53, Z:-0.30 [[ 9.89074747e-01 1.47412887e-01 7.65744368e-04 1.68287319e+02] [-1.47412849e-01 9.89075043e-01 -1.06363199e-04 -1.65296428e+01] [-7.73057950e-04 -7.67940442e-06 9.99999701e-01 -3.01105588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.32, Y:-16.54, Z:-0.30 [[ 9.88972205e-01 1.48099263e-01 7.65737849e-04 1.68317653e+02] [-1.48099225e-01 9.88972501e-01 -1.06410112e-04 -1.65355233e+01] [-7.73052935e-04 -8.16853884e-06 9.99999701e-01 -3.00385842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.35, Y:-16.54, Z:-0.30 [[ 9.88806733e-01 1.49200062e-01 7.65735336e-04 1.68348054e+02] [-1.49200025e-01 9.88807029e-01 -1.06428192e-04 -1.65408210e+01] [-7.73043576e-04 -9.01081829e-06 9.99999701e-01 -2.99539914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.38, Y:-16.55, Z:-0.30 [[ 9.88634429e-01 1.50337549e-01 7.65735336e-04 1.68377963e+02] [-1.50337511e-01 9.88634726e-01 -1.06428192e-04 -1.65453109e+01] [-7.73032698e-04 -9.90017007e-06 9.99999701e-01 -3.00035864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.41, Y:-16.55, Z:-0.30 [[ 9.88198661e-01 1.53175782e-01 7.65734076e-04 1.68408915e+02] [-1.53175746e-01 9.88198957e-01 -1.06437260e-04 -1.65475848e+01] [-7.73001226e-04 -1.21107302e-05 9.99999701e-01 -2.99090864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.44, Y:-16.55, Z:-0.30 [[ 9.87952915e-01 1.54752872e-01 7.65734076e-04 1.68439616e+02] [-1.54752836e-01 9.87953212e-01 -1.06437260e-04 -1.65508264e+01] [-7.72980911e-04 -1.33445183e-05 9.99999701e-01 -2.98914352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.47, Y:-16.56, Z:-0.30 [[ 9.87475766e-01 1.57768895e-01 7.65734076e-04 1.68468839e+02] [-1.57768860e-01 9.87476063e-01 -1.06437260e-04 -1.65553305e+01] [-7.72936560e-04 -1.57047773e-05 9.99999701e-01 -2.97442902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.50, Y:-16.56, Z:-0.30 [[ 9.87286566e-01 1.58948576e-01 7.65735322e-04 1.68498366e+02] [-1.58948541e-01 9.87286863e-01 -1.06428293e-04 -1.65589841e+01] [-7.72917050e-04 -1.66372880e-05 9.99999701e-01 -2.97752724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.53, Y:-16.56, Z:-0.30 [[ 9.87158782e-01 1.59740269e-01 7.65736545e-04 1.68528852e+02] [-1.59740235e-01 9.87159078e-01 -1.06419494e-04 -1.65617509e+01] [-7.72903261e-04 -1.72659978e-05 9.99999701e-01 -2.98498693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.56, Y:-16.56, Z:-0.30 [[ 9.87280249e-01 1.58987807e-01 7.65736545e-04 1.68558896e+02] [-1.58987772e-01 9.87280546e-01 -1.06419494e-04 -1.65616554e+01] [-7.72916196e-04 -1.66768828e-05 9.99999701e-01 -3.00213825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.59, Y:-16.56, Z:-0.30 [[ 9.87493190e-01 1.57659805e-01 7.65737754e-04 1.68589685e+02] [-1.57659770e-01 9.87493486e-01 -1.06410794e-04 -1.65640259e+01] [-7.72937749e-04 -1.56461041e-05 9.99999701e-01 -2.98739272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.62, Y:-16.56, Z:-0.30 [[ 9.88156684e-01 1.53446344e-01 7.65737754e-04 1.68620097e+02] [-1.53446308e-01 9.88156981e-01 -1.06410794e-04 -1.65646122e+01] [-7.72997455e-04 -1.23490942e-05 9.99999701e-01 -3.00427221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.65, Y:-16.57, Z:-0.30 [[ 9.88563501e-01 1.50803243e-01 7.65737754e-04 1.68649728e+02] [-1.50803205e-01 9.88563798e-01 -1.06410794e-04 -1.65677177e+01] [-7.73027715e-04 -1.02818812e-05 9.99999701e-01 -3.03289044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.68, Y:-16.57, Z:-0.30 [[ 9.88946230e-01 1.48272612e-01 7.65739034e-04 1.68679596e+02] [-1.48272574e-01 9.88946527e-01 -1.06401582e-04 -1.65718006e+01] [-7.73051398e-04 -8.31265403e-06 9.99999701e-01 -3.00663951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.71, Y:-16.58, Z:-0.30 [[ 9.89477635e-01 1.44683873e-01 7.65739034e-04 1.68709355e+02] [-1.44683834e-01 9.89477932e-01 -1.06401582e-04 -1.65755642e+01] [-7.73076468e-04 -5.50807304e-06 9.99999701e-01 -3.01618820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.74, Y:-16.58, Z:-0.30 [[ 9.89620429e-01 1.43703931e-01 7.65739034e-04 1.68739416e+02] [-1.43703891e-01 9.89620725e-01 -1.06401582e-04 -1.65784698e+01] [-7.73081544e-04 -4.74249948e-06 9.99999701e-01 -3.01418117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.77, Y:-16.58, Z:-0.30 [[ 9.89690171e-01 1.43222830e-01 7.65739034e-04 1.68768612e+02] [-1.43222791e-01 9.89690467e-01 -1.06401582e-04 -1.65805252e+01] [-7.73083758e-04 -4.36668136e-06 9.99999701e-01 -3.02213008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.80, Y:-16.58, Z:-0.30 [[ 9.89546707e-01 1.44210707e-01 7.65737864e-04 1.68799518e+02] [-1.44210668e-01 9.89547003e-01 -1.06410003e-04 -1.65807911e+01] [-7.73079070e-04 -5.12990065e-06 9.99999701e-01 -2.98930309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.83, Y:-16.58, Z:-0.30 [[ 9.89401371e-01 1.45204481e-01 7.65737864e-04 1.68828942e+02] [-1.45204442e-01 9.89401667e-01 -1.06410003e-04 -1.65829186e+01] [-7.73073528e-04 -5.90633664e-06 9.99999701e-01 -3.01212002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.86, Y:-16.59, Z:-0.30 [[ 9.89261100e-01 1.46157074e-01 7.65739152e-04 1.68858847e+02] [-1.46157036e-01 9.89261396e-01 -1.06400732e-04 -1.65852472e+01] [-7.73067402e-04 -6.66005963e-06 9.99999701e-01 -3.00048384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.89, Y:-16.59, Z:-0.30 [[ 9.88919889e-01 1.48448197e-01 7.65741727e-04 1.68888894e+02] [-1.48448159e-01 9.88920185e-01 -1.06382195e-04 -1.65868396e+01] [-7.73049696e-04 -8.46948107e-06 9.99999701e-01 -3.01541462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.92, Y:-16.59, Z:-0.30 [[ 9.88769173e-01 1.49448776e-01 7.65744334e-04 1.68917159e+02] [-1.49448739e-01 9.88769469e-01 -1.06363427e-04 -1.65890427e+01] [-7.73040503e-04 -9.27064692e-06 9.99999701e-01 -3.04381470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.95, Y:-16.59, Z:-0.30 [[ 9.88560357e-01 1.50823850e-01 7.65748222e-04 1.68946591e+02] [-1.50823813e-01 9.88560654e-01 -1.06335431e-04 -1.65872344e+01] [-7.73026482e-04 -1.03740751e-05 9.99999701e-01 -3.03981802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.97, Y:-16.59, Z:-0.30 [[ 9.88522623e-01 1.51070970e-01 7.65753243e-04 1.68974169e+02] [-1.51070933e-01 9.88522919e-01 -1.06299261e-04 -1.65882263e+01] [-7.73023364e-04 -1.06038324e-05 9.99999701e-01 -3.04206524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.00, Y:-16.59, Z:-0.30 [[ 9.88557946e-01 1.50839654e-01 7.65760014e-04 1.69003531e+02] [-1.50839617e-01 9.88558242e-01 -1.06250462e-04 -1.65879475e+01] [-7.73025156e-04 -1.04722089e-05 9.99999701e-01 -3.02740540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.03, Y:-16.59, Z:-0.30 [[ 9.88612939e-01 1.50478803e-01 7.65765024e-04 1.69032804e+02] [-1.50478766e-01 9.88613236e-01 -1.06214344e-04 -1.65899259e+01] [-7.73028445e-04 -1.02265010e-05 9.99999701e-01 -3.01456584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.06, Y:-16.59, Z:-0.30 [[ 9.88696766e-01 1.49927044e-01 7.65770160e-04 1.69061364e+02] [-1.49927007e-01 9.88697062e-01 -1.06177302e-04 -1.65923929e+01] [-7.73033556e-04 -9.83247253e-06 9.99999701e-01 -3.02340813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.09, Y:-16.60, Z:-0.31 [[ 9.88839621e-01 1.48981935e-01 7.65775322e-04 1.69088724e+02] [-1.48981897e-01 9.88839918e-01 -1.06140054e-04 -1.65951360e+01] [-7.73042157e-04 -9.13116999e-06 9.99999701e-01 -3.05567049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.12, Y:-16.60, Z:-0.31 [[ 9.89116381e-01 1.47133269e-01 7.65781763e-04 1.69117531e+02] [-1.47133231e-01 9.89116677e-01 -1.06093563e-04 -1.65966937e+01] [-7.73057406e-04 -7.73306406e-06 9.99999701e-01 -3.05767581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.15, Y:-16.60, Z:-0.30 [[ 9.89239139e-01 1.46305637e-01 7.65786730e-04 1.69146153e+02] [-1.46305599e-01 9.89239435e-01 -1.06057703e-04 -1.65982036e+01] [-7.73063272e-04 -7.12245526e-06 9.99999701e-01 -3.04569984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.18, Y:-16.60, Z:-0.30 [[ 9.89488549e-01 1.44609212e-01 7.65791752e-04 1.69175003e+02] [-1.44609173e-01 9.89488846e-01 -1.06021431e-04 -1.65992600e+01] [-7.73074072e-04 -5.83352012e-06 9.99999701e-01 -3.03047332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.20, Y:-16.60, Z:-0.30 [[ 9.89605851e-01 1.43804288e-01 7.65796884e-04 1.69203217e+02] [-1.43804249e-01 9.89606147e-01 -1.05984345e-04 -1.66027106e+01] [-7.73078307e-04 -5.24211715e-06 9.99999701e-01 -3.01586082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.23, Y:-16.61, Z:-0.30 [[ 9.89683370e-01 1.43269815e-01 7.65802100e-04 1.69231017e+02] [-1.43269776e-01 9.89683667e-01 -1.05946640e-04 -1.66057278e+01] [-7.73080786e-04 -4.86266777e-06 9.99999701e-01 -3.04571140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.26, Y:-16.61, Z:-0.30 [[ 9.89809834e-01 1.42393493e-01 7.65808586e-04 1.69259747e+02] [-1.42393453e-01 9.89810130e-01 -1.05899743e-04 -1.66080335e+01] [-7.73084530e-04 -4.22552204e-06 9.99999701e-01 -3.03865879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.29, Y:-16.61, Z:-0.30 [[ 9.89844377e-01 1.42153165e-01 7.65813620e-04 1.69287046e+02] [-1.42153126e-01 9.89844674e-01 -1.05863328e-04 -1.66118368e+01] [-7.73085339e-04 -4.07457973e-06 9.99999701e-01 -3.04111860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.32, Y:-16.62, Z:-0.30 [[ 9.89832334e-01 1.42236998e-01 7.65819877e-04 1.69315877e+02] [-1.42236959e-01 9.89832630e-01 -1.05818040e-04 -1.66162501e+01] [-7.73084744e-04 -4.18577248e-06 9.99999701e-01 -3.02761914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.34, Y:-16.62, Z:-0.30 [[ 9.89861446e-01 1.42034260e-01 7.65824875e-04 1.69343069e+02] [-1.42034221e-01 9.89861742e-01 -1.05781857e-04 -1.66193195e+01] [-7.73085393e-04 -4.06395718e-06 9.99999701e-01 -3.03057344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.37, Y:-16.62, Z:-0.30 [[ 9.89911138e-01 1.41687518e-01 7.65831614e-04 1.69371507e+02] [-1.41687479e-01 9.89911434e-01 -1.05733046e-04 -1.66224444e+01] [-7.73086524e-04 -3.84243031e-06 9.99999701e-01 -3.02948073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.40, Y:-16.63, Z:-0.30 [[ 9.89999775e-01 1.41066862e-01 7.65836568e-04 1.69399144e+02] [-1.41066822e-01 9.90000071e-01 -1.05697154e-04 -1.66258624e+01] [-7.73088622e-04 -3.39397199e-06 9.99999701e-01 -3.03216788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.43, Y:-16.63, Z:-0.30 [[ 9.90262532e-01 1.39210385e-01 7.65842734e-04 1.69426495e+02] [-1.39210345e-01 9.90262828e-01 -1.05652459e-04 -1.66307908e+01] [-7.73093511e-04 -1.98955992e-06 9.99999701e-01 -3.03283156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.45, Y:-16.64, Z:-0.30 [[ 9.90396336e-01 1.38255239e-01 7.65849282e-04 1.69454558e+02] [-1.38255199e-01 9.90396632e-01 -1.05604969e-04 -1.66355204e+01] [-7.73094990e-04 -1.29187066e-06 9.99999701e-01 -3.02395981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.48, Y:-16.64, Z:-0.30 [[ 9.90551670e-01 1.37137897e-01 7.65854122e-04 1.69481293e+02] [-1.37137856e-01 9.90551966e-01 -1.05569862e-04 -1.66416748e+01] [-7.73095935e-04 -4.55189525e-07 9.99999701e-01 -3.00141175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.51, Y:-16.65, Z:-0.30 [[ 9.90553516e-01 1.37124565e-01 7.65858497e-04 1.69509184e+02] [-1.37124524e-01 9.90553812e-01 -1.05538113e-04 -1.66470007e+01] [-7.73095921e-04 -4.76832637e-07 9.99999701e-01 -3.00448462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.54, Y:-16.65, Z:-0.30 [[ 9.90507769e-01 1.37454618e-01 7.65863294e-04 1.69537705e+02] [-1.37454578e-01 9.90508066e-01 -1.05503287e-04 -1.66525246e+01] [-7.73095684e-04 -7.69589798e-07 9.99999701e-01 -3.00771694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.57, Y:-16.66, Z:-0.30 [[ 9.90257717e-01 1.39244635e-01 7.65868077e-04 1.69565538e+02] [-1.39244595e-01 9.90258013e-01 -1.05468554e-04 -1.66590794e+01] [-7.73092931e-04 -2.20194102e-06 9.99999701e-01 -2.98791418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.59, Y:-16.66, Z:-0.30 [[ 9.90109121e-01 1.40297336e-01 7.65873053e-04 1.69593295e+02] [-1.40297296e-01 9.90109417e-01 -1.05432411e-04 -1.66632569e+01] [-7.73090008e-04 -3.06032698e-06 9.99999701e-01 -3.00225894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.62, Y:-16.67, Z:-0.30 [[ 9.89675078e-01 1.43327088e-01 7.65879231e-04 1.69621430e+02] [-1.43327050e-01 9.89675374e-01 -1.05387513e-04 -1.66673730e+01] [-7.73076700e-04 -5.47181550e-06 9.99999701e-01 -2.96992804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.65, Y:-16.67, Z:-0.30 [[ 9.89345165e-01 1.45586943e-01 7.65884371e-04 1.69649238e+02] [-1.45586905e-01 9.89345461e-01 -1.05350144e-04 -1.66710676e+01] [-7.73061832e-04 -7.27507967e-06 9.99999701e-01 -2.99303734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.68, Y:-16.67, Z:-0.30 [[ 9.88973231e-01 1.48092411e-01 7.65891172e-04 1.69677038e+02] [-1.48092374e-01 9.88973527e-01 -1.05300677e-04 -1.66740371e+01] [-7.73040325e-04 -9.28309154e-06 9.99999701e-01 -3.01915101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.71, Y:-16.68, Z:-0.30 [[ 9.88098289e-01 1.53821928e-01 7.65897352e-04 1.69705913e+02] [-1.53821893e-01 9.88098585e-01 -1.05255710e-04 -1.66759667e+01] [-7.72972726e-04 -1.38087937e-05 9.99999701e-01 -2.99586414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.73, Y:-16.68, Z:-0.30 [[ 9.87667376e-01 1.56564902e-01 7.65902297e-04 1.69734377e+02] [-1.56564867e-01 9.87667672e-01 -1.05219716e-04 -1.66789097e+01] [-7.72930653e-04 -1.59913113e-05 9.99999701e-01 -2.98113696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.76, Y:-16.68, Z:-0.30 [[ 9.86889075e-01 1.61398161e-01 7.65907377e-04 1.69762887e+02] [-1.61398128e-01 9.86889372e-01 -1.05182727e-04 -1.66786735e+01] [-7.72842149e-04 -1.98123320e-05 9.99999701e-01 -2.99098579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.79, Y:-16.68, Z:-0.30 [[ 9.86606198e-01 1.63118433e-01 7.65913689e-04 1.69791298e+02] [-1.63118400e-01 9.86606495e-01 -1.05136744e-04 -1.66800145e+01] [-7.72805161e-04 -2.12060526e-05 9.99999701e-01 -3.01879568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.82, Y:-16.68, Z:-0.30 [[ 9.86485193e-01 1.63848641e-01 7.65918518e-04 1.69819771e+02] [-1.63848609e-01 9.86485490e-01 -1.05101551e-04 -1.66818381e+01] [-7.72788251e-04 -2.18135603e-05 9.99999701e-01 -3.00266788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.85, Y:-16.68, Z:-0.30 [[ 9.86597014e-01 1.63173974e-01 7.65923632e-04 1.69847986e+02] [-1.63173941e-01 9.86597311e-01 -1.05064273e-04 -1.66812958e+01] [-7.72801950e-04 -2.13226792e-05 9.99999701e-01 -3.04608361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.88, Y:-16.68, Z:-0.31 [[ 9.86849271e-01 1.61641362e-01 7.65929991e-04 1.69875639e+02] [-1.61641329e-01 9.86849568e-01 -1.05017890e-04 -1.66830310e+01] [-7.72832916e-04 -2.01691137e-05 9.99999701e-01 -3.06302614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.90, Y:-16.69, Z:-0.30 [[ 9.87889788e-01 1.55155341e-01 7.65936030e-04 1.69904494e+02] [-1.55155306e-01 9.87890085e-01 -1.04973829e-04 -1.66867947e+01] [-7.72947860e-04 -1.51364648e-05 9.99999701e-01 -3.03168834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.93, Y:-16.69, Z:-0.30 [[ 9.88571297e-01 1.50752125e-01 7.65944251e-04 1.69932560e+02] [-1.50752089e-01 9.88571594e-01 -1.04913808e-04 -1.66912361e+01] [-7.73006709e-04 -1.17529162e-05 9.99999701e-01 -3.03537322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.96, Y:-16.70, Z:-0.30 [[ 9.88578289e-01 1.50706270e-01 7.65949113e-04 1.69961628e+02] [-1.50706234e-01 9.88578586e-01 -1.04878300e-04 -1.66951239e+01] [-7.73006708e-04 -1.17528966e-05 9.99999701e-01 -3.03559994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.99, Y:-16.70, Z:-0.30 [[ 9.89262716e-01 1.46146134e-01 7.65953976e-04 1.69989598e+02] [-1.46146097e-01 9.89263012e-01 -1.04842771e-04 -1.66987477e+01] [-7.73052304e-04 -8.22413930e-06 9.99999701e-01 -3.04035557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.02, Y:-16.70, Z:-0.30 [[ 9.89871745e-01 1.41962468e-01 7.65960021e-04 1.70018248e+02] [-1.41962429e-01 9.89872041e-01 -1.04798593e-04 -1.67016005e+01] [-7.73079876e-04 -5.00037859e-06 9.99999701e-01 -3.03055707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.05, Y:-16.70, Z:-0.30 [[ 9.90736589e-01 1.35795524e-01 7.65964944e-04 1.70045533e+02] [-1.35795484e-01 9.90736885e-01 -1.04762596e-04 -1.67043797e+01] [-7.73096015e-04 -2.22442922e-07 9.99999701e-01 -3.03122004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.07, Y:-16.71, Z:-0.30 [[ 9.91011820e-01 1.33772138e-01 7.65971658e-04 1.70073847e+02] [-1.33772097e-01 9.91012117e-01 -1.04713484e-04 -1.67083293e+01] [-7.73094941e-04 1.30666521e-06 9.99999701e-01 -3.01446159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.10, Y:-16.71, Z:-0.30 [[ 9.91168005e-01 1.32609949e-01 7.65976709e-04 1.70101790e+02] [-1.32609908e-01 9.91168301e-01 -1.04676524e-04 -1.67117385e+01] [-7.73092982e-04 2.17592065e-06 9.99999701e-01 -3.01865162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:-16.72, Z:-0.30 [[ 9.91203382e-01 1.32345265e-01 7.65983522e-04 1.70130823e+02] [-1.32345224e-01 9.91203678e-01 -1.04626641e-04 -1.67151986e+01] [-7.73092525e-04 2.33202010e-06 9.99999701e-01 -3.01282049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.16, Y:-16.72, Z:-0.30 [[ 9.91128982e-01 1.32901297e-01 7.65988485e-04 1.70158465e+02] [-1.32901256e-01 9.91129278e-01 -1.04590297e-04 -1.67193862e+01] [-7.73093800e-04 1.86164226e-06 9.99999701e-01 -3.02745102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.19, Y:-16.72, Z:-0.30 [[ 9.90872538e-01 1.34799951e-01 7.65994634e-04 1.70186567e+02] [-1.34799911e-01 9.90872834e-01 -1.04545243e-04 -1.67244778e+01] [-7.73095968e-04 3.35001887e-07 9.99999701e-01 -3.01605698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.21, Y:-16.73, Z:-0.30 [[ 9.90749706e-01 1.35699789e-01 7.65999786e-04 1.70214549e+02] [-1.35699749e-01 9.90750002e-01 -1.04507484e-04 -1.67277968e+01] [-7.73095933e-04 -4.05219175e-07 9.99999701e-01 -3.01725856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.24, Y:-16.73, Z:-0.30 [[ 9.90645529e-01 1.36458235e-01 7.66006199e-04 1.70242243e+02] [-1.36458195e-01 9.90645825e-01 -1.04460457e-04 -1.67317647e+01] [-7.73095332e-04 -1.04453928e-06 9.99999701e-01 -3.03842190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.27, Y:-16.74, Z:-0.30 [[ 9.90670368e-01 1.36277783e-01 7.66013093e-04 1.70270495e+02] [-1.36277744e-01 9.90670665e-01 -1.04409880e-04 -1.67370674e+01] [-7.73095447e-04 -9.54761642e-07 9.99999701e-01 -3.04263476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.30, Y:-16.74, Z:-0.30 [[ 9.90694818e-01 1.36099927e-01 7.66017970e-04 1.70298620e+02] [-1.36099887e-01 9.90695114e-01 -1.04374083e-04 -1.67421637e+01] [-7.73095566e-04 -8.52096580e-07 9.99999701e-01 -3.03430257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.33, Y:-16.75, Z:-0.30 [[ 9.90729692e-01 1.35845834e-01 7.66022868e-04 1.70326419e+02] [-1.35845794e-01 9.90729988e-01 -1.04338127e-04 -1.67478904e+01] [-7.73095726e-04 -6.90103690e-07 9.99999701e-01 -3.01420125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.514203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:170.35, Y:-16.75, Z:-0.30 [[ 9.90738282e-01 1.35783173e-01 7.66029254e-04 1.70354937e+02] [-1.35783133e-01 9.90738578e-01 -1.04291217e-04 -1.67538602e+01] [-7.73095726e-04 -6.88550978e-07 9.99999701e-01 -3.01126714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.38, Y:-16.76, Z:-0.30 [[ 9.90556310e-01 1.37104377e-01 7.66034364e-04 1.70382035e+02] [-1.37104338e-01 9.90556606e-01 -1.04253668e-04 -1.67615978e+01] [-7.73094034e-04 -1.75750529e-06 9.99999701e-01 -3.02701063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.41, Y:-16.77, Z:-0.30 [[ 9.90385230e-01 1.38334774e-01 7.66040704e-04 1.70409927e+02] [-1.38334735e-01 9.90385526e-01 -1.04207062e-04 -1.67662838e+01] [-7.73091086e-04 -2.76490252e-06 9.99999701e-01 -3.03650087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.44, Y:-16.77, Z:-0.30 [[ 9.89925068e-01 1.41590155e-01 7.66046748e-04 1.70438035e+02] [-1.41590117e-01 9.89925365e-01 -1.04162617e-04 -1.67710449e+01] [-7.73077507e-04 -5.35146277e-06 9.99999701e-01 -3.01434877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.47, Y:-16.78, Z:-0.30 [[ 9.89676807e-01 1.43315145e-01 7.66051833e-04 1.70465435e+02] [-1.43315108e-01 9.89677103e-01 -1.04125208e-04 -1.67757569e+01] [-7.73066678e-04 -6.73649763e-06 9.99999701e-01 -3.02894082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.49, Y:-16.78, Z:-0.30 [[ 9.89452962e-01 1.44852511e-01 7.66058140e-04 1.70493890e+02] [-1.44852474e-01 9.89453258e-01 -1.04078787e-04 -1.67804804e+01] [-7.73054796e-04 -7.98435300e-06 9.99999701e-01 -2.99507233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.52, Y:-16.79, Z:-0.30 [[ 9.88919502e-01 1.48450773e-01 7.66063189e-04 1.70521105e+02] [-1.48450737e-01 9.88919799e-01 -1.04041606e-04 -1.67864638e+01] [-7.73020111e-04 -1.08338715e-05 9.99999701e-01 -3.00322673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.55, Y:-16.79, Z:-0.30 [[ 9.88582416e-01 1.50679199e-01 7.66069442e-04 1.70549195e+02] [-1.50679163e-01 9.88582712e-01 -1.03995542e-04 -1.67914313e+01] [-7.72992972e-04 -1.26225384e-05 9.99999701e-01 -2.98527132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.58, Y:-16.80, Z:-0.30 [[ 9.88170476e-01 1.53357505e-01 7.66074416e-04 1.70577635e+02] [-1.53357470e-01 9.88170772e-01 -1.03958894e-04 -1.67959774e+01] [-7.72955224e-04 -1.47541245e-05 9.99999701e-01 -2.97193852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.61, Y:-16.80, Z:-0.30 [[ 9.87283151e-01 1.58969786e-01 7.66079429e-04 1.70605435e+02] [-1.58969753e-01 9.87283448e-01 -1.03921940e-04 -1.67981616e+01] [-7.72857988e-04 -1.91830773e-05 9.99999701e-01 -2.96745757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.63, Y:-16.80, Z:-0.30 [[ 9.86861563e-01 1.61566295e-01 7.66085648e-04 1.70633878e+02] [-1.61566263e-01 9.86861861e-01 -1.03876072e-04 -1.68001543e+01] [-7.72803580e-04 -2.12622926e-05 9.99999701e-01 -2.97917802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.66, Y:-16.80, Z:-0.30 [[ 9.86150782e-01 1.65849474e-01 7.66090431e-04 1.70662864e+02] [-1.65849444e-01 9.86151079e-01 -1.03840788e-04 -1.67987800e+01] [-7.72702845e-04 -2.46529977e-05 9.99999701e-01 -3.02005274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.69, Y:-16.80, Z:-0.30 [[ 9.85893429e-01 1.67372518e-01 7.66095251e-04 1.70691556e+02] [-1.67372488e-01 9.85893726e-01 -1.03805212e-04 -1.67997542e+01] [-7.72662642e-04 -2.58823923e-05 9.99999701e-01 -3.03614690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.72, Y:-16.80, Z:-0.31 [[ 9.85703227e-01 1.68489052e-01 7.66100193e-04 1.70719333e+02] [-1.68489022e-01 9.85703525e-01 -1.03768729e-04 -1.68010372e+01] [-7.72631555e-04 -2.67943012e-05 9.99999701e-01 -3.06941992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.75, Y:-16.80, Z:-0.31 [[ 9.85623889e-01 1.68952545e-01 7.66106887e-04 1.70748093e+02] [-1.68952515e-01 9.85624186e-01 -1.03719282e-04 -1.68005996e+01] [-7.72617114e-04 -2.72074834e-05 9.99999701e-01 -3.10573052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.78, Y:-16.80, Z:-0.31 [[ 9.85795865e-01 1.67946201e-01 7.66111639e-04 1.70776447e+02] [-1.67946172e-01 9.85796162e-01 -1.03684172e-04 -1.68025905e+01] [-7.72643276e-04 -2.64540886e-05 9.99999701e-01 -3.11031429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.80, Y:-16.80, Z:-0.31 [[ 9.86082925e-01 1.66252450e-01 7.66118795e-04 1.70804919e+02] [-1.66252419e-01 9.86083223e-01 -1.03631271e-04 -1.68049677e+01] [-7.72685843e-04 -2.51800766e-05 9.99999701e-01 -3.09980636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.83, Y:-16.80, Z:-0.31 [[ 9.87013387e-01 1.60636195e-01 7.66123573e-04 1.70833485e+02] [-1.60636163e-01 9.87013684e-01 -1.03595932e-04 -1.68045932e+01] [-7.72815707e-04 -2.08165793e-05 9.99999701e-01 -3.05113826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.86, Y:-16.81, Z:-0.30 [[ 9.87562392e-01 1.57225746e-01 7.66129585e-04 1.70862480e+02] [-1.57225713e-01 9.87562689e-01 -1.03551458e-04 -1.68053497e+01] [-7.72881948e-04 -1.81917447e-05 9.99999701e-01 -3.03081709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.89, Y:-16.80, Z:-0.30 [[ 9.88714913e-01 1.49807320e-01 7.66134428e-04 1.70890216e+02] [-1.49807284e-01 9.88715210e-01 -1.03515613e-04 -1.68042282e+01] [-7.72996158e-04 -1.24250873e-05 9.99999701e-01 -3.02941201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.92, Y:-16.81, Z:-0.30 [[ 9.89277862e-01 1.46043574e-01 7.66138768e-04 1.70918921e+02] [-1.46043538e-01 9.89278158e-01 -1.03483478e-04 -1.68070380e+01] [-7.73037447e-04 -9.51570239e-06 9.99999701e-01 -3.01628296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.95, Y:-16.81, Z:-0.30 [[ 9.89853745e-01 1.42087921e-01 7.66143550e-04 1.70947400e+02] [-1.42087883e-01 9.89854041e-01 -1.03448067e-04 -1.68106152e+01] [-7.73069009e-04 -6.46125907e-06 9.99999701e-01 -3.00813349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.98, Y:-16.81, Z:-0.30 [[ 9.91000578e-01 1.33855395e-01 7.66148405e-04 1.70975440e+02] [-1.33855355e-01 9.91000874e-01 -1.03412095e-04 -1.68148333e+01] [-7.73096006e-04 -7.16207440e-08 9.99999701e-01 -2.99651157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.00, Y:-16.82, Z:-0.30 [[ 9.91570679e-01 1.29564661e-01 7.66153405e-04 1.71003007e+02] [-1.29564620e-01 9.91570975e-01 -1.03375035e-04 -1.68181588e+01] [-7.73089231e-04 3.23727887e-06 9.99999701e-01 -3.01613743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.234203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.03, Y:-16.82, Z:-0.30 [[ 9.92082156e-01 1.25588253e-01 7.66159617e-04 1.71031231e+02] [-1.25588211e-01 9.92082452e-01 -1.03328978e-04 -1.68217431e+01] [-7.73070417e-04 6.29022024e-06 9.99999701e-01 -3.00647912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.06, Y:-16.83, Z:-0.30 [[ 9.92942733e-01 1.18592334e-01 7.66164604e-04 1.71058879e+02] [-1.18592290e-01 9.92943029e-01 -1.03291988e-04 -1.68289389e+01] [-7.73007440e-04 1.17018144e-05 9.99999701e-01 -3.04290325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.09, Y:-16.83, Z:-0.30 [[ 9.93240472e-01 1.16072296e-01 7.66168313e-04 1.71087297e+02] [-1.16072251e-01 9.93240767e-01 -1.03264465e-04 -1.68340886e+01] [-7.72975747e-04 1.36355656e-05 9.99999701e-01 -3.03968099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:-16.84, Z:-0.30 [[ 9.93511377e-01 1.13730195e-01 7.66172963e-04 1.71115160e+02] [-1.13730150e-01 9.93511672e-01 -1.03229957e-04 -1.68395119e+01] [-7.72942144e-04 1.54231709e-05 9.99999701e-01 -3.03322871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.14, Y:-16.84, Z:-0.30 [[ 9.93463039e-01 1.14151671e-01 7.66177682e-04 1.71143876e+02] [-1.14151626e-01 9.93463334e-01 -1.03194915e-04 -1.68447418e+01] [-7.72949307e-04 1.50599058e-05 9.99999701e-01 -3.03871433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.17, Y:-16.85, Z:-0.30 [[ 9.93320654e-01 1.15384106e-01 7.66182449e-04 1.71172335e+02] [-1.15384061e-01 9.93320949e-01 -1.03159511e-04 -1.68498741e+01] [-7.72968046e-04 1.40652308e-05 9.99999701e-01 -3.03663182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.20, Y:-16.85, Z:-0.30 [[ 9.92703749e-01 1.20576444e-01 7.66187410e-04 1.71200856e+02] [-1.20576400e-01 9.92704045e-01 -1.03122654e-04 -1.68545015e+01] [-7.73031504e-04 9.98612516e-06 9.99999701e-01 -3.02867709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.23, Y:-16.86, Z:-0.30 [[ 9.92302465e-01 1.23835502e-01 7.66192463e-04 1.71228858e+02] [-1.23835459e-01 9.92302760e-01 -1.03085097e-04 -1.68587128e+01] [-7.73060491e-04 7.40980074e-06 9.99999701e-01 -3.04330486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.26, Y:-16.86, Z:-0.30 [[ 9.91467606e-01 1.30351064e-01 7.66198767e-04 1.71256817e+02] [-1.30351024e-01 9.91467902e-01 -1.03038220e-04 -1.68640483e+01] [-7.73092625e-04 2.28426390e-06 9.99999701e-01 -3.02211954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:-16.87, Z:-0.30 [[ 9.91055190e-01 1.33450453e-01 7.66203629e-04 1.71285640e+02] [-1.33450413e-01 9.91055486e-01 -1.03002052e-04 -1.68682133e+01] [-7.73095981e-04 -1.69472963e-07 9.99999701e-01 -3.01275676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.31, Y:-16.87, Z:-0.30 [[ 9.90678273e-01 1.36220305e-01 7.66208497e-04 1.71313581e+02] [-1.36220266e-01 9.90678570e-01 -1.02965825e-04 -1.68720157e+01] [-7.73092374e-04 -2.36711918e-06 9.99999701e-01 -3.01464937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.34, Y:-16.88, Z:-0.30 [[ 9.90330033e-01 1.38729374e-01 7.66214554e-04 1.71342509e+02] [-1.38729336e-01 9.90330329e-01 -1.02920734e-04 -1.68763071e+01] [-7.73083641e-04 -4.37094261e-06 9.99999701e-01 -3.01306317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.37, Y:-16.88, Z:-0.30 [[ 9.89753045e-01 1.42787686e-01 7.66219537e-04 1.71369737e+02] [-1.42787649e-01 9.89753341e-01 -1.02883628e-04 -1.68816920e+01] [-7.73058862e-04 -7.57730215e-06 9.99999701e-01 -3.04376533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.40, Y:-16.89, Z:-0.30 [[ 9.89312753e-01 1.45807032e-01 7.66226160e-04 1.71398121e+02] [-1.45806996e-01 9.89313049e-01 -1.02834275e-04 -1.68884947e+01] [-7.73031499e-04 -9.98587482e-06 9.99999701e-01 -3.03395022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.43, Y:-16.89, Z:-0.30 [[ 9.89097018e-01 1.47263379e-01 7.66230969e-04 1.71426024e+02] [-1.47263343e-01 9.89097314e-01 -1.02798429e-04 -1.68924297e+01] [-7.73015438e-04 -1.11601150e-05 9.99999701e-01 -3.03563465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.684203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.45, Y:-16.90, Z:-0.30 [[ 9.88838722e-01 1.48987904e-01 7.66236934e-04 1.71454617e+02] [-1.48987869e-01 9.88839018e-01 -1.02753948e-04 -1.68955157e+01] [-7.72994073e-04 -1.25529253e-05 9.99999701e-01 -3.02693637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:-16.90, Z:-0.30 [[ 9.88508027e-01 1.51166442e-01 7.66241731e-04 1.71483769e+02] [-1.51166408e-01 9.88508324e-01 -1.02718165e-04 -1.68988089e+01] [-7.72963869e-04 -1.42922790e-05 9.99999701e-01 -3.02609050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:-16.90, Z:-0.30 [[ 9.87887826e-01 1.55167835e-01 7.66245353e-04 1.71512834e+02] [-1.55167802e-01 9.87888123e-01 -1.02691143e-04 -1.69024977e+01] [-7.72899045e-04 -1.74492772e-05 9.99999701e-01 -3.04714431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:-16.91, Z:-0.30 [[ 9.87584950e-01 1.57083989e-01 7.66248989e-04 1.71541658e+02] [-1.57083957e-01 9.87585247e-01 -1.02664000e-04 -1.69056532e+01] [-7.72863068e-04 -1.89760015e-05 9.99999701e-01 -3.04740322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:-16.91, Z:-0.30 [[ 9.87326312e-01 1.58701498e-01 7.66253900e-04 1.71570231e+02] [-1.58701467e-01 9.87326610e-01 -1.02627331e-04 -1.69080605e+01] [-7.72829977e-04 -2.02789533e-05 9.99999701e-01 -3.03358384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:-16.91, Z:-0.30 [[ 9.86879226e-01 1.61458374e-01 7.66258939e-04 1.71598570e+02] [-1.61458343e-01 9.86879523e-01 -1.02589699e-04 -1.69087154e+01] [-7.72769222e-04 -2.24752565e-05 9.99999701e-01 -3.02365902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:-16.91, Z:-0.30 [[ 9.86797416e-01 1.61957627e-01 7.66265920e-04 1.71626797e+02] [-1.61957596e-01 9.86797713e-01 -1.02537525e-04 -1.69101604e+01] [-7.72756192e-04 -2.29188219e-05 9.99999701e-01 -3.03453150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:-16.91, Z:-0.30 [[ 9.86773711e-01 1.62101993e-01 7.66272780e-04 1.71655246e+02] [-1.62101962e-01 9.86774008e-01 -1.02486236e-04 -1.69115350e+01] [-7.72751286e-04 -2.30835980e-05 9.99999701e-01 -3.03098760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:-16.91, Z:-0.30 [[ 9.86854209e-01 1.61611207e-01 7.66277615e-04 1.71683899e+02] [-1.61611176e-01 9.86854507e-01 -1.02450074e-04 -1.69106736e+01] [-7.72761598e-04 -2.27357404e-05 9.99999701e-01 -3.04974809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:-16.91, Z:-0.30 [[ 9.86953447e-01 1.61004056e-01 7.66283613e-04 1.71711604e+02] [-1.61004025e-01 9.86953744e-01 -1.02405192e-04 -1.69119082e+01] [-7.72774132e-04 -2.23055884e-05 9.99999701e-01 -3.04095523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:-16.91, Z:-0.30 [[ 9.87266240e-01 1.59074777e-01 7.66291082e-04 1.71739416e+02] [-1.59074746e-01 9.87266537e-01 -1.02349268e-04 -1.69106319e+01] [-7.72814730e-04 -2.08515823e-05 9.99999701e-01 -3.04153256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.77, Y:-16.91, Z:-0.30 [[ 9.87277465e-01 1.59005097e-01 7.66298887e-04 1.71767675e+02] [-1.59005065e-01 9.87277762e-01 -1.02290797e-04 -1.69142688e+01] [-7.72814609e-04 -2.08560056e-05 9.99999701e-01 -3.04175284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:-16.92, Z:-0.30 [[ 9.87511058e-01 1.57547842e-01 7.66306103e-04 1.71794748e+02] [-1.57547810e-01 9.87511355e-01 -1.02236712e-04 -1.69153776e+01] [-7.72843152e-04 -1.97699642e-05 9.99999701e-01 -3.04739147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.82, Y:-16.92, Z:-0.30 [[ 9.87755416e-01 1.56008496e-01 7.66314472e-04 1.71823402e+02] [-1.56008463e-01 9.87755713e-01 -1.02173948e-04 -1.69169918e+01] [-7.72871501e-04 -1.86286727e-05 9.99999701e-01 -3.04719390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.85, Y:-16.91, Z:-0.31 [[ 9.88324807e-01 1.52359737e-01 7.66319259e-04 1.71850705e+02] [-1.52359704e-01 9.88325104e-01 -1.02138031e-04 -1.69142880e+01] [-7.72934284e-04 -1.58106258e-05 9.99999701e-01 -3.05612173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.88, Y:-16.92, Z:-0.30 [[ 9.88656557e-01 1.50191960e-01 7.66329837e-04 1.71879384e+02] [-1.50191926e-01 9.88656854e-01 -1.02058599e-04 -1.69151180e+01] [-7.72965627e-04 -1.41956507e-05 9.99999701e-01 -3.04462294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.91, Y:-16.92, Z:-0.30 [[ 9.89013061e-01 1.47826175e-01 7.66334585e-04 1.71908074e+02] [-1.47826140e-01 9.89013358e-01 -1.02022939e-04 -1.69167558e+01] [-7.72996802e-04 -1.23822645e-05 9.99999701e-01 -3.02787809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.94, Y:-16.92, Z:-0.30 [[ 9.89761083e-01 1.42731957e-01 7.66339334e-04 1.71937279e+02] [-1.42731921e-01 9.89761379e-01 -1.01987257e-04 -1.69182103e+01] [-7.73049917e-04 -8.43806768e-06 9.99999701e-01 -3.00983360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:-16.92, Z:-0.30 [[ 9.90126784e-01 1.40172620e-01 7.66344233e-04 1.71964856e+02] [-1.40172583e-01 9.90127081e-01 -1.01950428e-04 -1.69200601e+01] [-7.73068837e-04 -6.47660166e-06 9.99999701e-01 -3.00281222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.99, Y:-16.92, Z:-0.30 [[ 9.90734240e-01 1.35812656e-01 7.66351732e-04 1.71993191e+02] [-1.35812618e-01 9.90734537e-01 -1.01894027e-04 -1.69200556e+01] [-7.73089627e-04 -3.13033285e-06 9.99999701e-01 -3.00932458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.02, Y:-16.92, Z:-0.30 [[ 9.90965964e-01 1.34111411e-01 7.66359195e-04 1.72021699e+02] [-1.34111372e-01 9.90966260e-01 -1.01837869e-04 -1.69227815e+01] [-7.73093726e-04 -1.85962093e-06 9.99999701e-01 -3.01100127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.05, Y:-16.93, Z:-0.30 [[ 9.91163758e-01 1.32641688e-01 7.66364213e-04 1.72049663e+02] [-1.32641649e-01 9.91164054e-01 -1.01800093e-04 -1.69264121e+01] [-7.73095596e-04 -7.51250597e-07 9.99999701e-01 -3.02187350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.08, Y:-16.93, Z:-0.31 [[ 9.91312324e-01 1.31526764e-01 7.66370446e-04 1.72077306e+02] [-1.31526724e-01 9.91312620e-01 -1.01753147e-04 -1.69300383e+01] [-7.73095957e-04 7.09547746e-08 9.99999701e-01 -3.05677661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.11, Y:-16.93, Z:-0.31 [[ 9.91454272e-01 1.30452437e-01 7.66376643e-04 1.72105958e+02] [-1.30452397e-01 9.91454569e-01 -1.01706448e-04 -1.69334308e+01] [-7.73095478e-04 8.61621502e-07 9.99999701e-01 -3.05580172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.13, Y:-16.94, Z:-0.31 [[ 9.91410762e-01 1.30782697e-01 7.66381542e-04 1.72134096e+02] [-1.30782657e-01 9.91411058e-01 -1.01669526e-04 -1.69369510e+01] [-7.73095750e-04 5.66847248e-07 9.99999701e-01 -3.05757294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.16, Y:-16.94, Z:-0.31 [[ 9.91099252e-01 1.33122821e-01 7.66386518e-04 1.72161583e+02] [-1.33122782e-01 9.91099548e-01 -1.01632003e-04 -1.69385534e+01] [-7.73094870e-04 -1.29610292e-06 9.99999701e-01 -3.05807467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.19, Y:-16.94, Z:-0.31 [[ 9.90890994e-01 1.34664213e-01 7.66392700e-04 1.72190089e+02] [-1.34664175e-01 9.90891291e-01 -1.01585362e-04 -1.69410587e+01] [-7.73091764e-04 -2.54561965e-06 9.99999701e-01 -3.05065926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.22, Y:-16.94, Z:-0.31 [[ 9.90679814e-01 1.36209096e-01 7.66397498e-04 1.72216462e+02] [-1.36209059e-01 9.90680111e-01 -1.01549150e-04 -1.69440667e+01] [-7.73086676e-04 -3.78758894e-06 9.99999701e-01 -3.05195383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.25, Y:-16.95, Z:-0.31 [[ 9.90263224e-01 1.39205456e-01 7.66405882e-04 1.72245231e+02] [-1.39205419e-01 9.90263521e-01 -1.01485833e-04 -1.69483343e+01] [-7.73071169e-04 -6.19016322e-06 9.99999701e-01 -3.06504631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.27, Y:-16.95, Z:-0.31 [[ 9.90074093e-01 1.40544310e-01 7.66410674e-04 1.72271690e+02] [-1.40544274e-01 9.90074390e-01 -1.01449630e-04 -1.69517161e+01] [-7.73061749e-04 -7.27198107e-06 9.99999701e-01 -3.06902087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.30, Y:-16.96, Z:-0.31 [[ 9.89890557e-01 1.41831231e-01 7.66419038e-04 1.72300282e+02] [-1.41831195e-01 9.89890854e-01 -1.01386405e-04 -1.69554056e+01] [-7.73050955e-04 -8.34068315e-06 9.99999701e-01 -3.06242324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.33, Y:-16.96, Z:-0.31 [[ 9.89501866e-01 1.44518062e-01 7.66423766e-04 1.72329176e+02] [-1.44518027e-01 9.89502163e-01 -1.01350653e-04 -1.69565608e+01] [-7.73024974e-04 -1.04753903e-05 9.99999701e-01 -3.06474722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.36, Y:-16.96, Z:-0.31 [[ 9.89311290e-01 1.45816951e-01 7.66428579e-04 1.72358097e+02] [-1.45816917e-01 9.89311587e-01 -1.01314244e-04 -1.69579518e+01] [-7.73010008e-04 -1.15269267e-05 9.99999701e-01 -3.06056846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.39, Y:-16.96, Z:-0.31 [[ 9.89008937e-01 1.47853765e-01 7.66433539e-04 1.72385893e+02] [-1.47853731e-01 9.89009233e-01 -1.01276708e-04 -1.69576002e+01] [-7.72983989e-04 -1.31564888e-05 9.99999701e-01 -3.07941798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.41, Y:-16.96, Z:-0.31 [[ 9.89005019e-01 1.47879968e-01 7.66439717e-04 1.72414391e+02] [-1.47879934e-01 9.89005316e-01 -1.01229934e-04 -1.69605438e+01] [-7.72982834e-04 -1.32241418e-05 9.99999701e-01 -3.07366785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.44, Y:-16.96, Z:-0.31 [[ 9.89029736e-01 1.47714570e-01 7.66444468e-04 1.72441925e+02] [-1.47714536e-01 9.89030033e-01 -1.01193949e-04 -1.69634978e+01] [-7.72984418e-04 -1.31311642e-05 9.99999701e-01 -3.06090457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.47, Y:-16.97, Z:-0.31 [[ 9.89199417e-01 1.46573960e-01 7.66451868e-04 1.72469397e+02] [-1.46573925e-01 9.89199714e-01 -1.01137869e-04 -1.69657815e+01] [-7.72998147e-04 -1.22963379e-05 9.99999701e-01 -3.08436508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.50, Y:-16.97, Z:-0.31 [[ 9.89341959e-01 1.45608725e-01 7.66457992e-04 1.72497209e+02] [-1.45608691e-01 9.89342256e-01 -1.01091440e-04 -1.69694005e+01] [-7.73009074e-04 -1.15889413e-05 9.99999701e-01 -3.08457702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82420382200002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:172.53, Y:-16.97, Z:-0.31 [[ 9.89724520e-01 1.42985270e-01 7.66465112e-04 1.72526290e+02] [-1.42985234e-01 9.89724817e-01 -1.01037426e-04 -1.69725473e+01] [-7.73036406e-04 -9.59397578e-06 9.99999701e-01 -3.10481991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.55, Y:-16.98, Z:-0.31 [[ 9.89975239e-01 1.41238942e-01 7.66469846e-04 1.72554028e+02] [-1.41238906e-01 9.89975536e-01 -1.01001502e-04 -1.69753006e+01] [-7.73051741e-04 -8.26637667e-06 9.99999701e-01 -3.09087070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.58, Y:-16.98, Z:-0.31 [[ 9.90202516e-01 1.39636636e-01 7.66477025e-04 1.72581532e+02] [-1.39636600e-01 9.90202812e-01 -1.00946994e-04 -1.69783684e+01] [-7.73063604e-04 -7.07027826e-06 9.99999701e-01 -3.08823428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.61, Y:-16.98, Z:-0.31 [[ 9.90666956e-01 1.36302585e-01 7.66482977e-04 1.72610331e+02] [-1.36302548e-01 9.90667253e-01 -1.00901777e-04 -1.69829115e+01] [-7.73082758e-04 -4.51352653e-06 9.99999701e-01 -3.07119915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94420382200002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:172.64, Y:-16.99, Z:-0.31 [[ 9.90801443e-01 1.35321520e-01 7.66487706e-04 1.72637474e+02] [-1.35321482e-01 9.90801739e-01 -1.00865842e-04 -1.69874609e+01] [-7.73086671e-04 -3.78423079e-06 9.99999701e-01 -3.06467798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.66, Y:-16.99, Z:-0.31 [[ 9.90864468e-01 1.34859256e-01 7.66495077e-04 1.72664637e+02] [-1.34859218e-01 9.90864764e-01 -1.00809799e-04 -1.69912442e+01] [-7.73088098e-04 -3.48007915e-06 9.99999701e-01 -3.06487527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.69, Y:-16.99, Z:-0.31 [[ 9.90761770e-01 1.35611677e-01 7.66503626e-04 1.72691713e+02] [-1.35611640e-01 9.90762067e-01 -1.00744751e-04 -1.69937178e+01] [-7.73084882e-04 -4.13276592e-06 9.99999701e-01 -3.06149778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.72, Y:-17.00, Z:-0.31 [[ 9.90657009e-01 1.36374865e-01 7.66512084e-04 1.72719883e+02] [-1.36374828e-01 9.90657305e-01 -1.00680358e-04 -1.69972556e+01] [-7.73081066e-04 -4.79325092e-06 9.99999701e-01 -3.05001014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:-17.00, Z:-0.30 [[ 9.90538503e-01 1.37232964e-01 7.66517002e-04 1.72747623e+02] [-1.37232927e-01 9.90538800e-01 -1.00642902e-04 -1.69999917e+01] [-7.73076355e-04 -5.50070189e-06 9.99999701e-01 -3.04859262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.78, Y:-17.00, Z:-0.31 [[ 9.90280742e-01 1.39080787e-01 7.66524366e-04 1.72775747e+02] [-1.39080751e-01 9.90281038e-01 -1.00586785e-04 -1.70004657e+01] [-7.73064234e-04 -6.99962879e-06 9.99999701e-01 -3.06010107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.80, Y:-17.00, Z:-0.31 [[ 9.90227671e-01 1.39458139e-01 7.66532920e-04 1.72804625e+02] [-1.39458103e-01 9.90227967e-01 -1.00521557e-04 -1.70035858e+01] [-7.73060885e-04 -7.35999911e-06 9.99999701e-01 -3.06753402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.83, Y:-17.01, Z:-0.31 [[ 9.90223133e-01 1.39490359e-01 7.66537822e-04 1.72832116e+02] [-1.39490323e-01 9.90223429e-01 -1.00484159e-04 -1.70072043e+01] [-7.73060283e-04 -7.42286920e-06 9.99999701e-01 -3.08886790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.86, Y:-17.01, Z:-0.31 [[ 9.90274358e-01 1.39126231e-01 7.66543903e-04 1.72860620e+02] [-1.39126195e-01 9.90274655e-01 -1.00437755e-04 -1.70107111e+01] [-7.73062525e-04 -7.18540303e-06 9.99999701e-01 -3.08171823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.89, Y:-17.01, Z:-0.31 [[ 9.90393880e-01 1.38272830e-01 7.66548786e-04 1.72887002e+02] [-1.38272794e-01 9.90394176e-01 -1.00400469e-04 -1.70137752e+01] [-7.73068111e-04 -6.55683272e-06 9.99999701e-01 -3.10070066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.92, Y:-17.02, Z:-0.31 [[ 9.90533596e-01 1.37268375e-01 7.66557259e-04 1.72915227e+02] [-1.37268338e-01 9.90533893e-01 -1.00335735e-04 -1.70173402e+01] [-7.73073870e-04 -5.83812504e-06 9.99999701e-01 -3.08654141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.94, Y:-17.02, Z:-0.31 [[ 9.90699069e-01 1.36068981e-01 7.66564679e-04 1.72942913e+02] [-1.36068944e-01 9.90699365e-01 -1.00279016e-04 -1.70194200e+01] [-7.73080005e-04 -4.95931860e-06 9.99999701e-01 -3.07415598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.97, Y:-17.02, Z:-0.31 [[ 9.90771210e-01 1.35542692e-01 7.66570808e-04 1.72971399e+02] [-1.35542655e-01 9.90771507e-01 -1.00232146e-04 -1.70215828e+01] [-7.73082249e-04 -4.59591750e-06 9.99999701e-01 -3.06236711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.00, Y:-17.02, Z:-0.31 [[ 9.90899229e-01 1.34603606e-01 7.66575672e-04 1.72998482e+02] [-1.34603569e-01 9.90899525e-01 -1.00194928e-04 -1.70244443e+01] [-7.73086068e-04 -3.90074462e-06 9.99999701e-01 -3.06983475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.03, Y:-17.03, Z:-0.31 [[ 9.91014724e-01 1.33750620e-01 7.66586926e-04 1.73027178e+02] [-1.33750583e-01 9.91015021e-01 -1.00108754e-04 -1.70280367e+01] [-7.73088766e-04 -3.32219855e-06 9.99999701e-01 -3.07803250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:-17.03, Z:-0.31 [[ 9.91148122e-01 1.32758475e-01 7.66591769e-04 1.73053747e+02] [-1.32758437e-01 9.91148418e-01 -1.00071651e-04 -1.70315321e+01] [-7.73091579e-04 -2.58569581e-06 9.99999701e-01 -3.10560013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.08, Y:-17.04, Z:-0.31 [[ 9.91571869e-01 1.29555555e-01 7.66630134e-04 1.73082253e+02] [-1.29555517e-01 9.91572165e-01 -9.97775016e-05 -1.70366889e+01] [-7.73095831e-04 -3.84599324e-07 9.99999701e-01 -3.10327313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.11, Y:-17.04, Z:-0.31 [[ 9.91811514e-01 1.27708002e-01 7.66610425e-04 1.73111279e+02] [-1.27707963e-01 9.91811810e-01 -9.99286964e-05 -1.70407479e+01] [-7.73094967e-04 1.20817589e-06 9.99999701e-01 -3.10743003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.14, Y:-17.04, Z:-0.31 [[ 9.92051181e-01 1.25832693e-01 7.66615287e-04 1.73139394e+02] [-1.25832654e-01 9.92051477e-01 -9.98913855e-05 -1.70449286e+01] [-7.73091430e-04 2.63213104e-06 9.99999701e-01 -3.11022338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:-17.05, Z:-0.31 [[ 9.92350826e-01 1.23447355e-01 7.66622510e-04 1.73166309e+02] [-1.23447315e-01 9.92351123e-01 -9.98359168e-05 -1.70521939e+01] [-7.73083189e-04 4.43476392e-06 9.99999701e-01 -3.13519077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.20, Y:-17.06, Z:-0.31 [[ 9.92408621e-01 1.22981873e-01 7.66628502e-04 1.73195197e+02] [-1.22981832e-01 9.92408917e-01 -9.97898872e-05 -1.70573756e+01] [-7.73081309e-04 4.75096651e-06 9.99999701e-01 -3.12476472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.22, Y:-17.06, Z:-0.31 [[ 9.92198119e-01 1.24668783e-01 7.66633236e-04 1.73223420e+02] [-1.24668743e-01 9.92198415e-01 -9.97535017e-05 -1.70610008e+01] [-7.73088430e-04 3.40003441e-06 9.99999701e-01 -3.10644550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:-17.06, Z:-0.31 [[ 9.91970860e-01 1.26464323e-01 7.66637960e-04 1.73250524e+02] [-1.26464284e-01 9.91971156e-01 -9.97171895e-05 -1.70646262e+01] [-7.73093410e-04 1.96422587e-06 9.99999701e-01 -3.11169490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.28, Y:-17.07, Z:-0.31 [[ 9.91331037e-01 1.31385645e-01 7.66642201e-04 1.73279110e+02] [-1.31385607e-01 9.91331333e-01 -9.96845707e-05 -1.70690303e+01] [-7.73093557e-04 -1.90534182e-06 9.99999701e-01 -3.08600580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.31, Y:-17.07, Z:-0.31 [[ 9.90945632e-01 1.34261560e-01 7.66646967e-04 1.73307978e+02] [-1.34261523e-01 9.90945929e-01 -9.96479059e-05 -1.70724154e+01] [-7.73084573e-04 -4.18553232e-06 9.99999701e-01 -3.06656030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.34, Y:-17.08, Z:-0.31 [[ 9.90545042e-01 1.37185759e-01 7.66651839e-04 1.73335847e+02] [-1.37185723e-01 9.90545338e-01 -9.96104056e-05 -1.70754454e+01] [-7.73068534e-04 -6.50509325e-06 9.99999701e-01 -3.07482847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.36, Y:-17.08, Z:-0.31 [[ 9.90179792e-01 1.39797684e-01 7.66657876e-04 1.73364865e+02] [-1.39797649e-01 9.90180088e-01 -9.95639216e-05 -1.70788394e+01] [-7.73048169e-04 -8.59078535e-06 9.99999701e-01 -3.07089132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.39, Y:-17.08, Z:-0.31 [[ 9.89517208e-01 1.44412978e-01 7.66662540e-04 1.73393640e+02] [-1.44412944e-01 9.89517504e-01 -9.95279906e-05 -1.70798970e+01] [-7.72999137e-04 -1.22313355e-05 9.99999701e-01 -3.05907893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.42, Y:-17.08, Z:-0.31 [[ 9.89241878e-01 1.46287112e-01 7.66667196e-04 1.73421791e+02] [-1.46287079e-01 9.89242175e-01 -9.94921114e-05 -1.70816625e+01] [-7.72973938e-04 -1.37317414e-05 9.99999701e-01 -3.05985763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.45, Y:-17.08, Z:-0.31 [[ 9.88844777e-01 1.48947708e-01 7.66674223e-04 1.73450495e+02] [-1.48947675e-01 9.88845074e-01 -9.94379367e-05 -1.70814095e+01] [-7.72933081e-04 -1.58656588e-05 9.99999701e-01 -3.06875958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.48, Y:-17.08, Z:-0.31 [[ 9.88695970e-01 1.49932285e-01 7.66679041e-04 1.73479490e+02] [-1.49932253e-01 9.88696268e-01 -9.94007741e-05 -1.70831433e+01] [-7.72916091e-04 -1.66727713e-05 9.99999701e-01 -3.07699586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.51, Y:-17.08, Z:-0.31 [[ 9.88599214e-01 1.50568942e-01 7.66683828e-04 1.73507798e+02] [-1.50568911e-01 9.88599511e-01 -9.93638376e-05 -1.70847113e+01] [-7.72904365e-04 -1.72077371e-05 9.99999701e-01 -3.08344491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.54, Y:-17.09, Z:-0.31 [[ 9.88610069e-01 1.50497655e-01 7.66690990e-04 1.73536068e+02] [-1.50497623e-01 9.88610366e-01 -9.93085482e-05 -1.70882368e+01] [-7.72904363e-04 -1.72077408e-05 9.99999701e-01 -3.08366518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.57, Y:-17.09, Z:-0.31 [[ 9.88555739e-01 1.50854111e-01 7.66698147e-04 1.73565233e+02] [-1.50854080e-01 9.88556036e-01 -9.92532620e-05 -1.70886539e+01] [-7.72896844e-04 -1.75421616e-05 9.99999701e-01 -3.07515364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.59, Y:-17.09, Z:-0.31 [[ 9.88671816e-01 1.50091478e-01 7.66703010e-04 1.73592292e+02] [-1.50091446e-01 9.88672113e-01 -9.92156782e-05 -1.70900824e+01] [-7.72909313e-04 -1.69838190e-05 9.99999701e-01 -3.08084633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.62, Y:-17.09, Z:-0.31 [[ 9.88895761e-01 1.48608835e-01 7.66711482e-04 1.73619119e+02] [-1.48608803e-01 9.88896058e-01 -9.91501693e-05 -1.70909141e+01] [-7.72932553e-04 -1.58908935e-05 9.99999701e-01 -3.09505209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.65, Y:-17.09, Z:-0.31 [[ 9.89562993e-01 1.44098909e-01 7.66719821e-04 1.73647186e+02] [-1.44098876e-01 9.89563290e-01 -9.90856412e-05 -1.70906976e+01] [-7.72995921e-04 -1.24319807e-05 9.99999701e-01 -3.10762668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.68, Y:-17.09, Z:-0.31 [[ 9.89976416e-01 1.41230692e-01 7.66725594e-04 1.73675779e+02] [-1.41230658e-01 9.89976713e-01 -9.90409463e-05 -1.70932937e+01] [-7.73028105e-04 -1.02369593e-05 9.99999701e-01 -3.10212653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.70, Y:-17.09, Z:-0.31 [[ 9.90981677e-01 1.33995255e-01 7.66730300e-04 1.73703064e+02] [-1.33995218e-01 9.90981973e-01 -9.90045002e-05 -1.70942658e+01] [-7.73082039e-04 -4.62654846e-06 9.99999701e-01 -3.11115529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.73, Y:-17.10, Z:-0.31 [[ 9.91496847e-01 1.30128452e-01 7.66738468e-04 1.73731398e+02] [-1.30128414e-01 9.91497144e-01 -9.89412093e-05 -1.70976903e+01] [-7.73094067e-04 -1.67456382e-06 9.99999701e-01 -3.09825803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.76, Y:-17.10, Z:-0.31 [[ 9.91953756e-01 1.26598416e-01 7.66743159e-04 1.73759505e+02] [-1.26598378e-01 9.91954052e-01 -9.89048389e-05 -1.71017478e+01] [-7.73095179e-04 1.04058642e-06 9.99999701e-01 -3.08629785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.174203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:173.79, Y:-17.11, Z:-0.31 [[ 9.92311891e-01 1.23759938e-01 7.66747911e-04 1.73786743e+02] [-1.23759899e-01 9.92312188e-01 -9.88679880e-05 -1.71054819e+01] [-7.73089193e-04 3.21523634e-06 9.99999701e-01 -3.09242224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.82, Y:-17.11, Z:-0.31 [[ 9.92664212e-01 1.20901504e-01 7.66755009e-04 1.73815080e+02] [-1.20901463e-01 9.92664508e-01 -9.88129119e-05 -1.71094956e+01] [-7.73077113e-04 5.38623875e-06 9.99999701e-01 -3.05895001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.84, Y:-17.11, Z:-0.31 [[ 9.92752807e-01 1.20171865e-01 7.66759806e-04 1.73842438e+02] [-1.20171824e-01 9.92753103e-01 -9.87756740e-05 -1.71126794e+01] [-7.73073233e-04 5.91690296e-06 9.99999701e-01 -3.06196752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.87, Y:-17.12, Z:-0.31 [[ 9.92869429e-01 1.19204484e-01 7.66765763e-04 1.73869857e+02] [-1.19204443e-01 9.92869725e-01 -9.87294109e-05 -1.71172723e+01] [-7.73067500e-04 6.62352784e-06 9.99999701e-01 -3.08041796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.90, Y:-17.12, Z:-0.31 [[ 9.92918674e-01 1.18793595e-01 7.66771546e-04 1.73898749e+02] [-1.18793554e-01 9.92918970e-01 -9.86844732e-05 -1.71219227e+01] [-7.73065097e-04 6.89813888e-06 9.99999701e-01 -3.06426904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.93, Y:-17.13, Z:-0.31 [[ 9.92900330e-01 1.18946821e-01 7.66776343e-04 1.73925901e+02] [-1.18946781e-01 9.92900626e-01 -9.86471891e-05 -1.71271351e+01] [-7.73066481e-04 6.74124929e-06 9.99999701e-01 -3.06262593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.95, Y:-17.13, Z:-0.31 [[ 9.92821586e-01 1.19602303e-01 7.66782286e-04 1.73953494e+02] [-1.19602263e-01 9.92821882e-01 -9.86009676e-05 -1.71314141e+01] [-7.73071135e-04 6.18427274e-06 9.99999701e-01 -3.05930539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.98, Y:-17.14, Z:-0.31 [[ 9.92702386e-01 1.20587665e-01 7.66788033e-04 1.73981416e+02] [-1.20587625e-01 9.92702682e-01 -9.85562568e-05 -1.71358700e+01] [-7.73077206e-04 5.37188331e-06 9.99999701e-01 -3.05527286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41420382200002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:174.01, Y:-17.14, Z:-0.30 [[ 9.92382079e-01 1.23195866e-01 7.66794867e-04 1.74009891e+02] [-1.23195826e-01 9.92382375e-01 -9.85030604e-05 -1.71430648e+01] [-7.73088881e-04 3.28674471e-06 9.99999701e-01 -3.03895153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44420382200002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.04, Y:-17.15, Z:-0.30 [[ 9.92164813e-01 1.24933564e-01 7.66798451e-04 1.74038203e+02] [-1.24933526e-01 9.92165109e-01 -9.84751509e-05 -1.71484483e+01] [-7.73093521e-04 1.90474573e-06 9.99999701e-01 -3.04255394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.07, Y:-17.15, Z:-0.31 [[ 9.91433385e-01 1.30611080e-01 7.66803284e-04 1.74065936e+02] [-1.30611043e-01 9.91433682e-01 -9.84375051e-05 -1.71539664e+01] [-7.73091632e-04 -2.55874742e-06 9.99999701e-01 -3.10564355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.09, Y:-17.16, Z:-0.31 [[ 9.90985961e-01 1.33963564e-01 7.66809285e-04 1.74094957e+02] [-1.33963528e-01 9.90986258e-01 -9.83907385e-05 -1.71570973e+01] [-7.73078237e-04 -5.22063645e-06 9.99999701e-01 -3.11514319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.12, Y:-17.16, Z:-0.31 [[ 9.90512196e-01 1.37422711e-01 7.66813696e-04 1.74122641e+02] [-1.37422676e-01 9.90512493e-01 -9.83563470e-05 -1.71593524e+01] [-7.73054941e-04 -7.95442913e-06 9.99999701e-01 -3.09107082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.15, Y:-17.16, Z:-0.31 [[ 9.90063090e-01 1.40621794e-01 7.66820831e-04 1.74150925e+02] [-1.40621760e-01 9.90063387e-01 -9.83006905e-05 -1.71616686e+01] [-7.73024448e-04 -1.05078095e-05 9.99999701e-01 -3.10065182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.18, Y:-17.16, Z:-0.31 [[ 9.89354167e-01 1.45525751e-01 7.66825620e-04 1.74178421e+02] [-1.45525718e-01 9.89354464e-01 -9.82633132e-05 -1.71641631e+01] [-7.72962193e-04 -1.43756308e-05 9.99999701e-01 -3.13626461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.21, Y:-17.17, Z:-0.32 [[ 9.89168585e-01 1.46781890e-01 7.66834166e-04 1.74206020e+02] [-1.46781858e-01 9.89168882e-01 -9.81965797e-05 -1.71682609e+01] [-7.72941974e-04 -1.54243720e-05 9.99999701e-01 -3.15499887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.23, Y:-17.17, Z:-0.32 [[ 9.89144930e-01 1.46941208e-01 7.66842441e-04 1.74234883e+02] [-1.46941176e-01 9.89145228e-01 -9.81319097e-05 -1.71725792e+01] [-7.72938163e-04 -1.56140491e-05 9.99999701e-01 -3.16087670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.26, Y:-17.18, Z:-0.32 [[ 9.89334222e-01 1.45661281e-01 7.66847147e-04 1.74263585e+02] [-1.45661249e-01 9.89334519e-01 -9.80951241e-05 -1.71755772e+01] [-7.72957015e-04 -1.46510497e-05 9.99999701e-01 -3.16392819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.29, Y:-17.18, Z:-0.32 [[ 9.89668619e-01 1.43371670e-01 7.66851854e-04 1.74290947e+02] [-1.43371637e-01 9.89668916e-01 -9.80583150e-05 -1.71781757e+01] [-7.72988228e-04 -1.28995683e-05 9.99999701e-01 -3.17813730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.32, Y:-17.18, Z:-0.32 [[ 9.90462235e-01 1.37782340e-01 7.66857701e-04 1.74319970e+02] [-1.37782306e-01 9.90462532e-01 -9.80125686e-05 -1.71813579e+01] [-7.73048221e-04 -8.58167454e-06 9.99999701e-01 -3.15175806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.35, Y:-17.19, Z:-0.31 [[ 9.90852788e-01 1.34945043e-01 7.66862398e-04 1.74347739e+02] [-1.34945008e-01 9.90853085e-01 -9.79758056e-05 -1.71852610e+01] [-7.73069322e-04 -6.40465230e-06 9.99999701e-01 -3.13356639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.38, Y:-17.19, Z:-0.31 [[ 9.91190844e-01 1.32439129e-01 7.66868214e-04 1.74375697e+02] [-1.32439092e-01 9.91191141e-01 -9.79302630e-05 -1.71898902e+01] [-7.73082778e-04 -4.49575017e-06 9.99999701e-01 -3.11203800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.40, Y:-17.19, Z:-0.31 [[ 9.91753348e-01 1.28158916e-01 7.66874021e-04 1.74403796e+02] [-1.28158879e-01 9.91753645e-01 -9.78847614e-05 -1.71945870e+01] [-7.73094911e-04 -1.20417463e-06 9.99999701e-01 -3.07624846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.43, Y:-17.20, Z:-0.31 [[ 9.91958731e-01 1.26559426e-01 7.66878741e-04 1.74431349e+02] [-1.26559389e-01 9.91959027e-01 -9.78477685e-05 -1.71977626e+01] [-7.73095848e-04 5.24360638e-09 9.99999701e-01 -3.07625029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:-17.20, Z:-0.31 [[ 9.92185666e-01 1.24767848e-01 7.66884578e-04 1.74460268e+02] [-1.24767810e-01 9.92185962e-01 -9.78020045e-05 -1.71998116e+01] [-7.73094659e-04 1.35523771e-06 9.99999701e-01 -3.07172410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:-17.20, Z:-0.31 [[ 9.92224486e-01 1.24458756e-01 7.66889349e-04 1.74488111e+02] [-1.24458717e-01 9.92224782e-01 -9.77645759e-05 -1.72021651e+01] [-7.73094275e-04 1.55834123e-06 9.99999701e-01 -3.11116561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.954203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.52, Y:-17.20, Z:-0.31 [[ 9.92176805e-01 1.24838290e-01 7.66895267e-04 1.74516821e+02] [-1.24838252e-01 9.92177102e-01 -9.77181338e-05 -1.72047509e+01] [-7.73094888e-04 1.21580140e-06 9.99999701e-01 -3.10014365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.54, Y:-17.21, Z:-0.31 [[ 9.92019082e-01 1.26085494e-01 7.66899957e-04 1.74544097e+02] [-1.26085456e-01 9.92019379e-01 -9.76813119e-05 -1.72062849e+01] [-7.73095816e-04 2.06794264e-07 9.99999701e-01 -3.11740057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.57, Y:-17.21, Z:-0.31 [[ 9.91894049e-01 1.27065370e-01 7.66908130e-04 1.74572778e+02] [-1.27065332e-01 9.91894345e-01 -9.76171035e-05 -1.72093929e+01] [-7.73095591e-04 -6.21612098e-07 9.99999701e-01 -3.12040131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.60, Y:-17.21, Z:-0.31 [[ 9.91776820e-01 1.27977150e-01 7.66912716e-04 1.74600819e+02] [-1.27977113e-01 9.91777117e-01 -9.75810617e-05 -1.72117084e+01] [-7.73094628e-04 -1.36863992e-06 9.99999701e-01 -3.13988998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.63, Y:-17.21, Z:-0.31 [[ 9.91567591e-01 1.29588289e-01 7.66920711e-04 1.74628787e+02] [-1.29588253e-01 9.91567887e-01 -9.75181881e-05 -1.72099802e+01] [-7.73091164e-04 -2.68803999e-06 9.99999701e-01 -3.13350283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.66, Y:-17.21, Z:-0.31 [[ 9.91528210e-01 1.29889259e-01 7.66927490e-04 1.74655608e+02] [-1.29889222e-01 9.91528507e-01 -9.74648411e-05 -1.72106623e+01] [-7.73090105e-04 -2.97647593e-06 9.99999701e-01 -3.13352839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.69, Y:-17.21, Z:-0.31 [[ 9.91651145e-01 1.28947346e-01 7.66935360e-04 1.74685054e+02] [-1.28947310e-01 9.91651442e-01 -9.74028737e-05 -1.72111030e+01] [-7.73092398e-04 -2.30458013e-06 9.99999701e-01 -3.11718878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.71, Y:-17.21, Z:-0.31 [[ 9.91895912e-01 1.27050824e-01 7.66940050e-04 1.74713532e+02] [-1.27050787e-01 9.91896208e-01 -9.73659354e-05 -1.72139867e+01] [-7.73095350e-04 -8.63463494e-07 9.99999701e-01 -3.10956777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19420382200002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:174.74, Y:-17.22, Z:-0.31 [[ 9.92204390e-01 1.24618858e-01 7.66944811e-04 1.74741053e+02] [-1.24618820e-01 9.92204687e-01 -9.73284126e-05 -1.72176003e+01] [-7.73095192e-04 9.93920932e-07 9.99999701e-01 -3.12546174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.77, Y:-17.22, Z:-0.31 [[ 9.93059996e-01 1.17606358e-01 7.66950739e-04 1.74769415e+02] [-1.17606318e-01 9.93060292e-01 -9.72816809e-05 -1.72226009e+01] [-7.73069269e-04 6.40829311e-06 9.99999701e-01 -3.09349044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.80, Y:-17.23, Z:-0.31 [[ 9.93504225e-01 1.13792648e-01 7.66955427e-04 1.74796450e+02] [-1.13792607e-01 9.93504521e-01 -9.72447078e-05 -1.72265105e+01] [-7.73039417e-04 9.33917054e-06 9.99999701e-01 -3.09664996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.82, Y:-17.23, Z:-0.31 [[ 9.94271011e-01 1.06885774e-01 7.66965667e-04 1.74824347e+02] [-1.06885730e-01 9.94271307e-01 -9.71638802e-05 -1.72321535e+01] [-7.72957392e-04 1.46295439e-05 9.99999701e-01 -3.06797073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.85, Y:-17.24, Z:-0.31 [[ 9.94566079e-01 1.04104405e-01 7.66970465e-04 1.74851176e+02] [-1.04104361e-01 9.94566374e-01 -9.71259885e-05 -1.72381739e+01] [-7.72914278e-04 1.67532432e-05 9.99999701e-01 -3.08034807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.88, Y:-17.24, Z:-0.31 [[ 9.94786817e-01 1.01973532e-01 7.66976419e-04 1.74879064e+02] [-1.01973488e-01 9.94787112e-01 -9.70789454e-05 -1.72444633e+01] [-7.72877740e-04 1.83615947e-05 9.99999701e-01 -3.08069219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.374203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:174.91, Y:-17.25, Z:-0.31 [[ 9.94935520e-01 1.00512299e-01 7.66980944e-04 1.74905664e+02] [-1.00512254e-01 9.94935816e-01 -9.70431893e-05 -1.72520387e+01] [-7.72850845e-04 1.94607325e-05 9.99999701e-01 -3.10250668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.404203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:174.93, Y:-17.26, Z:-0.31 [[ 9.94893614e-01 1.00926250e-01 7.67022694e-04 1.74933583e+02] [-1.00926205e-01 9.94893910e-01 -9.67131238e-05 -1.72577883e+01] [-7.72867100e-04 1.88065793e-05 9.99999701e-01 -3.09513008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.96, Y:-17.26, Z:-0.31 [[ 9.94765103e-01 1.02185133e-01 7.66992162e-04 1.74961582e+02] [-1.02185088e-01 9.94765399e-01 -9.69546601e-05 -1.72637078e+01] [-7.72884589e-04 1.80719505e-05 9.99999701e-01 -3.08588342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.99, Y:-17.27, Z:-0.31 [[ 9.94298146e-01 1.06633053e-01 7.66996705e-04 1.74989221e+02] [-1.06633010e-01 9.94298442e-01 -9.69187111e-05 -1.72703521e+01] [-7.72958367e-04 1.45789279e-05 9.99999701e-01 -3.10034130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.02, Y:-17.28, Z:-0.31 [[ 9.94010785e-01 1.09279325e-01 7.67002342e-04 1.75016855e+02] [-1.09279283e-01 9.94011081e-01 -9.68740796e-05 -1.72750619e+01] [-7.72995161e-04 1.24764143e-05 9.99999701e-01 -3.10855043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.04, Y:-17.28, Z:-0.31 [[ 9.93470686e-01 1.14085089e-01 7.67007961e-04 1.75044438e+02] [-1.14085048e-01 9.93470982e-01 -9.68295665e-05 -1.72830158e+01] [-7.73046962e-04 8.69319570e-06 9.99999701e-01 -3.10083444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.07, Y:-17.29, Z:-0.31 [[ 9.93213834e-01 1.16300011e-01 7.67014877e-04 1.75072772e+02] [-1.16299971e-01 9.93214130e-01 -9.67747571e-05 -1.72882419e+01] [-7.73064918e-04 6.91421948e-06 9.99999701e-01 -3.09848751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.10, Y:-17.29, Z:-0.31 [[ 9.93004984e-01 1.18069955e-01 7.67019586e-04 1.75100515e+02] [-1.18069915e-01 9.93005280e-01 -9.67374158e-05 -1.72927363e+01] [-7.73076281e-04 5.49879867e-06 9.99999701e-01 -3.11940019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.13, Y:-17.30, Z:-0.31 [[ 9.92803093e-01 1.19755714e-01 7.67025445e-04 1.75127912e+02] [-1.19755675e-01 9.92803389e-01 -9.66909360e-05 -1.72969673e+01] [-7.73084754e-04 4.13941043e-06 9.99999701e-01 -3.13699038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.16, Y:-17.31, Z:-0.32 [[ 9.92458076e-01 1.22582136e-01 7.67031774e-04 1.75155776e+02] [-1.22582098e-01 9.92458372e-01 -9.66407033e-05 -1.73052642e+01] [-7.73093530e-04 1.88748254e-06 9.99999701e-01 -3.15286980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.18, Y:-17.31, Z:-0.31 [[ 9.92273689e-01 1.24065859e-01 7.67036292e-04 1.75183891e+02] [-1.24065821e-01 9.92273986e-01 -9.66048290e-05 -1.73120846e+01] [-7.73095520e-04 6.95442773e-07 9.99999701e-01 -3.13946943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.21, Y:-17.32, Z:-0.31 [[ 9.91759104e-01 1.28114366e-01 7.67040912e-04 1.75211189e+02] [-1.28114330e-01 9.91759401e-01 -9.65681325e-05 -1.73187827e+01] [-7.73091801e-04 -2.49660804e-06 9.99999701e-01 -3.13479987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.24, Y:-17.32, Z:-0.31 [[ 9.91458256e-01 1.30422157e-01 7.67046666e-04 1.75239935e+02] [-1.30422121e-01 9.91458552e-01 -9.65224134e-05 -1.73229506e+01] [-7.73083638e-04 -4.34190942e-06 9.99999701e-01 -3.11738576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.27, Y:-17.33, Z:-0.31 [[ 9.91173635e-01 1.32567860e-01 7.67051185e-04 1.75268359e+02] [-1.32567825e-01 9.91173931e-01 -9.64864841e-05 -1.73270981e+01] [-7.73072145e-04 -6.05144823e-06 9.99999701e-01 -3.11172763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.30, Y:-17.33, Z:-0.31 [[ 9.90617729e-01 1.36659896e-01 7.67055710e-04 1.75297013e+02] [-1.36659862e-01 9.90618026e-01 -9.64505002e-05 -1.73320278e+01] [-7.73040128e-04 -9.28015219e-06 9.99999701e-01 -3.09189085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.33, Y:-17.34, Z:-0.31 [[ 9.90627488e-01 1.36589133e-01 7.67060305e-04 1.75325298e+02] [-1.36589099e-01 9.90627785e-01 -9.64139389e-05 -1.73354454e+01] [-7.73040348e-04 -9.26177772e-06 9.99999701e-01 -3.09211111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.35, Y:-17.34, Z:-0.31 [[ 9.90413784e-01 1.38130183e-01 7.67067188e-04 1.75353901e+02] [-1.38130150e-01 9.90414081e-01 -9.63591447e-05 -1.73398179e+01] [-7.73024251e-04 -1.05196804e-05 9.99999701e-01 -3.07631743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.38, Y:-17.35, Z:-0.31 [[ 9.90099817e-01 1.40362975e-01 7.67071932e-04 1.75380092e+02] [-1.40362942e-01 9.90100114e-01 -9.63213686e-05 -1.73459623e+01] [-7.72997961e-04 -1.23007040e-05 9.99999701e-01 -3.10176205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.41, Y:-17.35, Z:-0.31 [[ 9.90000386e-01 1.41062562e-01 7.67080182e-04 1.75408916e+02] [-1.41062529e-01 9.90000684e-01 -9.62556208e-05 -1.73506471e+01] [-7.72987969e-04 -1.29131690e-05 9.99999701e-01 -3.11447824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.44, Y:-17.35, Z:-0.31 [[ 9.89951071e-01 1.41408235e-01 7.67084773e-04 1.75438001e+02] [-1.41408203e-01 9.89951368e-01 -9.62190250e-05 -1.73545824e+01] [-7.72982783e-04 -1.32199523e-05 9.99999701e-01 -3.11782359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.47, Y:-17.36, Z:-0.32 [[ 9.90033293e-01 1.40831426e-01 7.67088333e-04 1.75465337e+02] [-1.40831394e-01 9.90033590e-01 -9.61906313e-05 -1.73579239e+01] [-7.72989880e-04 -1.27981915e-05 9.99999701e-01 -3.16745477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.49, Y:-17.36, Z:-0.32 [[ 9.90209656e-01 1.39585993e-01 7.67094246e-04 1.75493498e+02] [-1.39585961e-01 9.90209953e-01 -9.61434516e-05 -1.73613903e+01] [-7.73004637e-04 -1.18734132e-05 9.99999701e-01 -3.16283723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.52, Y:-17.37, Z:-0.32 [[ 9.90676651e-01 1.36232098e-01 7.67042453e-04 1.75520350e+02] [-1.36232064e-01 9.90676948e-01 -9.65570053e-05 -1.73668761e+01] [-7.73045440e-04 -8.83900599e-06 9.99999701e-01 -3.18947474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.55, Y:-17.37, Z:-0.32 [[ 9.90984499e-01 1.33974378e-01 7.67105991e-04 1.75548953e+02] [-1.33974343e-01 9.90984796e-01 -9.60495585e-05 -1.73723414e+01] [-7.73058554e-04 -7.58889777e-06 9.99999701e-01 -3.19564490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.094203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:175.58, Y:-17.38, Z:-0.32 [[ 9.91566682e-01 1.29595245e-01 7.67110467e-04 1.75577806e+02] [-1.29595210e-01 9.91566978e-01 -9.60137986e-05 -1.73779421e+01] [-7.73084339e-04 -4.20975826e-06 9.99999701e-01 -3.19373727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.61, Y:-17.38, Z:-0.32 [[ 9.91791529e-01 1.27863105e-01 7.67114004e-04 1.75605467e+02] [-1.27863069e-01 9.91791826e-01 -9.59855289e-05 -1.73821077e+01] [-7.73090406e-04 -2.88791641e-06 9.99999701e-01 -3.21935379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.63, Y:-17.39, Z:-0.32 [[ 9.92038376e-01 1.25933599e-01 7.67119863e-04 1.75633630e+02] [-1.25933563e-01 9.92038673e-01 -9.59386830e-05 -1.73860969e+01] [-7.73094474e-04 -1.43128213e-06 9.99999701e-01 -3.22210151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.66, Y:-17.39, Z:-0.32 [[ 9.92326645e-01 1.23641587e-01 7.67124413e-04 1.75661793e+02] [-1.23641550e-01 9.92326941e-01 -9.59022819e-05 -1.73901286e+01] [-7.73095733e-04 3.17938394e-07 9.99999701e-01 -3.20805985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.69, Y:-17.39, Z:-0.32 [[ 9.92392685e-01 1.23110397e-01 7.67129121e-04 1.75689076e+02] [-1.23110360e-01 9.92392982e-01 -9.58646066e-05 -1.73938386e+01] [-7.73095486e-04 6.93791940e-07 9.99999701e-01 -3.21559127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.72, Y:-17.40, Z:-0.32 [[ 9.92449142e-01 1.22654442e-01 7.67134985e-04 1.75717257e+02] [-1.22654404e-01 9.92449438e-01 -9.58176586e-05 -1.73983809e+01] [-7.73095147e-04 1.00166855e-06 9.99999701e-01 -3.20839509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.74, Y:-17.41, Z:-0.32 [[ 9.92583486e-01 1.21562476e-01 7.67139644e-04 1.75744304e+02] [-1.21562438e-01 9.92583782e-01 -9.57803462e-05 -1.74062379e+01] [-7.73093665e-04 1.81462451e-06 9.99999701e-01 -3.17454719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.77, Y:-17.41, Z:-0.32 [[ 9.92699101e-01 1.20614704e-01 7.67145431e-04 1.75771816e+02] [-1.20614666e-01 9.92699397e-01 -9.57339747e-05 -1.74110020e+01] [-7.73091732e-04 2.50604104e-06 9.99999701e-01 -3.16908417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.80, Y:-17.42, Z:-0.31 [[ 9.92967146e-01 1.18387743e-01 7.67151178e-04 1.75800320e+02] [-1.18387704e-01 9.92967443e-01 -9.56879007e-05 -1.74153960e+01] [-7.73084418e-04 4.19367507e-06 9.99999701e-01 -3.12708681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.83, Y:-17.42, Z:-0.31 [[ 9.93108099e-01 1.17199467e-01 7.67155836e-04 1.75827468e+02] [-1.17199429e-01 9.93108395e-01 -9.56505395e-05 -1.74205720e+01] [-7.73079093e-04 5.08109995e-06 9.99999701e-01 -3.13741235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.85, Y:-17.43, Z:-0.31 [[ 9.93276304e-01 1.15765260e-01 7.67162268e-04 1.75854478e+02] [-1.15765220e-01 9.93276600e-01 -9.55989204e-05 -1.74268716e+01] [-7.73071364e-04 6.14543320e-06 9.99999701e-01 -3.13304014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.88, Y:-17.44, Z:-0.31 [[ 9.93595808e-01 1.12990185e-01 7.67168389e-04 1.75883336e+02] [-1.12990145e-01 9.93596104e-01 -9.55497786e-05 -1.74367295e+01] [-7.73051709e-04 8.25539217e-06 9.99999701e-01 -3.10136216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.91, Y:-17.44, Z:-0.31 [[ 9.93662224e-01 1.12404607e-01 7.67170625e-04 1.75911799e+02] [-1.12404567e-01 9.93662520e-01 -9.55318216e-05 -1.74430143e+01] [-7.73046914e-04 8.69288041e-06 9.99999701e-01 -3.09462131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.94, Y:-17.45, Z:-0.31 [[ 9.93570463e-01 1.13212833e-01 7.67175103e-04 1.75940443e+02] [-1.13212793e-01 9.93570760e-01 -9.54958443e-05 -1.74528213e+01] [-7.73054105e-04 8.02781403e-06 9.99999701e-01 -3.08556319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.97, Y:-17.46, Z:-0.31 [[ 9.93404116e-01 1.14663303e-01 7.67177430e-04 1.75968992e+02] [-1.14663263e-01 9.93404413e-01 -9.54771464e-05 -1.74588674e+01] [-7.73065169e-04 6.88032273e-06 9.99999701e-01 -3.09435452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.00, Y:-17.46, Z:-0.31 [[ 9.93177555e-01 1.16609411e-01 7.67179842e-04 1.75996951e+02] [-1.16609372e-01 9.93177852e-01 -9.54577634e-05 -1.74638901e+01] [-7.73077301e-04 5.34614858e-06 9.99999701e-01 -3.11905371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.03, Y:-17.47, Z:-0.32 [[ 9.92886751e-01 1.19060118e-01 7.67267822e-04 1.76025394e+02] [-1.19060080e-01 9.92887047e-01 -9.47501774e-05 -1.74692117e+01] [-7.73091250e-04 2.72522729e-06 9.99999701e-01 -3.15361603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.05, Y:-17.48, Z:-0.32 [[ 9.92160507e-01 1.24967756e-01 7.67186893e-04 1.76053289e+02] [-1.24967719e-01 9.92160804e-01 -9.54009904e-05 -1.74768903e+01] [-7.73094812e-04 -1.22050110e-06 9.99999701e-01 -3.17686261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.08, Y:-17.48, Z:-0.32 [[ 9.91746102e-01 1.28214980e-01 7.67190373e-04 1.76080592e+02] [-1.28214945e-01 9.91746398e-01 -9.53729968e-05 -1.74822004e+01] [-7.73086536e-04 -3.77947351e-06 9.99999701e-01 -3.18500174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.11, Y:-17.49, Z:-0.32 [[ 9.90852783e-01 1.34945075e-01 7.67196172e-04 1.76107815e+02] [-1.34945042e-01 9.90853080e-01 -9.53263205e-05 -1.74871947e+01] [-7.73042508e-04 -9.07496980e-06 9.99999701e-01 -3.17587257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.14, Y:-17.49, Z:-0.32 [[ 9.90456904e-01 1.37820654e-01 7.67201765e-04 1.76136133e+02] [-1.37820622e-01 9.90457201e-01 -9.52812923e-05 -1.74909225e+01] [-7.73012242e-04 -1.13642105e-05 9.99999701e-01 -3.17701419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.16, Y:-17.50, Z:-0.32 [[ 9.89744387e-01 1.42847681e-01 7.67206222e-04 1.76163959e+02] [-1.42847650e-01 9.89744684e-01 -9.52453879e-05 -1.74958933e+01] [-7.72943863e-04 -1.53250181e-05 9.99999701e-01 -3.19103935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.19, Y:-17.50, Z:-0.32 [[ 9.89425145e-01 1.45042383e-01 7.67212044e-04 1.76192005e+02] [-1.45042353e-01 9.89425443e-01 -9.51984704e-05 -1.74999676e+01] [-7.72906929e-04 -1.70864795e-05 9.99999701e-01 -3.18383830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:-17.50, Z:-0.32 [[ 9.89171904e-01 1.46759513e-01 7.67217571e-04 1.76220829e+02] [-1.46759484e-01 9.89172202e-01 -9.51539056e-05 -1.75033379e+01] [-7.72875035e-04 -1.84728845e-05 9.99999701e-01 -3.17613867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:-17.51, Z:-0.32 [[ 9.89015879e-01 1.47807314e-01 7.67221984e-04 1.76248244e+02] [-1.47807285e-01 9.89016177e-01 -9.51183088e-05 -1.75065904e+01] [-7.72854135e-04 -1.93274803e-05 9.99999701e-01 -3.17367571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:-17.51, Z:-0.32 [[ 9.89034944e-01 1.47679688e-01 7.67227439e-04 1.76277000e+02] [-1.47679658e-01 9.89035242e-01 -9.50742904e-05 -1.75118570e+01] [-7.72855517e-04 -1.92720905e-05 9.99999701e-01 -3.17249509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:-17.52, Z:-0.32 [[ 9.89135959e-01 1.47001587e-01 7.67231849e-04 1.76305191e+02] [-1.47001557e-01 9.89136256e-01 -9.50386834e-05 -1.75161152e+01] [-7.72867676e-04 -1.87780973e-05 9.99999701e-01 -3.17691432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.33, Y:-17.52, Z:-0.32 [[ 9.89375064e-01 1.45383612e-01 7.67236265e-04 1.76334317e+02] [-1.45383582e-01 9.89375361e-01 -9.50030204e-05 -1.75196762e+01] [-7.72896539e-04 -1.75499368e-05 9.99999701e-01 -3.19920367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.36, Y:-17.52, Z:-0.32 [[ 9.89512845e-01 1.44442866e-01 7.67239592e-04 1.76361631e+02] [-1.44442836e-01 9.89513142e-01 -9.49761487e-05 -1.75227887e+01] [-7.72912286e-04 -1.68421431e-05 9.99999701e-01 -3.23560359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.39, Y:-17.53, Z:-0.32 [[ 9.89617559e-01 1.43723688e-01 7.67245117e-04 1.76389955e+02] [-1.43723657e-01 9.89617856e-01 -9.49314908e-05 -1.75256191e+01] [-7.72923372e-04 -1.63254042e-05 9.99999701e-01 -3.18886188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.42, Y:-17.53, Z:-0.32 [[ 9.89847886e-01 1.42128721e-01 7.67249733e-04 1.76418273e+02] [-1.42128691e-01 9.89848183e-01 -9.48941730e-05 -1.75285938e+01] [-7.72947942e-04 -1.51174032e-05 9.99999701e-01 -3.17635580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.45, Y:-17.53, Z:-0.32 [[ 9.89959651e-01 1.41348151e-01 7.67254348e-04 1.76446043e+02] [-1.41348120e-01 9.89959949e-01 -9.48568418e-05 -1.75314485e+01] [-7.72958914e-04 -1.45455134e-05 9.99999701e-01 -3.21017491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.47, Y:-17.53, Z:-0.32 [[ 9.90087788e-01 1.40447798e-01 7.67260072e-04 1.76474405e+02] [-1.40447766e-01 9.90088085e-01 -9.48105194e-05 -1.75340104e+01] [-7.72970984e-04 -1.38892260e-05 9.99999701e-01 -3.16625887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.50, Y:-17.53, Z:-0.32 [[ 9.90394542e-01 1.38268078e-01 7.67263545e-04 1.76503122e+02] [-1.38268046e-01 9.90394840e-01 -9.47824105e-05 -1.75344679e+01] [-7.72999237e-04 -1.22160493e-05 9.99999701e-01 -3.16939518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.53, Y:-17.54, Z:-0.32 [[ 9.90577034e-01 1.36954555e-01 7.67267017e-04 1.76531504e+02] [-1.36954523e-01 9.90577332e-01 -9.47542901e-05 -1.75370783e+01] [-7.73014346e-04 -1.12192645e-05 9.99999701e-01 -3.16856086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.56, Y:-17.54, Z:-0.32 [[ 9.91068134e-01 1.33354285e-01 7.67271497e-04 1.76559832e+02] [-1.33354252e-01 9.91068431e-01 -9.47180059e-05 -1.75403162e+01] [-7.73049610e-04 -8.44691929e-06 9.99999701e-01 -3.18283727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.174203822 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:176.59, Y:-17.54, Z:-0.32 [[ 9.91329177e-01 1.31399676e-01 7.67274842e-04 1.76588652e+02] [-1.31399642e-01 9.91329474e-01 -9.46908973e-05 -1.75434920e+01] [-7.73064519e-04 -6.94979020e-06 9.99999701e-01 -3.18720140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.204203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:176.62, Y:-17.55, Z:-0.32 [[ 9.91615037e-01 1.29224727e-01 7.67279285e-04 1.76617088e+02] [-1.29224693e-01 9.91615334e-01 -9.46548829e-05 -1.75470273e+01] [-7.73077656e-04 -5.29022458e-06 9.99999701e-01 -3.18600484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.65, Y:-17.55, Z:-0.32 [[ 9.92091013e-01 1.25518262e-01 7.67283801e-04 1.76645912e+02] [-1.25518226e-01 9.92091309e-01 -9.46182648e-05 -1.75507861e+01] [-7.73091911e-04 -2.43817162e-06 9.99999701e-01 -3.22331898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.67, Y:-17.55, Z:-0.32 [[ 9.92215385e-01 1.24531285e-01 7.67287179e-04 1.76674962e+02] [-1.24531249e-01 9.92215682e-01 -9.45908599e-05 -1.75545779e+01] [-7.73093893e-04 -1.69672435e-06 9.99999701e-01 -3.23052088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.70, Y:-17.56, Z:-0.32 [[ 9.92270723e-01 1.24089577e-01 7.67289402e-04 1.76702563e+02] [-1.24089541e-01 9.92271020e-01 -9.45728256e-05 -1.75578481e+01] [-7.73094539e-04 -1.37074378e-06 9.99999701e-01 -3.22827842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.73, Y:-17.56, Z:-0.32 [[ 9.92206444e-01 1.24602503e-01 7.67294924e-04 1.76731901e+02] [-1.24602467e-01 9.92206741e-01 -9.45280054e-05 -1.75596419e+01] [-7.73093621e-04 -1.81554435e-06 9.99999701e-01 -3.18514386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.76, Y:-17.56, Z:-0.32 [[ 9.92072881e-01 1.25661487e-01 7.67297221e-04 1.76760948e+02] [-1.25661451e-01 9.92073178e-01 -9.45093566e-05 -1.75616682e+01] [-7.73091179e-04 -2.65951259e-06 9.99999701e-01 -3.17521227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.79, Y:-17.56, Z:-0.32 [[ 9.91828150e-01 1.27578730e-01 7.67301863e-04 1.76789089e+02] [-1.27578695e-01 9.91828447e-01 -9.44716484e-05 -1.75630774e+01] [-7.73084388e-04 -4.19173049e-06 9.99999701e-01 -3.20450439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.82, Y:-17.57, Z:-0.32 [[ 9.91731111e-01 1.28330880e-01 7.67307644e-04 1.76817881e+02] [-1.28330845e-01 9.91731408e-01 -9.44246763e-05 -1.75664474e+01] [-7.73080692e-04 -4.82534912e-06 9.99999701e-01 -3.19528850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.85, Y:-17.57, Z:-0.32 [[ 9.91659813e-01 1.28880667e-01 7.67312097e-04 1.76846413e+02] [-1.28880632e-01 9.91660110e-01 -9.43884757e-05 -1.75702091e+01] [-7.73077648e-04 -5.29041006e-06 9.99999701e-01 -3.19182287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47420382200002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:176.87, Y:-17.57, Z:-0.32 [[ 9.91618507e-01 1.29198093e-01 7.67316542e-04 1.76873849e+02] [-1.29198059e-01 9.91618804e-01 -9.43523275e-05 -1.75729110e+01] [-7.73075652e-04 -5.57429345e-06 9.99999701e-01 -3.19256398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.90, Y:-17.58, Z:-0.32 [[ 9.91676600e-01 1.28751438e-01 7.67322059e-04 1.76902909e+02] [-1.28751403e-01 9.91676897e-01 -9.43074379e-05 -1.75760773e+01] [-7.73077776e-04 -5.27131262e-06 9.99999701e-01 -3.17419453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.93, Y:-17.58, Z:-0.32 [[ 9.92042049e-01 1.25904661e-01 7.67326521e-04 1.76931746e+02] [-1.25904626e-01 9.92042346e-01 -9.42711183e-05 -1.75784027e+01] [-7.73089575e-04 -3.08904526e-06 9.99999701e-01 -3.15194762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.96, Y:-17.58, Z:-0.31 [[ 9.92260244e-01 1.24173344e-01 7.67329335e-04 1.76960397e+02] [-1.24173308e-01 9.92260541e-01 -9.42482081e-05 -1.75829140e+01] [-7.73093736e-04 -1.76307173e-06 9.99999701e-01 -3.12972339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.99, Y:-17.59, Z:-0.31 [[ 9.92466053e-01 1.22517526e-01 7.67333955e-04 1.76988862e+02] [-1.22517490e-01 9.92466350e-01 -9.42105824e-05 -1.75884364e+01] [-7.73095577e-04 -5.11025277e-07 9.99999701e-01 -3.14836007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.02, Y:-17.60, Z:-0.31 [[ 9.92749733e-01 1.20197250e-01 7.67337404e-04 1.77017516e+02] [-1.20197213e-01 9.92750030e-01 -9.41824776e-05 -1.75953428e+01] [-7.73094705e-04 1.26781235e-06 9.99999701e-01 -3.14645893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.05, Y:-17.60, Z:-0.31 [[ 9.92836145e-01 1.19481385e-01 7.67341819e-04 1.77046805e+02] [-1.19481348e-01 9.92836441e-01 -9.41464902e-05 -1.75997319e+01] [-7.73093674e-04 1.78900345e-06 9.99999701e-01 -3.13378284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.08, Y:-17.61, Z:-0.31 [[ 9.92875917e-01 1.19150432e-01 7.67344113e-04 1.77075935e+02] [-1.19150395e-01 9.92876213e-01 -9.41277935e-05 -1.76051006e+01] [-7.73093084e-04 2.02786503e-06 9.99999701e-01 -3.13642021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.11, Y:-17.61, Z:-0.31 [[ 9.92878808e-01 1.19126332e-01 7.67346399e-04 1.77105877e+02] [-1.19126295e-01 9.92879105e-01 -9.41091555e-05 -1.76087275e+01] [-7.73093084e-04 2.02785299e-06 9.99999701e-01 -3.13665338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.744203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:177.13, Y:-17.62, Z:-0.32 [[ 9.92910565e-01 1.18861348e-01 7.67348683e-04 1.77133558e+02] [-1.18861311e-01 9.92910862e-01 -9.40905293e-05 -1.76153969e+01] [-7.73092569e-04 2.21541027e-06 9.99999701e-01 -3.15138888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.16, Y:-17.62, Z:-0.32 [[ 9.92880175e-01 1.19114944e-01 7.67352089e-04 1.77162833e+02] [-1.19114907e-01 9.92880471e-01 -9.40627430e-05 -1.76199588e+01] [-7.73093182e-04 1.98996020e-06 9.99999701e-01 -3.15306978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.19, Y:-17.63, Z:-0.32 [[ 9.92771630e-01 1.20016258e-01 7.67354346e-04 1.77191155e+02] [-1.20016221e-01 9.92771926e-01 -9.40443269e-05 -1.76254770e+01] [-7.73094700e-04 1.26957095e-06 9.99999701e-01 -3.16836654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.22, Y:-17.63, Z:-0.31 [[ 9.92697114e-01 1.20631056e-01 7.67357718e-04 1.77220598e+02] [-1.20631019e-01 9.92697410e-01 -9.40168020e-05 -1.76306209e+01] [-7.73095366e-04 7.63064310e-07 9.99999701e-01 -3.14689601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.25, Y:-17.64, Z:-0.31 [[ 9.92610763e-01 1.21339544e-01 7.67359982e-04 1.77251080e+02] [-1.21339508e-01 9.92611059e-01 -9.39983232e-05 -1.76361798e+01] [-7.73095718e-04 1.92664718e-07 9.99999701e-01 -3.12725476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.28, Y:-17.64, Z:-0.31 [[ 9.92451376e-01 1.22636364e-01 7.67359982e-04 1.77279453e+02] [-1.22636328e-01 9.92451673e-01 -9.39983232e-05 -1.76439904e+01] [-7.73095310e-04 -8.17444852e-07 9.99999701e-01 -3.12755227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.31, Y:-17.65, Z:-0.31 [[ 9.92374372e-01 1.23257926e-01 7.67359464e-04 1.77309050e+02] [-1.23257890e-01 9.92374669e-01 -9.40025490e-05 -1.76500754e+01] [-7.73094653e-04 -1.29738776e-06 9.99999701e-01 -3.11367816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.34, Y:-17.66, Z:-0.31 [[ 9.92137587e-01 1.25149586e-01 7.67359464e-04 1.77338580e+02] [-1.25149551e-01 9.92137884e-01 -9.40025490e-05 -1.76568405e+01] [-7.73090775e-04 -2.77123015e-06 9.99999701e-01 -3.11707659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.37, Y:-17.66, Z:-0.31 [[ 9.91961891e-01 1.26534649e-01 7.67359464e-04 1.77367732e+02] [-1.26534614e-01 9.91962188e-01 -9.40025490e-05 -1.76619124e+01] [-7.73086152e-04 -3.85058762e-06 9.99999701e-01 -3.10214698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.40, Y:-17.67, Z:-0.31 [[ 9.91702401e-01 1.28552555e-01 7.67361754e-04 1.77395639e+02] [-1.28552521e-01 9.91702698e-01 -9.39838532e-05 -1.76673236e+01] [-7.73076586e-04 -5.44227528e-06 9.99999701e-01 -3.14617901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.43, Y:-17.67, Z:-0.31 [[ 9.91527968e-01 1.29891107e-01 7.67550473e-04 1.77425603e+02] [-1.29891074e-01 9.91528265e-01 -9.24429615e-05 -1.76724471e+01] [-7.73055508e-04 -8.03817376e-06 9.99999701e-01 -3.12250157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.46, Y:-17.68, Z:-0.31 [[ 9.91089416e-01 1.33196023e-01 7.67356085e-04 1.77455325e+02] [-1.33195990e-01 9.91089713e-01 -9.40293336e-05 -1.76779218e+01] [-7.73043055e-04 -9.01727613e-06 9.99999701e-01 -3.12753561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.49, Y:-17.68, Z:-0.31 [[ 9.90895575e-01 1.34630498e-01 7.67356085e-04 1.77485239e+02] [-1.34630465e-01 9.90895872e-01 -9.40293336e-05 -1.76827145e+01] [-7.73029192e-04 -1.01362562e-05 9.99999701e-01 -3.12293062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.51, Y:-17.69, Z:-0.31 [[ 9.90598742e-01 1.36797452e-01 7.67356085e-04 1.77514468e+02] [-1.36797420e-01 9.90599040e-01 -9.40293336e-05 -1.76896543e+01] [-7.73005174e-04 -1.18269928e-05 9.99999701e-01 -3.14358083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.54, Y:-17.69, Z:-0.31 [[ 9.90496625e-01 1.37534897e-01 7.67357229e-04 1.77544250e+02] [-1.37534865e-01 9.90496922e-01 -9.40199939e-05 -1.76945329e+01] [-7.72996003e-04 -1.24118866e-05 9.99999701e-01 -3.10750775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.57, Y:-17.70, Z:-0.31 [[ 9.90410003e-01 1.38157293e-01 7.67357229e-04 1.77573121e+02] [-1.38157261e-01 9.90410300e-01 -9.40199939e-05 -1.76980474e+01] [-7.72988051e-04 -1.28976309e-05 9.99999701e-01 -3.14632446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.60, Y:-17.70, Z:-0.32 [[ 9.90379570e-01 1.38375279e-01 7.67358362e-04 1.77602662e+02] [-1.38375248e-01 9.90379867e-01 -9.40107455e-05 -1.77025892e+01] [-7.72985036e-04 -1.30770820e-05 9.99999701e-01 -3.16873963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.63, Y:-17.71, Z:-0.32 [[ 9.90357154e-01 1.38535620e-01 7.67359470e-04 1.77633221e+02] [-1.38535589e-01 9.90357452e-01 -9.40017001e-05 -1.77080250e+01] [-7.72982753e-04 -1.32113397e-05 9.99999701e-01 -3.17850069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.66, Y:-17.71, Z:-0.32 [[ 9.90329480e-01 1.38733313e-01 7.67358371e-04 1.77663106e+02] [-1.38733281e-01 9.90329777e-01 -9.40106702e-05 -1.77134671e+01] [-7.72980256e-04 -1.33566067e-05 9.99999701e-01 -3.18111475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.69, Y:-17.72, Z:-0.32 [[ 9.90208896e-01 1.39591381e-01 7.67358371e-04 1.77692144e+02] [-1.39591350e-01 9.90209193e-01 -9.40106702e-05 -1.77191931e+01] [-7.72968393e-04 -1.40263893e-05 9.99999701e-01 -3.17722855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.72, Y:-17.72, Z:-0.31 [[ 9.90162168e-01 1.39922453e-01 7.67357559e-04 1.77722808e+02] [-1.39922422e-01 9.90162465e-01 -9.40172976e-05 -1.77233835e+01] [-7.72963783e-04 -1.42781571e-05 9.99999701e-01 -3.14885155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.75, Y:-17.73, Z:-0.32 [[ 9.90114547e-01 1.40259028e-01 7.67357559e-04 1.77752906e+02] [-1.40258997e-01 9.90114844e-01 -9.40172976e-05 -1.77284320e+01] [-7.72958885e-04 -1.45409079e-05 9.99999701e-01 -3.18189995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.78, Y:-17.73, Z:-0.32 [[ 9.90132550e-01 1.40131884e-01 7.67356413e-04 1.77783314e+02] [-1.40131853e-01 9.90132847e-01 -9.40266476e-05 -1.77324541e+01] [-7.72960922e-04 -1.44322321e-05 9.99999701e-01 -3.16379535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.81, Y:-17.74, Z:-0.31 [[ 9.90219915e-01 1.39513196e-01 7.67356413e-04 1.77813897e+02] [-1.39513165e-01 9.90220212e-01 -9.40266476e-05 -1.77358964e+01] [-7.72969788e-04 -1.39492633e-05 9.99999701e-01 -3.14976261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.84, Y:-17.74, Z:-0.32 [[ 9.90545557e-01 1.37182034e-01 7.67356413e-04 1.77844269e+02] [-1.37182002e-01 9.90545854e-01 -9.40266476e-05 -1.77409436e+01] [-7.73000481e-04 -1.21298110e-05 9.99999701e-01 -3.15577302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.87, Y:-17.75, Z:-0.32 [[ 9.90809763e-01 1.35260584e-01 7.67355289e-04 1.77874813e+02] [-1.35260552e-01 9.90810060e-01 -9.40358189e-05 -1.77463901e+01] [-7.73022680e-04 -1.06212926e-05 9.99999701e-01 -3.15010571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.91, Y:-17.76, Z:-0.32 [[ 9.91384303e-01 1.30983109e-01 7.67353055e-04 1.77905252e+02] [-1.30983076e-01 9.91384600e-01 -9.40540467e-05 -1.77560511e+01] [-7.73061493e-04 -7.26655785e-06 9.99999701e-01 -3.17699526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.94, Y:-17.76, Z:-0.32 [[ 9.91626500e-01 1.29136735e-01 7.67338583e-04 1.77937103e+02] [-1.29136701e-01 9.91626797e-01 -9.41719692e-05 -1.77625077e+01] [-7.73074562e-04 -5.70815272e-06 9.99999701e-01 -3.16696477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.97, Y:-17.77, Z:-0.32 [[ 9.91812649e-01 1.27699180e-01 7.67322741e-04 1.77968831e+02] [-1.27699146e-01 9.91812946e-01 -9.43008770e-05 -1.77682865e+01] [-7.73082773e-04 -4.45765586e-06 9.99999701e-01 -3.15906027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.00, Y:-17.77, Z:-0.32 [[ 9.91910894e-01 1.26933804e-01 7.67306570e-04 1.77999328e+02] [-1.26933769e-01 9.91911190e-01 -9.44322719e-05 -1.77739185e+01] [-7.73086621e-04 -3.72871552e-06 9.99999701e-01 -3.16757395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.03, Y:-17.78, Z:-0.31 [[ 9.91775574e-01 1.27986807e-01 7.67291623e-04 1.78031542e+02] [-1.27986772e-01 9.91775870e-01 -9.45535661e-05 -1.77782299e+01] [-7.73082926e-04 -4.42726074e-06 9.99999701e-01 -3.13968340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.06, Y:-17.78, Z:-0.31 [[ 9.91358754e-01 1.31176339e-01 7.67275594e-04 1.78062208e+02] [-1.31176305e-01 9.91359051e-01 -9.46834582e-05 -1.77830579e+01] [-7.73065834e-04 -6.78310220e-06 9.99999701e-01 -3.12392592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.09, Y:-17.79, Z:-0.31 [[ 9.91145267e-01 1.32779783e-01 7.67260777e-04 1.78093218e+02] [-1.32779750e-01 9.91145564e-01 -9.48033761e-05 -1.77888852e+01] [-7.73055087e-04 -7.91277649e-06 9.99999701e-01 -3.12665575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.13, Y:-17.80, Z:-0.31 [[ 9.90968321e-01 1.34093988e-01 7.67246130e-04 1.78125039e+02] [-1.34093955e-01 9.90968618e-01 -9.49217693e-05 -1.77955142e+01] [-7.73045276e-04 -8.81860118e-06 9.99999701e-01 -3.10423884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.16, Y:-17.80, Z:-0.31 [[ 9.90871639e-01 1.34806552e-01 7.67230266e-04 1.78156192e+02] [-1.34806519e-01 9.90871936e-01 -9.50498204e-05 -1.78017194e+01] [-7.73040277e-04 -9.24547010e-06 9.99999701e-01 -3.11979367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.19, Y:-17.81, Z:-0.31 [[ 9.90936208e-01 1.34331093e-01 7.67213371e-04 1.78187760e+02] [-1.34331060e-01 9.90936505e-01 -9.51859965e-05 -1.78074466e+01] [-7.73046175e-04 -8.73733477e-06 9.99999701e-01 -3.10169472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.22, Y:-17.81, Z:-0.31 [[ 9.91005321e-01 1.33820275e-01 7.67197757e-04 1.78219911e+02] [-1.33820241e-01 9.91005617e-01 -9.53116763e-05 -1.78120068e+01] [-7.73051922e-04 -8.21221079e-06 9.99999701e-01 -3.09759901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.25, Y:-17.82, Z:-0.31 [[ 9.91207052e-01 1.32317767e-01 7.67182225e-04 1.78251953e+02] [-1.32317733e-01 9.91207349e-01 -9.54365351e-05 -1.78196448e+01] [-7.73064608e-04 -6.91444614e-06 9.99999701e-01 -3.10561623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.28, Y:-17.83, Z:-0.31 [[ 9.91319904e-01 1.31469611e-01 7.67164492e-04 1.78284108e+02] [-1.31469577e-01 9.91320201e-01 -9.55788643e-05 -1.78261607e+01] [-7.73071375e-04 -6.10956039e-06 9.99999701e-01 -3.10870720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.32, Y:-17.83, Z:-0.31 [[ 9.91407040e-01 1.30810903e-01 7.67146725e-04 1.78316686e+02] [-1.30810868e-01 9.91407337e-01 -9.57212596e-05 -1.78323319e+01] [-7.73076276e-04 -5.45239836e-06 9.99999701e-01 -3.08035901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.35, Y:-17.84, Z:-0.31 [[ 9.91581211e-01 1.29484027e-01 7.67127912e-04 1.78347286e+02] [-1.29483991e-01 9.91581508e-01 -9.58717899e-05 -1.78392476e+01] [-7.73083718e-04 -4.26611854e-06 9.99999701e-01 -3.05792196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.38, Y:-17.84, Z:-0.31 [[ 9.91649963e-01 1.28956436e-01 7.67112679e-04 1.78380001e+02] [-1.28956400e-01 9.91650260e-01 -9.59935257e-05 -1.78447818e+01] [-7.73086470e-04 -3.73211347e-06 9.99999701e-01 -3.05063934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.41, Y:-17.85, Z:-0.31 [[ 9.91793821e-01 1.27845328e-01 7.67093813e-04 1.78412262e+02] [-1.27845292e-01 9.91794118e-01 -9.61440493e-05 -1.78508307e+01] [-7.73090699e-04 -2.71425815e-06 9.99999701e-01 -3.05192335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.44, Y:-17.86, Z:-0.31 [[ 9.91850814e-01 1.27402408e-01 7.67074408e-04 1.78443392e+02] [-1.27402372e-01 9.91851111e-01 -9.62986244e-05 -1.78564274e+01] [-7.73092280e-04 -2.21322994e-06 9.99999701e-01 -3.07227491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.47, Y:-17.86, Z:-0.31 [[ 9.91910700e-01 1.26935314e-01 7.67056276e-04 1.78474753e+02] [-1.26935277e-01 9.91910997e-01 -9.64428326e-05 -1.78623029e+01] [-7.73093557e-04 -1.70382327e-06 9.99999701e-01 -3.07591947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.51, Y:-17.87, Z:-0.31 [[ 9.91952001e-01 1.26612158e-01 7.67039423e-04 1.78505047e+02] [-1.26612122e-01 9.91952298e-01 -9.65766834e-05 -1.78679576e+01] [-7.73094301e-04 -1.31705438e-06 9.99999701e-01 -3.09050451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.54, Y:-17.88, Z:-0.31 [[ 9.91949809e-01 1.26629336e-01 7.67029965e-04 1.78535987e+02] [-1.26629299e-01 9.91950105e-01 -9.66517454e-05 -1.78753826e+01] [-7.73094401e-04 -1.25478648e-06 9.99999701e-01 -3.13401476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.57, Y:-17.88, Z:-0.31 [[ 9.91785656e-01 1.27908655e-01 7.67013466e-04 1.78567246e+02] [-1.27908618e-01 9.91785953e-01 -9.67824993e-05 -1.78840683e+01] [-7.73092501e-04 -2.12013808e-06 9.99999701e-01 -3.14481430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.60, Y:-17.89, Z:-0.32 [[ 9.91597569e-01 1.29358696e-01 7.66997240e-04 1.78598180e+02] [-1.29358660e-01 9.91597866e-01 -9.69109206e-05 -1.78893739e+01] [-7.73089097e-04 -3.12110175e-06 9.99999701e-01 -3.15007678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.63, Y:-17.89, Z:-0.31 [[ 9.91362473e-01 1.31148234e-01 7.66988338e-04 1.78631198e+02] [-1.31148198e-01 9.91362770e-01 -9.69813226e-05 -1.78938909e+01] [-7.73082612e-04 -4.44549454e-06 9.99999701e-01 -3.12842226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.66, Y:-17.90, Z:-0.31 [[ 9.91079005e-01 1.33273472e-01 7.66969612e-04 1.78662508e+02] [-1.33273437e-01 9.91079301e-01 -9.71291894e-05 -1.78980393e+01] [-7.73072452e-04 -5.95397573e-06 9.99999701e-01 -3.13525039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.69, Y:-17.90, Z:-0.32 [[ 9.90451539e-01 1.37859208e-01 7.66957956e-04 1.78694478e+02] [-1.37859174e-01 9.90451836e-01 -9.72211448e-05 -1.79027000e+01] [-7.73037745e-04 -9.43935764e-06 9.99999701e-01 -3.16168028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.73, Y:-17.91, Z:-0.32 [[ 9.90094050e-01 1.40403647e-01 7.66941826e-04 1.78727608e+02] [-1.40403614e-01 9.90094347e-01 -9.73482218e-05 -1.79072617e+01] [-7.73012811e-04 -1.12975090e-05 9.99999701e-01 -3.16131166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.76, Y:-17.91, Z:-0.32 [[ 9.89426560e-01 1.45032733e-01 7.66923312e-04 1.78758416e+02] [-1.45032701e-01 9.89426857e-01 -9.74938607e-05 -1.79125918e+01] [-7.72954323e-04 -1.47659444e-05 9.99999701e-01 -3.16130353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.79, Y:-17.92, Z:-0.31 [[ 9.89129819e-01 1.47042898e-01 7.66908371e-04 1.78791200e+02] [-1.47042866e-01 9.89130116e-01 -9.76112438e-05 -1.79174589e+01] [-7.72925206e-04 -1.62182132e-05 9.99999701e-01 -3.14400140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.82, Y:-17.92, Z:-0.31 [[ 9.88641165e-01 1.50293245e-01 7.66889614e-04 1.78822205e+02] [-1.50293215e-01 9.88641462e-01 -9.77583930e-05 -1.79202554e+01] [-7.72871295e-04 -1.86103338e-05 9.99999701e-01 -3.13445969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.85, Y:-17.92, Z:-0.31 [[ 9.88389140e-01 1.51941828e-01 7.66874441e-04 1.78853922e+02] [-1.51941798e-01 9.88389438e-01 -9.78772679e-05 -1.79231150e+01] [-7.72842249e-04 -1.97794527e-05 9.99999701e-01 -3.13040371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.89, Y:-17.93, Z:-0.31 [[ 9.88144040e-01 1.53527741e-01 7.66857260e-04 1.78887051e+02] [-1.53527711e-01 9.88144338e-01 -9.80117006e-05 -1.79265205e+01] [-7.72813174e-04 -2.08841621e-05 9.99999701e-01 -3.12853809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.92, Y:-17.93, Z:-0.31 [[ 9.87695002e-01 1.56390524e-01 7.66838834e-04 1.78920080e+02] [-1.56390494e-01 9.87695299e-01 -9.81556506e-05 -1.79293024e+01] [-7.72753725e-04 -2.29784590e-05 9.99999701e-01 -3.12519387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.514203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.95, Y:-17.93, Z:-0.31 [[ 9.87402122e-01 1.58229142e-01 7.66820428e-04 1.78952981e+02] [-1.58229113e-01 9.87402420e-01 -9.82992312e-05 -1.79324508e+01] [-7.72714149e-04 -2.42724470e-05 9.99999701e-01 -3.11789465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.98, Y:-17.93, Z:-0.31 [[ 9.87091899e-01 1.60153034e-01 7.66801590e-04 1.78984586e+02] [-1.60153006e-01 9.87092197e-01 -9.84459602e-05 -1.79349955e+01] [-7.72670286e-04 -2.56303701e-05 9.99999701e-01 -3.12964723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.02, Y:-17.93, Z:-0.31 [[ 9.86619870e-01 1.63035712e-01 7.66789830e-04 1.79017681e+02] [-1.63035684e-01 9.86620168e-01 -9.85374764e-05 -1.79346456e+01] [-7.72595439e-04 -2.77950726e-05 9.99999701e-01 -3.11638864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.05, Y:-17.94, Z:-0.31 [[ 9.86482294e-01 1.63866089e-01 7.66771212e-04 1.79049422e+02] [-1.63866061e-01 9.86482592e-01 -9.86821441e-05 -1.79357814e+01] [-7.72577109e-04 -2.82995904e-05 9.99999701e-01 -3.12183950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.08, Y:-17.94, Z:-0.31 [[ 9.86455824e-01 1.64025363e-01 7.66753842e-04 1.79081797e+02] [-1.64025336e-01 9.86456121e-01 -9.88169198e-05 -1.79400971e+01] [-7.72577502e-04 -2.82885305e-05 9.99999701e-01 -3.12209215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.11, Y:-17.94, Z:-0.31 [[ 9.86410209e-01 1.64299454e-01 7.66737867e-04 1.79114452e+02] [-1.64299427e-01 9.86410507e-01 -9.89407167e-05 -1.79410767e+01] [-7.72574194e-04 -2.83784592e-05 9.99999701e-01 -3.12047641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.15, Y:-17.94, Z:-0.31 [[ 9.86748407e-01 1.62255949e-01 7.66721809e-04 1.79146592e+02] [-1.62255921e-01 9.86748705e-01 -9.90650037e-05 -1.79396247e+01] [-7.72635638e-04 -2.66529188e-05 9.99999701e-01 -3.13533993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.18, Y:-17.94, Z:-0.31 [[ 9.87113684e-01 1.60018707e-01 7.66705704e-04 1.79177551e+02] [-1.60018678e-01 9.87113982e-01 -9.91894899e-05 -1.79415347e+01] [-7.72698094e-04 -2.47759305e-05 9.99999701e-01 -3.14367754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.21, Y:-17.94, Z:-0.31 [[ 9.88014052e-01 1.54362060e-01 7.66696722e-04 1.79210134e+02] [-1.54362029e-01 9.88014349e-01 -9.92588663e-05 -1.79410320e+01] [-7.72829166e-04 -2.02797070e-05 9.99999701e-01 -3.14044297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.24, Y:-17.94, Z:-0.31 [[ 9.88552052e-01 1.50878270e-01 7.66680487e-04 1.79242350e+02] [-1.50878238e-01 9.88552349e-01 -9.93841069e-05 -1.79427618e+01] [-7.72898699e-04 -1.74290382e-05 9.99999701e-01 -3.13635898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.28, Y:-17.94, Z:-0.31 [[ 9.89119008e-01 1.47115603e-01 7.66663889e-04 1.79275022e+02] [-1.47115570e-01 9.89119305e-01 -9.95119856e-05 -1.79447783e+01] [-7.72961818e-04 -1.43589987e-05 9.99999701e-01 -3.13500827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.31, Y:-17.95, Z:-0.32 [[ 9.90135386e-01 1.40111850e-01 7.66657816e-04 1.79306311e+02] [-1.40111815e-01 9.90135682e-01 -9.95587468e-05 -1.79450282e+01] [-7.73044620e-04 -8.84118003e-06 9.99999701e-01 -3.17548244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.874203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.34, Y:-17.95, Z:-0.32 [[ 9.90546399e-01 1.37175957e-01 7.66640898e-04 1.79337432e+02] [-1.37175921e-01 9.90546696e-01 -9.96888522e-05 -1.79476144e+01] [-7.73068522e-04 -6.41823750e-06 9.99999701e-01 -3.17816141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.904203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:179.37, Y:-17.95, Z:-0.31 [[ 9.91056893e-01 1.33437799e-01 7.66638554e-04 1.79369340e+02] [-1.33437762e-01 9.91057190e-01 -9.97068731e-05 -1.79494889e+01] [-7.73087317e-04 -3.48334897e-06 9.99999701e-01 -3.13948962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.40, Y:-17.95, Z:-0.31 [[ 9.91179506e-01 1.32523958e-01 7.66621215e-04 1.79400173e+02] [-1.32523920e-01 9.91179802e-01 -9.98400169e-05 -1.79530315e+01] [-7.73090658e-04 -2.63626997e-06 9.99999701e-01 -3.14251499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.43, Y:-17.96, Z:-0.32 [[ 9.91253725e-01 1.31967668e-01 7.66605113e-04 1.79430732e+02] [-1.31967630e-01 9.91254021e-01 -9.99634969e-05 -1.79562809e+01] [-7.73092351e-04 -2.07787156e-06 9.99999701e-01 -3.17229219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.46, Y:-17.96, Z:-0.32 [[ 9.91283376e-01 1.31744758e-01 7.66595442e-04 1.79462233e+02] [-1.31744720e-01 9.91283672e-01 -1.00037607e-04 -1.79571737e+01] [-7.73092975e-04 -1.82928508e-06 9.99999701e-01 -3.16118957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.49, Y:-17.96, Z:-0.32 [[ 9.91245050e-01 1.32032809e-01 7.66593077e-04 1.79492228e+02] [-1.32032771e-01 9.91245347e-01 -1.00055728e-04 -1.79599789e+01] [-7.73092459e-04 -2.03566269e-06 9.99999701e-01 -3.16732117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.52, Y:-17.97, Z:-0.31 [[ 9.91143446e-01 1.32793379e-01 7.66591899e-04 1.79523324e+02] [-1.32793342e-01 9.91143743e-01 -1.00064753e-04 -1.79650170e+01] [-7.73090700e-04 -2.61977570e-06 9.99999701e-01 -3.14804782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.55, Y:-17.97, Z:-0.31 [[ 9.91035486e-01 1.33596701e-01 7.66589464e-04 1.79554464e+02] [-1.33596663e-01 9.91035782e-01 -1.00083403e-04 -1.79696701e+01] [-7.73088401e-04 -3.22759089e-06 9.99999701e-01 -3.14223013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.59, Y:-17.97, Z:-0.31 [[ 9.90873760e-01 1.34790963e-01 7.66587019e-04 1.79585847e+02] [-1.34790926e-01 9.90874057e-01 -1.00102129e-04 -1.79735300e+01] [-7.73084051e-04 -4.14040123e-06 9.99999701e-01 -3.13855816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.62, Y:-17.98, Z:-0.31 [[ 9.90462797e-01 1.37778301e-01 7.66584570e-04 1.79617082e+02] [-1.37778265e-01 9.90463094e-01 -1.00120876e-04 -1.79755396e+01] [-7.73068209e-04 -6.45268875e-06 9.99999701e-01 -3.14155356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.65, Y:-17.98, Z:-0.31 [[ 9.90183904e-01 1.39768553e-01 7.66582110e-04 1.79648219e+02] [-1.39768518e-01 9.90184201e-01 -1.00139707e-04 -1.79787804e+01] [-7.73053876e-04 -7.98731890e-06 9.99999701e-01 -3.13671464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.68, Y:-17.98, Z:-0.32 [[ 9.89558651e-01 1.44128720e-01 7.66579651e-04 1.79677981e+02] [-1.44128686e-01 9.89558948e-01 -1.00158532e-04 -1.79810963e+01] [-7.73011474e-04 -1.13733759e-05 9.99999701e-01 -3.15568507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.71, Y:-17.98, Z:-0.31 [[ 9.89218794e-01 1.46443129e-01 7.66580874e-04 1.79707840e+02] [-1.46443095e-01 9.89219091e-01 -1.00149169e-04 -1.79844881e+01] [-7.72982593e-04 -1.31910350e-05 9.99999701e-01 -3.14119815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.74, Y:-17.99, Z:-0.32 [[ 9.88928186e-01 1.48392909e-01 7.66580874e-04 1.79736918e+02] [-1.48392876e-01 9.88928483e-01 -1.00149169e-04 -1.79872646e+01] [-7.72955087e-04 -1.47148039e-05 9.99999701e-01 -3.18011920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.77, Y:-17.99, Z:-0.32 [[ 9.88677819e-01 1.50051931e-01 7.66579578e-04 1.79766726e+02] [-1.50051898e-01 9.88678116e-01 -1.00159086e-04 -1.79898470e+01] [-7.72929518e-04 -1.60016534e-05 9.99999701e-01 -3.18611665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.80, Y:-17.99, Z:-0.32 [[ 9.88250832e-01 1.52838819e-01 7.66581899e-04 1.79796589e+02] [-1.52838788e-01 9.88251130e-01 -1.00141318e-04 -1.79920770e+01] [-7.72880909e-04 -1.81987072e-05 9.99999701e-01 -3.19319469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.82, Y:-17.99, Z:-0.32 [[ 9.88091336e-01 1.53866579e-01 7.66584244e-04 1.79824749e+02] [-1.53866548e-01 9.88091633e-01 -1.00123365e-04 -1.79949123e+01] [-7.72861117e-04 -1.90206420e-05 9.99999701e-01 -3.20128149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.85, Y:-17.99, Z:-0.32 [[ 9.87910936e-01 1.55020625e-01 7.66587744e-04 1.79854550e+02] [-1.55020594e-01 9.87911234e-01 -1.00096562e-04 -1.79927217e+01] [-7.72837675e-04 -1.99503985e-05 9.99999701e-01 -3.17193054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.88, Y:-17.99, Z:-0.32 [[ 9.87923309e-01 1.54941755e-01 7.66590166e-04 1.79883131e+02] [-1.54941724e-01 9.87923606e-01 -1.00078006e-04 -1.79947660e+01] [-7.72838784e-04 -1.99074066e-05 9.99999701e-01 -3.17911454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.91, Y:-18.00, Z:-0.32 [[ 9.87973659e-01 1.54620380e-01 7.66593783e-04 1.79911243e+02] [-1.54620349e-01 9.87973956e-01 -1.00050298e-04 -1.79983087e+01] [-7.72844507e-04 -1.96839384e-05 9.99999701e-01 -3.19302945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.94, Y:-18.00, Z:-0.32 [[ 9.88084034e-01 1.53913464e-01 7.66597348e-04 1.79939898e+02] [-1.53913432e-01 9.88084331e-01 -1.00022976e-04 -1.79995241e+01] [-7.72857710e-04 -1.91585238e-05 9.99999701e-01 -3.16478220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.97, Y:-18.00, Z:-0.31 [[ 9.88064563e-01 1.54038410e-01 7.66600832e-04 1.79969413e+02] [-1.54038379e-01 9.88064860e-01 -9.99962661e-05 -1.79995532e+01] [-7.72854609e-04 -1.92831824e-05 9.99999701e-01 -3.14503097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.00, Y:-18.00, Z:-0.31 [[ 9.87923838e-01 1.54938383e-01 7.66605452e-04 1.79999479e+02] [-1.54938352e-01 9.87924135e-01 -9.99608332e-05 -1.79956083e+01] [-7.72835798e-04 -2.00228954e-05 9.99999701e-01 -3.12853451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.03, Y:-18.00, Z:-0.32 [[ 9.87840648e-01 1.55467894e-01 7.66610321e-04 1.80027769e+02] [-1.55467863e-01 9.87840946e-01 -9.99234746e-05 -1.79952567e+01] [-7.72823957e-04 -2.04747985e-05 9.99999701e-01 -3.15629287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.06, Y:-17.99, Z:-0.32 [[ 9.87736480e-01 1.56128341e-01 7.66616364e-04 1.80055751e+02] [-1.56128311e-01 9.87736777e-01 -9.98770922e-05 -1.79921634e+01] [-7.72808821e-04 -2.10382706e-05 9.99999701e-01 -3.16787257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.08, Y:-17.99, Z:-0.32 [[ 9.87729930e-01 1.56169773e-01 7.66622182e-04 1.80084485e+02] [-1.56169743e-01 9.87730227e-01 -9.98324186e-05 -1.79935607e+01] [-7.72806708e-04 -2.11157211e-05 9.99999701e-01 -3.15332720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.11, Y:-17.99, Z:-0.32 [[ 9.87801727e-01 1.55714999e-01 7.66626972e-04 1.80112364e+02] [-1.55714968e-01 9.87802024e-01 -9.97956202e-05 -1.79944761e+01] [-7.72815349e-04 -2.07970087e-05 9.99999701e-01 -3.16952275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.14, Y:-17.99, Z:-0.31 [[ 9.88144022e-01 1.53527862e-01 7.66632915e-04 1.80142146e+02] [-1.53527831e-01 9.88144319e-01 -9.97499417e-05 -1.79915468e+01] [-7.72858355e-04 -1.91321797e-05 9.99999701e-01 -3.12877273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.17, Y:-17.99, Z:-0.31 [[ 9.88414800e-01 1.51774815e-01 7.66637729e-04 1.80170126e+02] [-1.51774783e-01 9.88415098e-01 -9.97129288e-05 -1.79911398e+01] [-7.72890218e-04 -1.77985405e-05 9.99999701e-01 -3.13382910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.20, Y:-17.99, Z:-0.31 [[ 9.89083442e-01 1.47354527e-01 7.66643724e-04 1.80200193e+02] [-1.47354494e-01 9.89083739e-01 -9.96668169e-05 -1.79870817e+01] [-7.72961198e-04 -1.43895998e-05 9.99999701e-01 -3.11952795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.774203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.23, Y:-17.99, Z:-0.31 [[ 9.89487983e-01 1.44613083e-01 7.66648539e-04 1.80229086e+02] [-1.44613049e-01 9.89488280e-01 -9.96297668e-05 -1.79877485e+01] [-7.72997512e-04 -1.22849260e-05 9.99999701e-01 -3.13126284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.26, Y:-17.99, Z:-0.32 [[ 9.89897290e-01 1.41784228e-01 7.66653404e-04 1.80256790e+02] [-1.41784194e-01 9.89897587e-01 -9.95923148e-05 -1.79898577e+01] [-7.73028974e-04 -1.01131724e-05 9.99999701e-01 -3.15238089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.29, Y:-17.99, Z:-0.31 [[ 9.90582998e-01 1.36911418e-01 7.66659462e-04 1.80285344e+02] [-1.36911382e-01 9.90583295e-01 -9.95456577e-05 -1.79912208e+01] [-7.73068993e-04 -6.35617012e-06 9.99999701e-01 -3.14511954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.31, Y:-17.99, Z:-0.32 [[ 9.90874271e-01 1.34787210e-01 7.66664268e-04 1.80313564e+02] [-1.34787173e-01 9.90874567e-01 -9.95086304e-05 -1.79923738e+01] [-7.73080616e-04 -4.73596799e-06 9.99999701e-01 -3.15674093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.34, Y:-17.99, Z:-0.32 [[ 9.91265048e-01 1.31882586e-01 7.66670253e-04 1.80343079e+02] [-1.31882549e-01 9.91265345e-01 -9.94625007e-05 -1.79904580e+01] [-7.73091024e-04 -2.51672656e-06 9.99999701e-01 -3.17672519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.37, Y:-17.99, Z:-0.32 [[ 9.91390991e-01 1.30932481e-01 7.66675007e-04 1.80370576e+02] [-1.30932443e-01 9.91391288e-01 -9.94258449e-05 -1.79923640e+01] [-7.73092995e-04 -1.81274454e-06 9.99999701e-01 -3.19751248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.40, Y:-18.00, Z:-0.32 [[ 9.91520442e-01 1.29948545e-01 7.66680921e-04 1.80399671e+02] [-1.29948507e-01 9.91520739e-01 -9.93802178e-05 -1.79958513e+01] [-7.73094348e-04 -1.09152340e-06 9.99999701e-01 -3.19583823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.43, Y:-18.00, Z:-0.32 [[ 9.91626897e-01 1.29133691e-01 7.66685583e-04 1.80428087e+02] [-1.29133653e-01 9.91627193e-01 -9.93442413e-05 -1.79998165e+01] [-7.73094961e-04 -4.92488203e-07 9.99999701e-01 -3.18144578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.46, Y:-18.00, Z:-0.32 [[ 9.91735683e-01 1.28295545e-01 7.66690275e-04 1.80455431e+02] [-1.28295507e-01 9.91735980e-01 -9.93080148e-05 -1.80022373e+01] [-7.73095107e-04 1.24384594e-07 9.99999701e-01 -3.16527309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.48, Y:-18.01, Z:-0.32 [[ 9.91750421e-01 1.28181567e-01 7.66696108e-04 1.80482752e+02] [-1.28181528e-01 9.91750718e-01 -9.92629605e-05 -1.80051909e+01] [-7.73095097e-04 1.67804113e-07 9.99999701e-01 -3.15861168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.51, Y:-18.01, Z:-0.31 [[ 9.91757983e-01 1.28123046e-01 7.66701890e-04 1.80511557e+02] [-1.28123008e-01 9.91758280e-01 -9.92182822e-05 -1.80061748e+01] [-7.73095096e-04 1.68371452e-07 9.99999701e-01 -3.12883664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.54, Y:-18.01, Z:-0.31 [[ 9.91716318e-01 1.28445150e-01 7.66706530e-04 1.80540411e+02] [-1.28445111e-01 9.91716615e-01 -9.91824110e-05 -1.80077436e+01] [-7.73095104e-04 -1.18890243e-07 9.99999701e-01 -3.09828165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.57, Y:-18.01, Z:-0.31 [[ 9.91678202e-01 1.28739099e-01 7.66711402e-04 1.80568230e+02] [-1.28739061e-01 9.91678499e-01 -9.91447345e-05 -1.80094527e+01] [-7.73095016e-04 -3.86033736e-07 9.99999701e-01 -3.12233547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.60, Y:-18.01, Z:-0.31 [[ 9.91510599e-01 1.30023632e-01 7.66717446e-04 1.80597327e+02] [-1.30023594e-01 9.91510895e-01 -9.90979734e-05 -1.80129515e+01] [-7.73093780e-04 -1.43466700e-06 9.99999701e-01 -3.11841466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.63, Y:-18.02, Z:-0.31 [[ 9.91400499e-01 1.30860469e-01 7.66722118e-04 1.80625759e+02] [-1.30860431e-01 9.91400796e-01 -9.90618131e-05 -1.80169243e+01] [-7.73092193e-04 -2.12365600e-06 9.99999701e-01 -3.09925972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.65, Y:-18.02, Z:-0.31 [[ 9.91202727e-01 1.32350166e-01 7.66726966e-04 1.80653025e+02] [-1.32350129e-01 9.91203023e-01 -9.90242767e-05 -1.80204512e+01] [-7.73087966e-04 -3.32327962e-06 9.99999701e-01 -3.10218853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.68, Y:-18.02, Z:-0.31 [[ 9.91154625e-01 1.32709918e-01 7.66732993e-04 1.80681599e+02] [-1.32709881e-01 9.91154921e-01 -9.89775851e-05 -1.80238850e+01] [-7.73086487e-04 -3.65095296e-06 9.99999701e-01 -3.09829115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.71, Y:-18.03, Z:-0.31 [[ 9.91121060e-01 1.32960358e-01 7.66737790e-04 1.80708858e+02] [-1.32960321e-01 9.91121356e-01 -9.89404172e-05 -1.80272265e+01] [-7.73085351e-04 -3.88377167e-06 9.99999701e-01 -3.13016480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.74, Y:-18.03, Z:-0.31 [[ 9.91161718e-01 1.32656927e-01 7.66743765e-04 1.80737798e+02] [-1.32656890e-01 9.91162015e-01 -9.88940863e-05 -1.80316768e+01] [-7.73086281e-04 -3.69381079e-06 9.99999701e-01 -3.12710331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.77, Y:-18.04, Z:-0.31 [[ 9.91249993e-01 1.31995698e-01 7.66748452e-04 1.80765012e+02] [-1.31995661e-01 9.91250289e-01 -9.88577384e-05 -1.80357054e+01] [-7.73088421e-04 -3.21473654e-06 9.99999701e-01 -3.14827026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.79, Y:-18.04, Z:-0.32 [[ 9.91502517e-01 1.30085243e-01 7.66754597e-04 1.80793373e+02] [-1.30085206e-01 9.91502814e-01 -9.88100531e-05 -1.80406059e+01] [-7.73093070e-04 -1.77301320e-06 9.99999701e-01 -3.16337154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.82, Y:-18.05, Z:-0.32 [[ 9.91683126e-01 1.28701164e-01 7.66759230e-04 1.80821487e+02] [-1.28701126e-01 9.91683423e-01 -9.87740854e-05 -1.80454411e+01] [-7.73094757e-04 -7.30182236e-07 9.99999701e-01 -3.16021056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.85, Y:-18.05, Z:-0.31 [[ 9.91805940e-01 1.27751282e-01 7.66763883e-04 1.80850023e+02] [-1.27751244e-01 9.91806236e-01 -9.87379557e-05 -1.80513334e+01] [-7.73095101e-04 -2.61491497e-08 9.99999701e-01 -3.13676388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.88, Y:-18.06, Z:-0.31 [[ 9.91867616e-01 1.27271540e-01 7.66768729e-04 1.80876888e+02] [-1.27271501e-01 9.91867912e-01 -9.87003090e-05 -1.80592527e+01] [-7.73095038e-04 3.09832949e-07 9.99999701e-01 -3.14134159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.90, Y:-18.06, Z:-0.31 [[ 9.91772943e-01 1.28007191e-01 7.66774740e-04 1.80904939e+02] [-1.28007152e-01 9.91773240e-01 -9.86535881e-05 -1.80640844e+01] [-7.73095036e-04 -3.10691634e-07 9.99999701e-01 -3.11404534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.93, Y:-18.07, Z:-0.31 [[ 9.91314894e-01 1.31507387e-01 7.66779592e-04 1.80933137e+02] [-1.31507350e-01 9.91315191e-01 -9.86158592e-05 -1.80660510e+01] [-7.73088971e-04 -3.07778203e-06 9.99999701e-01 -3.13959548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.96, Y:-18.07, Z:-0.31 [[ 9.91321140e-01 1.31460295e-01 7.66785624e-04 1.80962235e+02] [-1.31460258e-01 9.91321437e-01 -9.85689326e-05 -1.80696987e+01] [-7.73088928e-04 -3.08836914e-06 9.99999701e-01 -3.13982220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.99, Y:-18.07, Z:-0.32 [[ 9.90982293e-01 1.33990698e-01 7.66790305e-04 1.80990042e+02] [-1.33990662e-01 9.90982590e-01 -9.85325065e-05 -1.80720387e+01] [-7.73078282e-04 -5.09877109e-06 9.99999701e-01 -3.16177237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.02, Y:-18.08, Z:-0.32 [[ 9.90646267e-01 1.36452871e-01 7.66796122e-04 1.81018379e+02] [-1.36452836e-01 9.90646564e-01 -9.84872179e-05 -1.80750739e+01] [-7.73062807e-04 -7.06551069e-06 9.99999701e-01 -3.17253721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.05, Y:-18.08, Z:-0.32 [[ 9.90034361e-01 1.40823915e-01 7.66800802e-04 1.81046593e+02] [-1.40823881e-01 9.90034658e-01 -9.84507660e-05 -1.80784902e+01] [-7.73023592e-04 -1.05142238e-05 9.99999701e-01 -3.17258619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.07, Y:-18.08, Z:-0.32 [[ 9.89790296e-01 1.42529234e-01 7.66805616e-04 1.81074161e+02] [-1.42529201e-01 9.89790593e-01 -9.84132608e-05 -1.80809976e+01] [-7.73003751e-04 -1.18837009e-05 9.99999701e-01 -3.18133963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.10, Y:-18.08, Z:-0.32 [[ 9.89443636e-01 1.44916192e-01 7.66810370e-04 1.81101717e+02] [-1.44916160e-01 9.89443933e-01 -9.83762054e-05 -1.80821806e+01] [-7.72972173e-04 -1.37855036e-05 9.99999701e-01 -3.17014204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.13, Y:-18.08, Z:-0.31 [[ 9.89389981e-01 1.45282064e-01 7.66816848e-04 1.81130804e+02] [-1.45282032e-01 9.89390278e-01 -9.83256802e-05 -1.80846824e+01] [-7.72966092e-04 -1.41222668e-05 9.99999701e-01 -3.14098251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.16, Y:-18.09, Z:-0.31 [[ 9.89415368e-01 1.45109065e-01 7.66821654e-04 1.81158231e+02] [-1.45109032e-01 9.89415665e-01 -9.82881850e-05 -1.80865432e+01] [-7.72967864e-04 -1.40249074e-05 9.99999701e-01 -3.13469001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.19, Y:-18.09, Z:-0.31 [[ 9.89608027e-01 1.43789307e-01 7.66827843e-04 1.81186281e+02] [-1.43789274e-01 9.89608324e-01 -9.82398792e-05 -1.80885428e+01] [-7.72985060e-04 -1.30426456e-05 9.99999701e-01 -3.14464510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.21, Y:-18.09, Z:-0.32 [[ 9.89814068e-01 1.42364050e-01 7.66833743e-04 1.81213349e+02] [-1.42364017e-01 9.89814365e-01 -9.81937982e-05 -1.80914147e+01] [-7.73002322e-04 -1.19759291e-05 9.99999701e-01 -3.15507124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.24, Y:-18.09, Z:-0.32 [[ 9.90258826e-01 1.39236737e-01 7.66841826e-04 1.81241723e+02] [-1.39236702e-01 9.90259123e-01 -9.81306343e-05 -1.80933061e+01] [-7.73035504e-04 -9.59780034e-06 9.99999701e-01 -3.15028274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.27, Y:-18.10, Z:-0.32 [[ 9.90535954e-01 1.37251359e-01 7.66846468e-04 1.81270203e+02] [-1.37251324e-01 9.90536251e-01 -9.80943451e-05 -1.80963736e+01] [-7.73052808e-04 -8.08471751e-06 9.99999701e-01 -3.15515368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.30, Y:-18.10, Z:-0.32 [[ 9.90813734e-01 1.35231496e-01 7.66851100e-04 1.81298074e+02] [-1.35231460e-01 9.90814030e-01 -9.80581235e-05 -1.80997973e+01] [-7.73067376e-04 -6.54505855e-06 9.99999701e-01 -3.16979242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.33, Y:-18.10, Z:-0.32 [[ 9.91338100e-01 1.31332339e-01 7.66856856e-04 1.81326320e+02] [-1.31332302e-01 9.91338397e-01 -9.80130877e-05 -1.81027161e+01] [-7.73086934e-04 -3.54896841e-06 9.99999701e-01 -3.15836323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.35, Y:-18.11, Z:-0.32 [[ 9.91573089e-01 1.29546215e-01 7.66861747e-04 1.81353493e+02] [-1.29546178e-01 9.91573385e-01 -9.79748039e-05 -1.81063368e+01] [-7.73091964e-04 -2.19482971e-06 9.99999701e-01 -3.18493892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.38, Y:-18.11, Z:-0.32 [[ 9.91942998e-01 1.26682676e-01 7.66867811e-04 1.81381127e+02] [-1.26682638e-01 9.91943295e-01 -9.79273225e-05 -1.81116270e+01] [-7.73095078e-04 -1.05154193e-08 9.99999701e-01 -3.19251112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.41, Y:-18.12, Z:-0.32 [[ 9.92053307e-01 1.25815927e-01 7.66873522e-04 1.81410112e+02] [-1.25815889e-01 9.92053604e-01 -9.78825792e-05 -1.81154640e+01] [-7.73094828e-04 6.19862865e-07 9.99999701e-01 -3.17128126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.44, Y:-18.12, Z:-0.32 [[ 9.92102380e-01 1.25428384e-01 7.66878318e-04 1.81439106e+02] [-1.25428346e-01 9.92102676e-01 -9.78449893e-05 -1.81181417e+01] [-7.73094570e-04 8.83967580e-07 9.99999701e-01 -3.17112778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.47, Y:-18.12, Z:-0.32 [[ 9.92000931e-01 1.26228228e-01 7.66883121e-04 1.81467888e+02] [-1.26228190e-01 9.92001227e-01 -9.78073287e-05 -1.81226020e+01] [-7.73095043e-04 2.22692784e-07 9.99999701e-01 -3.17365010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.50, Y:-18.13, Z:-0.32 [[ 9.91901601e-01 1.27006398e-01 7.66887891e-04 1.81496318e+02] [-1.27006360e-01 9.91901898e-01 -9.77699136e-05 -1.81275807e+01] [-7.73094959e-04 -4.21505629e-07 9.99999701e-01 -3.16943861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.154203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.52, Y:-18.13, Z:-0.32 [[ 9.91780835e-01 1.27946033e-01 7.66892682e-04 1.81524647e+02] [-1.27945995e-01 9.91781131e-01 -9.77323204e-05 -1.81319087e+01] [-7.73094154e-04 -1.19180503e-06 9.99999701e-01 -3.16890480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.55, Y:-18.14, Z:-0.32 [[ 9.91565171e-01 1.29606801e-01 7.66897451e-04 1.81552040e+02] [-1.29606764e-01 9.91565468e-01 -9.76948807e-05 -1.81368087e+01] [-7.73090951e-04 -2.52425593e-06 9.99999701e-01 -3.17660537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.58, Y:-18.14, Z:-0.32 [[ 9.91482347e-01 1.30238885e-01 7.66904197e-04 1.81580033e+02] [-1.30238849e-01 9.91482644e-01 -9.76418959e-05 -1.81413704e+01] [-7.73088973e-04 -3.07050357e-06 9.99999701e-01 -3.15659281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.61, Y:-18.15, Z:-0.32 [[ 9.91175147e-01 1.32556553e-01 7.66909021e-04 1.81607111e+02] [-1.32556518e-01 9.91175444e-01 -9.76039935e-05 -1.81473593e+01] [-7.73079438e-04 -4.91613651e-06 9.99999701e-01 -3.16361546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.64, Y:-18.15, Z:-0.32 [[ 9.90955216e-01 1.34190800e-01 7.66915014e-04 1.81635706e+02] [-1.34190765e-01 9.90955513e-01 -9.75568828e-05 -1.81519040e+01] [-7.73069897e-04 -6.23841037e-06 9.99999701e-01 -3.16376188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.66, Y:-18.16, Z:-0.32 [[ 9.90681068e-01 1.36199979e-01 7.66919633e-04 1.81664661e+02] [-1.36199944e-01 9.90681364e-01 -9.75205573e-05 -1.81564238e+01] [-7.73055286e-04 -7.84264138e-06 9.99999701e-01 -3.16557696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.69, Y:-18.16, Z:-0.32 [[ 9.90033873e-01 1.40827350e-01 7.66924307e-04 1.81692330e+02] [-1.40827317e-01 9.90034170e-01 -9.74837888e-05 -1.81615030e+01] [-7.73009653e-04 -1.14916396e-05 9.99999701e-01 -3.17543353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.72, Y:-18.17, Z:-0.32 [[ 9.89732161e-01 1.42932364e-01 7.66930116e-04 1.81721074e+02] [-1.42932332e-01 9.89732458e-01 -9.74380638e-05 -1.81654410e+01] [-7.72982682e-04 -1.31815242e-05 9.99999701e-01 -3.17846384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.75, Y:-18.17, Z:-0.32 [[ 9.89176108e-01 1.46731178e-01 7.66934665e-04 1.81749853e+02] [-1.46731147e-01 9.89176405e-01 -9.74022460e-05 -1.81688729e+01] [-7.72925621e-04 -1.61852282e-05 9.99999701e-01 -3.18908339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.78, Y:-18.17, Z:-0.32 [[ 9.88928209e-01 1.48392754e-01 7.66939283e-04 1.81778580e+02] [-1.48392723e-01 9.88928506e-01 -9.73658662e-05 -1.81728073e+01] [-7.72896509e-04 -1.75203569e-05 9.99999701e-01 -3.19243075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.81, Y:-18.18, Z:-0.32 [[ 9.88751138e-01 1.49568044e-01 7.66943959e-04 1.81806441e+02] [-1.49568013e-01 9.88751435e-01 -9.73290189e-05 -1.81769476e+01] [-7.72874251e-04 -1.84761062e-05 9.99999701e-01 -3.21923439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.83, Y:-18.18, Z:-0.32 [[ 9.88655140e-01 1.50201284e-01 7.66949775e-04 1.81834794e+02] [-1.50201254e-01 9.88655437e-01 -9.72831674e-05 -1.81805439e+01] [-7.72861122e-04 -1.90173142e-05 9.99999701e-01 -3.19445058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.86, Y:-18.18, Z:-0.32 [[ 9.88569607e-01 1.50763204e-01 7.66954333e-04 1.81863359e+02] [-1.50763174e-01 9.88569904e-01 -9.72472205e-05 -1.81812341e+01] [-7.72849275e-04 -1.94928231e-05 9.99999701e-01 -3.17970530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.89, Y:-18.18, Z:-0.32 [[ 9.88616018e-01 1.50458568e-01 7.66958855e-04 1.81891796e+02] [-1.50458538e-01 9.88616315e-01 -9.72115508e-05 -1.81834458e+01] [-7.72854347e-04 -1.92906115e-05 9.99999701e-01 -3.17111069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57420382200002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:181.92, Y:-18.19, Z:-0.32 [[ 9.88901171e-01 1.48572829e-01 7.66963421e-04 1.81919469e+02] [-1.48572798e-01 9.88901468e-01 -9.71755089e-05 -1.81859986e+01] [-7.72888894e-04 -1.78529269e-05 9.99999701e-01 -3.19574589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.95, Y:-18.19, Z:-0.32 [[ 9.89132144e-01 1.47027251e-01 7.66969086e-04 1.81948381e+02] [-1.47027220e-01 9.89132442e-01 -9.71307753e-05 -1.81898724e+01] [-7.72914876e-04 -1.66901604e-05 9.99999701e-01 -3.18901435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.98, Y:-18.19, Z:-0.32 [[ 9.89443681e-01 1.44915882e-01 7.66973613e-04 1.81976889e+02] [-1.44915851e-01 9.89443979e-01 -9.70950194e-05 -1.81943425e+01] [-7.72948033e-04 -1.50765800e-05 9.99999701e-01 -3.16330352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.00, Y:-18.20, Z:-0.32 [[ 9.90210633e-01 1.39579059e-01 7.66978370e-04 1.82004028e+02] [-1.39579026e-01 9.90210930e-01 -9.70574247e-05 -1.82003001e+01] [-7.73017549e-04 -1.09467999e-05 9.99999701e-01 -3.19035463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.03, Y:-18.20, Z:-0.32 [[ 9.90516176e-01 1.37394020e-01 7.66984839e-04 1.82031757e+02] [-1.37393986e-01 9.90516473e-01 -9.70062790e-05 -1.82032245e+01] [-7.73039200e-04 -9.29281574e-06 9.99999701e-01 -3.20063153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.06, Y:-18.21, Z:-0.32 [[ 9.90738268e-01 1.35783271e-01 7.66990461e-04 1.82060587e+02] [-1.35783236e-01 9.90738565e-01 -9.69618064e-05 -1.82051175e+01] [-7.73052820e-04 -8.08067512e-06 9.99999701e-01 -3.20415993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.09, Y:-18.21, Z:-0.32 [[ 9.90983918e-01 1.33978680e-01 7.66994940e-04 1.82088088e+02] [-1.33978645e-01 9.90984214e-01 -9.69263674e-05 -1.82082184e+01] [-7.73065944e-04 -6.70847146e-06 9.99999701e-01 -3.21018260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.12, Y:-18.21, Z:-0.32 [[ 9.91031166e-01 1.33628741e-01 7.67000511e-04 1.82115825e+02] [-1.33628706e-01 9.91031462e-01 -9.68822608e-05 -1.82129489e+01] [-7.73067893e-04 -6.47994598e-06 9.99999701e-01 -3.21185687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.14, Y:-18.21, Z:-0.32 [[ 9.91013183e-01 1.33762036e-01 7.67006050e-04 1.82143537e+02] [-1.33762001e-01 9.91013480e-01 -9.68383853e-05 -1.82143185e+01] [-7.73066635e-04 -6.62814763e-06 9.99999701e-01 -3.18926640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.17, Y:-18.22, Z:-0.32 [[ 9.90949891e-01 1.34230120e-01 7.67011528e-04 1.82171783e+02] [-1.34230086e-01 9.90950188e-01 -9.67949764e-05 -1.82159483e+01] [-7.73063020e-04 -7.03705181e-06 9.99999701e-01 -3.19884418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.20, Y:-18.22, Z:-0.32 [[ 9.90922449e-01 1.34432553e-01 7.67016963e-04 1.82200102e+02] [-1.34432519e-01 9.90922746e-01 -9.67518910e-05 -1.82181048e+01] [-7.73061159e-04 -7.23840145e-06 9.99999701e-01 -3.18519845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.23, Y:-18.22, Z:-0.32 [[ 9.90882622e-01 1.34725799e-01 7.67021510e-04 1.82227985e+02] [-1.34725765e-01 9.90882919e-01 -9.67158341e-05 -1.82191115e+01] [-7.73058631e-04 -7.50352005e-06 9.99999701e-01 -3.22785269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.26, Y:-18.22, Z:-0.32 [[ 9.90876561e-01 1.34770373e-01 7.67027149e-04 1.82256476e+02] [-1.34770338e-01 9.90876857e-01 -9.66710941e-05 -1.82209330e+01] [-7.73057850e-04 -7.58338714e-06 9.99999701e-01 -3.17084395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.28, Y:-18.22, Z:-0.32 [[ 9.90872479e-01 1.34800376e-01 7.67031961e-04 1.82284541e+02] [-1.34800341e-01 9.90872776e-01 -9.66328972e-05 -1.82228118e+01] [-7.73057239e-04 -7.64529153e-06 9.99999701e-01 -3.21531460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.31, Y:-18.23, Z:-0.32 [[ 9.90937191e-01 1.34323846e-01 7.67038265e-04 1.82313057e+02] [-1.34323812e-01 9.90937488e-01 -9.65828316e-05 -1.82262279e+01] [-7.73060348e-04 -7.32398360e-06 9.99999701e-01 -3.20154940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.34, Y:-18.23, Z:-0.32 [[ 9.91009690e-01 1.33787913e-01 7.67042871e-04 1.82342032e+02] [-1.33787879e-01 9.91009987e-01 -9.65462378e-05 -1.82295400e+01] [-7.73063865e-04 -6.94278127e-06 9.99999701e-01 -3.19980617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.37, Y:-18.23, Z:-0.32 [[ 9.91197679e-01 1.32387966e-01 7.67047459e-04 1.82369721e+02] [-1.32387931e-01 9.91197975e-01 -9.65097742e-05 -1.82295490e+01] [-7.73072621e-04 -5.88756183e-06 9.99999701e-01 -3.21199906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.40, Y:-18.23, Z:-0.32 [[ 9.91363684e-01 1.31139074e-01 7.67053156e-04 1.82398900e+02] [-1.31139039e-01 9.91363981e-01 -9.64644704e-05 -1.82312432e+01] [-7.73079132e-04 -4.95924070e-06 9.99999701e-01 -3.19700811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.43, Y:-18.23, Z:-0.32 [[ 9.91587264e-01 1.29437669e-01 7.67057750e-04 1.82427499e+02] [-1.29437633e-01 9.91587560e-01 -9.64279297e-05 -1.82344204e+01] [-7.73086329e-04 -3.66943288e-06 9.99999701e-01 -3.18320514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.46, Y:-18.24, Z:-0.32 [[ 9.92059667e-01 1.25765772e-01 7.67062424e-04 1.82455465e+02] [-1.25765735e-01 9.92059963e-01 -9.63907354e-05 -1.82392577e+01] [-7.73094575e-04 -8.44808304e-07 9.99999701e-01 -3.15732205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.48, Y:-18.24, Z:-0.32 [[ 9.92273513e-01 1.24067265e-01 7.67068360e-04 1.82482866e+02] [-1.24067228e-01 9.92273810e-01 -9.63434685e-05 -1.82430716e+01] [-7.73094915e-04 4.31026797e-07 9.99999701e-01 -3.17593887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.51, Y:-18.25, Z:-0.32 [[ 9.92647237e-01 1.21040795e-01 7.67074257e-04 1.82511668e+02] [-1.21040757e-01 9.92647534e-01 -9.62964938e-05 -1.82475693e+01] [-7.73090174e-04 2.74119966e-06 9.99999701e-01 -3.18394154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.54, Y:-18.25, Z:-0.32 [[ 9.92776980e-01 1.19971999e-01 7.67078769e-04 1.82540122e+02] [-1.19971960e-01 9.92777276e-01 -9.62605410e-05 -1.82514419e+01] [-7.73086940e-04 3.53730563e-06 9.99999701e-01 -3.15368056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.57, Y:-18.26, Z:-0.32 [[ 9.92814053e-01 1.19664814e-01 7.67083486e-04 1.82567788e+02] [-1.19664776e-01 9.92814349e-01 -9.62229411e-05 -1.82550894e+01] [-7.73085992e-04 3.73861506e-06 9.99999701e-01 -3.16160845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.60, Y:-18.26, Z:-0.31 [[ 9.92621104e-01 1.21254916e-01 7.67089352e-04 1.82595608e+02] [-1.21254878e-01 9.92621401e-01 -9.61761542e-05 -1.82605431e+01] [-7.73091138e-04 2.45315476e-06 9.99999701e-01 -3.13424345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.62, Y:-18.27, Z:-0.31 [[ 9.92420055e-01 1.22889565e-01 7.67095055e-04 1.82624176e+02] [-1.22889528e-01 9.92420352e-01 -9.61306425e-05 -1.82654458e+01] [-7.73094197e-04 1.13402846e-06 9.99999701e-01 -3.11301219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.65, Y:-18.27, Z:-0.31 [[ 9.91864486e-01 1.27295927e-01 7.67099725e-04 1.82652741e+02] [-1.27295891e-01 9.91864783e-01 -9.60933642e-05 -1.82703897e+01] [-7.73091496e-04 -2.33704777e-06 9.99999701e-01 -3.09040562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.68, Y:-18.27, Z:-0.31 [[ 9.91548176e-01 1.29736758e-01 7.67104546e-04 1.82679919e+02] [-1.29736723e-01 9.91548473e-01 -9.60548593e-05 -1.82733303e+01] [-7.73083187e-04 -4.27860910e-06 9.99999701e-01 -3.12670663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.71, Y:-18.28, Z:-0.31 [[ 9.91245048e-01 1.32032820e-01 7.67109346e-04 1.82708174e+02] [-1.32032785e-01 9.91245345e-01 -9.60165127e-05 -1.82758845e+01] [-7.73070899e-04 -6.10769053e-06 9.99999701e-01 -3.11409267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.74, Y:-18.28, Z:-0.31 [[ 9.91251535e-01 1.31984109e-01 7.67114060e-04 1.82737283e+02] [-1.31984075e-01 9.91251832e-01 -9.59788382e-05 -1.82794355e+01] [-7.73070899e-04 -6.10766852e-06 9.99999701e-01 -3.11431938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.76, Y:-18.28, Z:-0.31 [[ 9.90648190e-01 1.36438904e-01 7.67118774e-04 1.82764982e+02] [-1.36438870e-01 9.90648487e-01 -9.59411416e-05 -1.82809225e+01] [-7.73035158e-04 -9.62090069e-06 9.99999701e-01 -3.13084658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.79, Y:-18.28, Z:-0.31 [[ 9.90342517e-01 1.38640219e-01 7.67124632e-04 1.82794053e+02] [-1.38640186e-01 9.90342814e-01 -9.58942818e-05 -1.82838091e+01] [-7.73011171e-04 -1.13861175e-05 9.99999701e-01 -3.11273293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.82, Y:-18.29, Z:-0.31 [[ 9.89722422e-01 1.42999785e-01 7.67129419e-04 1.82821689e+02] [-1.42999754e-01 9.89722719e-01 -9.58559735e-05 -1.82865220e+01] [-7.72952798e-04 -1.48285117e-05 9.99999701e-01 -3.14126691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.85, Y:-18.29, Z:-0.31 [[ 9.89397727e-01 1.45229296e-01 7.67135353e-04 1.82850495e+02] [-1.45229266e-01 9.89398025e-01 -9.58084616e-05 -1.82895592e+01] [-7.72916398e-04 -1.66178299e-05 9.99999701e-01 -3.13412840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.88, Y:-18.29, Z:-0.31 [[ 9.88763092e-01 1.49488994e-01 7.67139836e-04 1.82879696e+02] [-1.49488965e-01 9.88763389e-01 -9.57725504e-05 -1.82898072e+01] [-7.72836727e-04 -1.99825767e-05 9.99999701e-01 -3.10458009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.91, Y:-18.29, Z:-0.31 [[ 9.88487781e-01 1.51298771e-01 7.67144475e-04 1.82908919e+02] [-1.51298742e-01 9.88488079e-01 -9.57353733e-05 -1.82909324e+01] [-7.72797813e-04 -2.14347477e-05 9.99999701e-01 -3.10473381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.94, Y:-18.29, Z:-0.31 [[ 9.88291702e-01 1.52574323e-01 7.67149114e-04 1.82936692e+02] [-1.52574294e-01 9.88291999e-01 -9.56981880e-05 -1.82915939e+01] [-7.72768418e-04 -2.24695096e-05 9.99999701e-01 -3.10258536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.96, Y:-18.29, Z:-0.31 [[ 9.88161878e-01 1.53412887e-01 7.67156119e-04 1.82964459e+02] [-1.53412859e-01 9.88162176e-01 -9.56420039e-05 -1.82923672e+01] [-7.72747375e-04 -2.31818311e-05 9.99999701e-01 -3.14958129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.99, Y:-18.29, Z:-0.32 [[ 9.88164501e-01 1.53395993e-01 7.67161924e-04 1.82993946e+02] [-1.53395965e-01 9.88164798e-01 -9.55954163e-05 -1.82910618e+01] [-7.72746362e-04 -2.32155467e-05 9.99999701e-01 -3.15372659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.02, Y:-18.29, Z:-0.32 [[ 9.88308701e-01 1.52464173e-01 7.67166564e-04 1.83022245e+02] [-1.52464144e-01 9.88308998e-01 -9.55581611e-05 -1.82925386e+01] [-7.72766814e-04 -2.25244318e-05 9.99999701e-01 -3.22041769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.05, Y:-18.29, Z:-0.32 [[ 9.88514359e-01 1.51125024e-01 7.67172357e-04 1.83051282e+02] [-1.51124995e-01 9.88514657e-01 -9.55116293e-05 -1.82944609e+01] [-7.72795317e-04 -2.15243018e-05 9.99999701e-01 -3.19470436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.804203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:183.08, Y:-18.30, Z:-0.32 [[ 9.89062331e-01 1.47496159e-01 7.67176830e-04 1.83080514e+02] [-1.47496129e-01 9.89062628e-01 -9.54756941e-05 -1.82952959e+01] [-7.72868230e-04 -1.87242003e-05 9.99999701e-01 -3.19081241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.11, Y:-18.30, Z:-0.32 [[ 9.89338378e-01 1.45633053e-01 7.67185804e-04 1.83107902e+02] [-1.45633022e-01 9.89338675e-01 -9.54035260e-05 -1.82973300e+01] [-7.72900494e-04 -1.73412178e-05 9.99999701e-01 -3.20123587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.14, Y:-18.30, Z:-0.32 [[ 9.89872887e-01 1.41954498e-01 7.67193934e-04 1.83136852e+02] [-1.41954466e-01 9.89873184e-01 -9.53381055e-05 -1.82964933e+01] [-7.72958375e-04 -1.45339998e-05 9.99999701e-01 -3.15826021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.16, Y:-18.30, Z:-0.32 [[ 9.90179284e-01 1.39801279e-01 7.67198607e-04 1.83164517e+02] [-1.39801247e-01 9.90179581e-01 -9.53004865e-05 -1.82976142e+01] [-7.72987525e-04 -1.28907544e-05 9.99999701e-01 -3.19253655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.19, Y:-18.30, Z:-0.32 [[ 9.90475711e-01 1.37685426e-01 7.67204409e-04 1.83193729e+02] [-1.37685394e-01 9.90476008e-01 -9.52537528e-05 -1.82996240e+01] [-7.73012614e-04 -1.12863128e-05 9.99999701e-01 -3.20134726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.22, Y:-18.30, Z:-0.32 [[ 9.90781339e-01 1.35468631e-01 7.67208826e-04 1.83222730e+02] [-1.35468598e-01 9.90781636e-01 -9.52181663e-05 -1.83021681e+01] [-7.73035490e-04 -9.59232182e-06 9.99999701e-01 -3.19953072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.25, Y:-18.30, Z:-0.32 [[ 9.91274995e-01 1.31807796e-01 7.67213274e-04 1.83251849e+02] [-1.31807762e-01 9.91275292e-01 -9.51823134e-05 -1.83040996e+01] [-7.73065333e-04 -6.77281760e-06 9.99999701e-01 -3.17779007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.28, Y:-18.31, Z:-0.32 [[ 9.91474662e-01 1.30297375e-01 7.67217827e-04 1.83280158e+02] [-1.30297340e-01 9.91474959e-01 -9.51455981e-05 -1.83061156e+01] [-7.73074485e-04 -5.63199260e-06 9.99999701e-01 -3.18084175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.31, Y:-18.31, Z:-0.32 [[ 9.91687527e-01 1.28667250e-01 7.67224614e-04 1.83309538e+02] [-1.28667215e-01 9.91687823e-01 -9.50908388e-05 -1.83070396e+01] [-7.73082384e-04 -4.41625531e-06 9.99999701e-01 -3.16491540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.34, Y:-18.31, Z:-0.31 [[ 9.91709416e-01 1.28498430e-01 7.67229136e-04 1.83338034e+02] [-1.28498395e-01 9.91709712e-01 -9.50543359e-05 -1.83093026e+01] [-7.73082919e-04 -4.32143242e-06 9.99999701e-01 -3.13817917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.37, Y:-18.31, Z:-0.32 [[ 9.91735907e-01 1.28293810e-01 7.67233803e-04 1.83366012e+02] [-1.28293775e-01 9.91736204e-01 -9.50166555e-05 -1.83110945e+01] [-7.73083588e-04 -4.19989164e-06 9.99999701e-01 -3.15387960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.40, Y:-18.31, Z:-0.31 [[ 9.91747015e-01 1.28207912e-01 7.67239590e-04 1.83395108e+02] [-1.28207877e-01 9.91747312e-01 -9.49699062e-05 -1.83113603e+01] [-7.73083694e-04 -4.18003788e-06 9.99999701e-01 -3.13723646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.42, Y:-18.31, Z:-0.31 [[ 9.91747857e-01 1.28201399e-01 7.67244080e-04 1.83422529e+02] [-1.28201364e-01 9.91748154e-01 -9.49336107e-05 -1.83136139e+01] [-7.73083522e-04 -4.21153232e-06 9.99999701e-01 -3.13990375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.45, Y:-18.32, Z:-0.32 [[ 9.91766870e-01 1.28054237e-01 7.67249655e-04 1.83450678e+02] [-1.28054202e-01 9.91767166e-01 -9.48885393e-05 -1.83161372e+01] [-7.73083895e-04 -4.14223298e-06 9.99999701e-01 -3.15153718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.48, Y:-18.32, Z:-0.31 [[ 9.91734414e-01 1.28305349e-01 7.67255181e-04 1.83480042e+02] [-1.28305314e-01 9.91734711e-01 -9.48438288e-05 -1.83177157e+01] [-7.73082566e-04 -4.38302819e-06 9.99999701e-01 -3.12993591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.51, Y:-18.32, Z:-0.31 [[ 9.91680918e-01 1.28718174e-01 7.67258646e-04 1.83507410e+02] [-1.28718139e-01 9.91681215e-01 -9.48157906e-05 -1.83194522e+01] [-7.73080502e-04 -4.73309481e-06 9.99999701e-01 -3.14858696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.54, Y:-18.32, Z:-0.32 [[ 9.91504560e-01 1.30069667e-01 7.67266675e-04 1.83536901e+02] [-1.30069632e-01 9.91504857e-01 -9.47507799e-05 -1.83198237e+01] [-7.73072837e-04 -5.85226394e-06 9.99999701e-01 -3.16945704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.57, Y:-18.32, Z:-0.32 [[ 9.91369719e-01 1.31093444e-01 7.67275018e-04 1.83565710e+02] [-1.31093410e-01 9.91370016e-01 -9.46831653e-05 -1.83216669e+01] [-7.73065790e-04 -6.71867539e-06 9.99999701e-01 -3.17615148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.59, Y:-18.32, Z:-0.32 [[ 9.91214748e-01 1.32260103e-01 7.67279564e-04 1.83593282e+02] [-1.32260070e-01 9.91215045e-01 -9.46463148e-05 -1.83230984e+01] [-7.73056979e-04 -7.66562562e-06 9.99999701e-01 -3.16967831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.62, Y:-18.32, Z:-0.32 [[ 9.90921144e-01 1.34442172e-01 7.67286525e-04 1.83621076e+02] [-1.34442139e-01 9.90921441e-01 -9.45898455e-05 -1.83239476e+01] [-7.73037534e-04 -9.42456385e-06 9.99999701e-01 -3.18918195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.404203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:183.65, Y:-18.33, Z:-0.32 [[ 9.90883933e-01 1.34716154e-01 7.67292291e-04 1.83650076e+02] [-1.34716121e-01 9.90884230e-01 -9.45430494e-05 -1.83260871e+01] [-7.73034308e-04 -9.68545282e-06 9.99999701e-01 -3.20219697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.68, Y:-18.33, Z:-0.32 [[ 9.90876522e-01 1.34770656e-01 7.67296748e-04 1.83678169e+02] [-1.34770624e-01 9.90876819e-01 -9.45068697e-05 -1.83288094e+01] [-7.73033313e-04 -9.76442282e-06 9.99999701e-01 -3.18866835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.71, Y:-18.33, Z:-0.32 [[ 9.90929343e-01 1.34381725e-01 7.67302294e-04 1.83707559e+02] [-1.34381692e-01 9.90929640e-01 -9.44618202e-05 -1.83285020e+01] [-7.73036528e-04 -9.50639136e-06 9.99999701e-01 -3.15529402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.74, Y:-18.33, Z:-0.31 [[ 9.91002904e-01 1.33838166e-01 7.67306858e-04 1.83736546e+02] [-1.33838133e-01 9.91003201e-01 -9.44247276e-05 -1.83303612e+01] [-7.73041185e-04 -9.11973769e-06 9.99999701e-01 -3.14609553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.76, Y:-18.33, Z:-0.32 [[ 9.91133889e-01 1.32864686e-01 7.67311458e-04 1.83764343e+02] [-1.32864653e-01 9.91134186e-01 -9.43873349e-05 -1.83331229e+01] [-7.73049361e-04 -8.39808399e-06 9.99999701e-01 -3.16549940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.79, Y:-18.34, Z:-0.32 [[ 9.91412190e-01 1.30771867e-01 7.67317170e-04 1.83793224e+02] [-1.30771834e-01 9.91412487e-01 -9.43408804e-05 -1.83373399e+01] [-7.73064956e-04 -6.81277436e-06 9.99999701e-01 -3.16083761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.82, Y:-18.34, Z:-0.31 [[ 9.91615055e-01 1.29224586e-01 7.67321567e-04 1.83820792e+02] [-1.29224551e-01 9.91615352e-01 -9.43050985e-05 -1.83404530e+01] [-7.73074383e-04 -5.64242981e-06 9.99999701e-01 -3.13967432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.85, Y:-18.34, Z:-0.32 [[ 9.91840855e-01 1.27479921e-01 7.67328419e-04 1.83847370e+02] [-1.27479886e-01 9.91841151e-01 -9.42493180e-05 -1.83436565e+01] [-7.73082798e-04 -4.33861539e-06 9.99999701e-01 -3.17524779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.88, Y:-18.35, Z:-0.32 [[ 9.92325796e-01 1.23648393e-01 7.67340205e-04 1.83876380e+02] [-1.23648357e-01 9.92326093e-01 -9.41532584e-05 -1.83477100e+01] [-7.73093607e-04 -1.44964887e-06 9.99999701e-01 -3.15618081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.90, Y:-18.35, Z:-0.32 [[ 9.92542002e-01 1.21900720e-01 7.67344754e-04 1.83903014e+02] [-1.21900684e-01 9.92542299e-01 -9.41161746e-05 -1.83508083e+01] [-7.73094955e-04 -1.25593593e-07 9.99999701e-01 -3.16998033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.93, Y:-18.36, Z:-0.32 [[ 9.92860765e-01 1.19276618e-01 7.67352679e-04 1.83930638e+02] [-1.19276581e-01 9.92861062e-01 -9.40515154e-05 -1.83551456e+01] [-7.73092742e-04 1.85285597e-06 9.99999701e-01 -3.19335966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.734203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.96, Y:-18.36, Z:-0.32 [[ 9.92988898e-01 1.18205159e-01 7.67358254e-04 1.83958391e+02] [-1.18205122e-01 9.92989194e-01 -9.40060009e-05 -1.83593403e+01] [-7.73090449e-04 2.64123938e-06 9.99999701e-01 -3.18153616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.764203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.99, Y:-18.36, Z:-0.32 [[ 9.93077430e-01 1.17459053e-01 7.67365084e-04 1.83985835e+02] [-1.17459015e-01 9.93077727e-01 -9.39502177e-05 -1.83641536e+01] [-7.73088477e-04 3.16589347e-06 9.99999701e-01 -3.17929818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.01, Y:-18.37, Z:-0.32 [[ 9.93265399e-01 1.15858787e-01 7.67370764e-04 1.84014198e+02] [-1.15858749e-01 9.93265695e-01 -9.39038061e-05 -1.83698253e+01] [-7.73082636e-04 4.36478488e-06 9.99999701e-01 -3.15959754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.04, Y:-18.37, Z:-0.32 [[ 9.93372322e-01 1.14938425e-01 7.67375315e-04 1.84041230e+02] [-1.14938387e-01 9.93372618e-01 -9.38665966e-05 -1.83741609e+01] [-7.73078505e-04 5.04359795e-06 9.99999701e-01 -3.18436605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.07, Y:-18.38, Z:-0.32 [[ 9.93442748e-01 1.14328111e-01 7.67383217e-04 1.84068663e+02] [-1.14328072e-01 9.93443045e-01 -9.38019532e-05 -1.83782450e+01] [-7.73075719e-04 5.45342638e-06 9.99999701e-01 -3.17922597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.10, Y:-18.38, Z:-0.32 [[ 9.93351242e-01 1.15120465e-01 7.67389740e-04 1.84097005e+02] [-1.15120427e-01 9.93351538e-01 -9.37485594e-05 -1.83831342e+01] [-7.73080156e-04 4.78301310e-06 9.99999701e-01 -3.15786594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.12, Y:-18.39, Z:-0.32 [[ 9.93250103e-01 1.15989844e-01 7.67394315e-04 1.84123631e+02] [-1.15989806e-01 9.93250399e-01 -9.37110928e-05 -1.83868282e+01] [-7.73084245e-04 4.06863469e-06 9.99999701e-01 -3.18028369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.15, Y:-18.39, Z:-0.32 [[ 9.93128663e-01 1.17025083e-01 7.67402245e-04 1.84151952e+02] [-1.17025045e-01 9.93128959e-01 -9.36461122e-05 -1.83911571e+01] [-7.73088337e-04 3.19735597e-06 9.99999701e-01 -3.16113281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.18, Y:-18.40, Z:-0.32 [[ 9.92928081e-01 1.18714941e-01 7.67406743e-04 1.84180261e+02] [-1.18714904e-01 9.92928377e-01 -9.36092322e-05 -1.83982684e+01] [-7.73092747e-04 1.84461717e-06 9.99999701e-01 -3.15475049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.21, Y:-18.40, Z:-0.32 [[ 9.92897014e-01 1.18974497e-01 7.67411279e-04 1.84208230e+02] [-1.18974461e-01 9.92897310e-01 -9.35720316e-05 -1.84037065e+01] [-7.73093280e-04 1.60504777e-06 9.99999701e-01 -3.15291355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.24, Y:-18.41, Z:-0.31 [[ 9.92901525e-01 1.18936846e-01 7.67418109e-04 1.84235281e+02] [-1.18936809e-01 9.92901821e-01 -9.35159852e-05 -1.84096147e+01] [-7.73093334e-04 1.57790320e-06 9.99999701e-01 -3.14027818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.26, Y:-18.41, Z:-0.31 [[ 9.92919363e-01 1.18787833e-01 7.67423759e-04 1.84262545e+02] [-1.18787796e-01 9.92919660e-01 -9.34695969e-05 -1.84137267e+01] [-7.73093188e-04 1.64719565e-06 9.99999701e-01 -3.13260226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.29, Y:-18.42, Z:-0.31 [[ 9.92954802e-01 1.18491231e-01 7.67429325e-04 1.84289737e+02] [-1.18491194e-01 9.92955099e-01 -9.34238709e-05 -1.84175809e+01] [-7.73092771e-04 1.83206397e-06 9.99999701e-01 -3.13758162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.32, Y:-18.42, Z:-0.31 [[ 9.92941984e-01 1.18598602e-01 7.67437027e-04 1.84317568e+02] [-1.18598565e-01 9.92942280e-01 -9.33605617e-05 -1.84241552e+01] [-7.73093104e-04 1.68469093e-06 9.99999701e-01 -3.11102298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.35, Y:-18.43, Z:-0.31 [[ 9.92856262e-01 1.19314094e-01 7.67441534e-04 1.84346153e+02] [-1.19314058e-01 9.92856559e-01 -9.33234969e-05 -1.84295683e+01] [-7.73094169e-04 1.09025477e-06 9.99999701e-01 -3.10376475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.37, Y:-18.43, Z:-0.31 [[ 9.92726138e-01 1.20391968e-01 7.67446110e-04 1.84373108e+02] [-1.20391932e-01 9.92726435e-01 -9.32858549e-05 -1.84344299e+01] [-7.73094908e-04 2.12986376e-07 9.99999701e-01 -3.13041897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.40, Y:-18.44, Z:-0.32 [[ 9.92365295e-01 1.23330989e-01 7.67454084e-04 1.84401814e+02] [-1.23330953e-01 9.92365592e-01 -9.32202025e-05 -1.84389270e+01] [-7.73091966e-04 -2.14235020e-06 9.99999701e-01 -3.15862652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.43, Y:-18.44, Z:-0.32 [[ 9.92154983e-01 1.25011602e-01 7.67458502e-04 1.84430066e+02] [-1.25011567e-01 9.92155280e-01 -9.31838185e-05 -1.84418015e+01] [-7.73087063e-04 -3.48840005e-06 9.99999701e-01 -3.16775910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.46, Y:-18.44, Z:-0.32 [[ 9.91737261e-01 1.28283340e-01 7.67465133e-04 1.84457618e+02] [-1.28283306e-01 9.91737558e-01 -9.31291757e-05 -1.84428191e+01] [-7.73070919e-04 -6.09329084e-06 9.99999701e-01 -3.18696657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.49, Y:-18.45, Z:-0.32 [[ 9.91543006e-01 1.29776265e-01 7.67472796e-04 1.84486368e+02] [-1.29776232e-01 9.91543303e-01 -9.30659840e-05 -1.84451966e+01] [-7.73060266e-04 -7.32080212e-06 9.99999701e-01 -3.19595103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.51, Y:-18.45, Z:-0.32 [[ 9.91426131e-01 1.30666132e-01 7.67477183e-04 1.84514007e+02] [-1.30666099e-01 9.91426428e-01 -9.30297856e-05 -1.84477180e+01] [-7.73053005e-04 -8.05108930e-06 9.99999701e-01 -3.17937130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.54, Y:-18.45, Z:-0.32 [[ 9.91435784e-01 1.30592866e-01 7.67484041e-04 1.84542302e+02] [-1.30592833e-01 9.91436081e-01 -9.29731754e-05 -1.84510118e+01] [-7.73053004e-04 -8.05098197e-06 9.99999701e-01 -3.17959155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.57, Y:-18.45, Z:-0.32 [[ 9.91330161e-01 1.31392251e-01 7.67490908e-04 1.84570539e+02] [-1.31392218e-01 9.91330458e-01 -9.29164581e-05 -1.84528208e+01] [-7.73045615e-04 -8.73144544e-06 9.99999701e-01 -3.20291223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.60, Y:-18.46, Z:-0.32 [[ 9.91437789e-01 1.30577644e-01 7.67496595e-04 1.84598921e+02] [-1.30577612e-01 9.91438086e-01 -9.28694576e-05 -1.84550505e+01] [-7.73052030e-04 -8.14358255e-06 9.99999701e-01 -3.19374918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.63, Y:-18.46, Z:-0.32 [[ 9.91662534e-01 1.28859726e-01 7.67503256e-04 1.84626993e+02] [-1.28859693e-01 9.91662831e-01 -9.28143782e-05 -1.84576776e+01] [-7.73064487e-04 -6.85969209e-06 9.99999701e-01 -3.20250604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.66, Y:-18.46, Z:-0.32 [[ 9.92366338e-01 1.23322598e-01 7.67508758e-04 1.84655373e+02] [-1.23322563e-01 9.92366634e-01 -9.27688547e-05 -1.84600763e+01] [-7.73090579e-04 -2.59045842e-06 9.99999701e-01 -3.16393879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.68, Y:-18.46, Z:-0.32 [[ 9.92840778e-01 1.19442877e-01 7.67513230e-04 1.84682908e+02] [-1.19442841e-01 9.92841075e-01 -9.27318442e-05 -1.84626930e+01] [-7.73094818e-04 3.93995882e-07 9.99999701e-01 -3.16614110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.71, Y:-18.47, Z:-0.32 [[ 9.93918942e-01 1.10111522e-01 7.67520407e-04 1.84711091e+02] [-1.10111483e-01 9.93919239e-01 -9.26724024e-05 -1.84672618e+01] [-7.73057598e-04 7.59604572e-06 9.99999701e-01 -3.15819965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.74, Y:-18.47, Z:-0.31 [[ 9.94459094e-01 1.05121458e-01 7.67524818e-04 1.84739047e+02] [-1.05121418e-01 9.94459390e-01 -9.26358522e-05 -1.84728969e+01] [-7.73010279e-04 1.14392686e-05 9.99999701e-01 -3.14593096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60420382200002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.77, Y:-18.48, Z:-0.31 [[ 9.94922692e-01 1.00639198e-01 7.67531501e-04 1.84766872e+02] [-1.00639156e-01 9.94922988e-01 -9.25804514e-05 -1.84790731e+01] [-7.72951956e-04 1.48666691e-05 9.99999701e-01 -3.14197526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.79, Y:-18.49, Z:-0.32 [[ 9.95310087e-01 9.67328362e-02 7.67535999e-04 1.84794031e+02] [-9.67327936e-02 9.95310383e-01 -9.25431436e-05 -1.84850842e+01] [-7.72888510e-04 1.78632230e-05 9.99999701e-01 -3.16063807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.82, Y:-18.49, Z:-0.31 [[ 9.95879457e-01 9.06836166e-02 7.67541575e-04 1.84822183e+02] [-9.06835723e-02 9.95879752e-01 -9.24968764e-05 -1.84926011e+01] [-7.72767065e-04 2.25123272e-05 9.99999701e-01 -3.12155861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.85, Y:-18.50, Z:-0.31 [[ 9.96051196e-01 8.87773970e-02 7.67546007e-04 1.84849612e+02] [-8.87773521e-02 9.96051491e-01 -9.24600806e-05 -1.84985578e+01] [-7.72723710e-04 2.39542717e-05 9.99999701e-01 -3.11405062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.88, Y:-18.51, Z:-0.31 [[ 9.96216710e-01 8.69003855e-02 7.67551512e-04 1.84877055e+02] [-8.69003401e-02 9.96217006e-01 -9.24143602e-05 -1.85083316e+01] [-7.72678712e-04 2.53642425e-05 9.99999701e-01 -3.09135819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.90, Y:-18.52, Z:-0.31 [[ 9.96193698e-01 8.71637989e-02 7.67555788e-04 1.84904880e+02] [-8.71637536e-02 9.96193993e-01 -9.23788303e-05 -1.85151692e+01] [-7.72686555e-04 2.51241650e-05 9.99999701e-01 -3.08438496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.93, Y:-18.52, Z:-0.31 [[ 9.96086350e-01 8.83820876e-02 7.67560103e-04 1.84931837e+02] [-8.83820427e-02 9.96086646e-01 -9.23429635e-05 -1.85222382e+01] [-7.72717833e-04 2.41430357e-05 9.99999701e-01 -3.09952912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.814203822 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:184.96, Y:-18.53, Z:-0.31 [[ 9.95711025e-01 9.25146813e-02 7.67565449e-04 1.84959478e+02] [-9.25146376e-02 9.95711320e-01 -9.22985091e-05 -1.85334983e+01] [-7.72812573e-04 2.08916037e-05 9.99999701e-01 -3.11100955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.99, Y:-18.54, Z:-0.31 [[ 9.95449669e-01 9.52857120e-02 7.67569741e-04 1.84986837e+02] [-9.52856691e-02 9.95449965e-01 -9.22628012e-05 -1.85403816e+01] [-7.72868598e-04 1.87045786e-05 9.99999701e-01 -3.10521859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.02, Y:-18.55, Z:-0.31 [[ 9.95188423e-01 9.79765936e-02 7.67574013e-04 1.85015345e+02] [-9.79765516e-02 9.95188719e-01 -9.22272488e-05 -1.85466953e+01] [-7.72917110e-04 1.65792355e-05 9.99999701e-01 -3.10287856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.04, Y:-18.56, Z:-0.31 [[ 9.94628718e-01 1.03504221e-01 7.67578287e-04 1.85042757e+02] [-1.03504181e-01 9.94629014e-01 -9.21916646e-05 -1.85568861e+01] [-7.72997861e-04 1.22489153e-05 9.99999701e-01 -3.11485799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.934203822 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:185.07, Y:-18.57, Z:-0.32 [[ 9.94393571e-01 1.05739479e-01 7.67582663e-04 1.85070267e+02] [-1.05739439e-01 9.94393867e-01 -9.21552112e-05 -1.85650803e+01] [-7.73023937e-04 1.04747890e-05 9.99999701e-01 -3.15944485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.10, Y:-18.58, Z:-0.31 [[ 9.93869639e-01 1.10555650e-01 7.67587027e-04 1.85097250e+02] [-1.10555612e-01 9.93869935e-01 -9.21188463e-05 -1.85795253e+01] [-7.73065928e-04 6.69307108e-06 9.99999701e-01 -3.12129806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.12, Y:-18.59, Z:-0.31 [[ 9.93565068e-01 1.13260175e-01 7.67591397e-04 1.85124787e+02] [-1.13260138e-01 9.93565364e-01 -9.20824230e-05 -1.85866166e+01] [-7.73081497e-04 4.55237146e-06 9.99999701e-01 -3.11986467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.15, Y:-18.59, Z:-0.31 [[ 9.93199482e-01 1.16422504e-01 7.67597401e-04 1.85152769e+02] [-1.16422467e-01 9.93199779e-01 -9.20323409e-05 -1.85933373e+01] [-7.73092205e-04 2.04088988e-06 9.99999701e-01 -3.12224849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.18, Y:-18.60, Z:-0.31 [[ 9.92218822e-01 1.24503892e-01 7.67601735e-04 1.85181182e+02] [-1.24503858e-01 9.92219119e-01 -9.19961793e-05 -1.86024725e+01] [-7.73083000e-04 -4.28903697e-06 9.99999701e-01 -3.11920427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.21, Y:-18.61, Z:-0.31 [[ 9.91655101e-01 1.28916915e-01 7.67606065e-04 1.85209441e+02] [-1.28916883e-01 9.91655398e-01 -9.19600424e-05 -1.86075096e+01] [-7.73055903e-04 -7.76473572e-06 9.99999701e-01 -3.11715524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.24, Y:-18.61, Z:-0.31 [[ 9.91030743e-01 1.33631870e-01 7.67610391e-04 1.85237109e+02] [-1.33631839e-01 9.91031040e-01 -9.19239129e-05 -1.86126659e+01] [-7.73009689e-04 -1.14777647e-05 9.99999701e-01 -3.13486633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.27, Y:-18.62, Z:-0.31 [[ 9.89920031e-01 1.41625360e-01 7.67615763e-04 1.85265227e+02] [-1.41625332e-01 9.89920329e-01 -9.18790339e-05 -1.86196026e+01] [-7.72890850e-04 -1.77609410e-05 9.99999701e-01 -3.11259434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.29, Y:-18.62, Z:-0.31 [[ 9.89429219e-01 1.45014591e-01 7.67620120e-04 1.85294008e+02] [-1.45014563e-01 9.89429516e-01 -9.18426219e-05 -1.86234993e+01] [-7.72824524e-04 -2.04443228e-05 9.99999701e-01 -3.09114317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.32, Y:-18.63, Z:-0.31 [[ 9.88714048e-01 1.49813025e-01 7.67624599e-04 1.85321815e+02] [-1.49812999e-01 9.88714345e-01 -9.18051682e-05 -1.86261368e+01] [-7.72715063e-04 -2.42310840e-05 9.99999701e-01 -3.12252902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.35, Y:-18.63, Z:-0.31 [[ 9.88591306e-01 1.50620847e-01 7.67630135e-04 1.85350505e+02] [-1.50620821e-01 9.88591604e-01 -9.17588530e-05 -1.86296148e+01] [-7.72693503e-04 -2.49090771e-05 9.99999701e-01 -3.12604768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.38, Y:-18.63, Z:-0.31 [[ 9.88571639e-01 1.50749878e-01 7.67634435e-04 1.85378965e+02] [-1.50749852e-01 9.88571936e-01 -9.17228641e-05 -1.86330521e+01] [-7.72689071e-04 -2.50461557e-05 9.99999701e-01 -3.12058759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.41, Y:-18.64, Z:-0.31 [[ 9.88711031e-01 1.49832931e-01 7.67638764e-04 1.85407315e+02] [-1.49832905e-01 9.88711329e-01 -9.16866255e-05 -1.86354307e+01] [-7.72710818e-04 -2.43659678e-05 9.99999701e-01 -3.10660123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.44, Y:-18.64, Z:-0.31 [[ 9.88903157e-01 1.48559607e-01 7.67643099e-04 1.85435861e+02] [-1.48559581e-01 9.88903455e-01 -9.16503111e-05 -1.86381084e+01] [-7.72740447e-04 -2.34074549e-05 9.99999701e-01 -3.10265017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.46, Y:-18.64, Z:-0.31 [[ 9.89091543e-01 1.47300134e-01 7.67647528e-04 1.85463358e+02] [-1.47300107e-01 9.89091841e-01 -9.16132022e-05 -1.86403436e+01] [-7.72768544e-04 -2.24607197e-05 9.99999701e-01 -3.12065864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.49, Y:-18.64, Z:-0.31 [[ 9.89500039e-01 1.44530565e-01 7.67653048e-04 1.85492399e+02] [-1.44530537e-01 9.89500336e-01 -9.15669282e-05 -1.86399453e+01] [-7.72827169e-04 -2.03438282e-05 9.99999701e-01 -3.11032286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.52, Y:-18.64, Z:-0.32 [[ 9.89699211e-01 1.43160340e-01 7.67657493e-04 1.85520773e+02] [-1.43160312e-01 9.89699508e-01 -9.15296492e-05 -1.86412034e+01] [-7.72853659e-04 -1.93112643e-05 9.99999701e-01 -3.15630205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.55, Y:-18.64, Z:-0.31 [[ 9.90190770e-01 1.39719895e-01 7.67661902e-04 1.85549390e+02] [-1.39719866e-01 9.90191068e-01 -9.14926525e-05 -1.86435475e+01] [-7.72915302e-04 -1.66624382e-05 9.99999701e-01 -3.14579454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.58, Y:-18.65, Z:-0.31 [[ 9.90481773e-01 1.37641811e-01 7.67666153e-04 1.85577955e+02] [-1.37641782e-01 9.90482070e-01 -9.14569695e-05 -1.86461825e+01] [-7.72947864e-04 -1.50764759e-05 9.99999701e-01 -3.13698840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.61, Y:-18.65, Z:-0.31 [[ 9.90702968e-01 1.36040584e-01 7.67670429e-04 1.85606354e+02] [-1.36040554e-01 9.90703265e-01 -9.14210632e-05 -1.86480737e+01] [-7.72970575e-04 -1.38631916e-05 9.99999701e-01 -3.12775390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.63, Y:-18.65, Z:-0.31 [[ 9.90914680e-01 1.34489802e-01 7.67674713e-04 1.85634705e+02] [-1.34489772e-01 9.90914978e-01 -9.13850725e-05 -1.86493273e+01] [-7.72990732e-04 -1.26895871e-05 9.99999701e-01 -3.13257375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.66, Y:-18.65, Z:-0.32 [[ 9.91335208e-01 1.31354166e-01 7.67680052e-04 1.85664001e+02] [-1.31354135e-01 9.91335505e-01 -9.13402021e-05 -1.86509951e+01] [-7.73026408e-04 -1.02891908e-05 9.99999701e-01 -3.16094802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.69, Y:-18.65, Z:-0.32 [[ 9.91529180e-01 1.29881857e-01 7.67683249e-04 1.85693140e+02] [-1.29881825e-01 9.91529477e-01 -9.13133240e-05 -1.86541389e+01] [-7.73040515e-04 -9.16827626e-06 9.99999701e-01 -3.16946696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.72, Y:-18.66, Z:-0.31 [[ 9.91779728e-01 1.27954610e-01 7.67687491e-04 1.85721786e+02] [-1.27954578e-01 9.91780025e-01 -9.12776521e-05 -1.86573911e+01] [-7.73056515e-04 -7.70180364e-06 9.99999701e-01 -3.13953738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.75, Y:-18.66, Z:-0.31 [[ 9.91843379e-01 1.27460277e-01 7.67691959e-04 1.85749491e+02] [-1.27460245e-01 9.91843676e-01 -9.12400550e-05 -1.86605993e+01] [-7.73059897e-04 -7.35436056e-06 9.99999701e-01 -3.13938931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.78, Y:-18.66, Z:-0.31 [[ 9.91854765e-01 1.27371641e-01 7.67697523e-04 1.85777807e+02] [-1.27371609e-01 9.91855062e-01 -9.11932175e-05 -1.86637830e+01] [-7.73060104e-04 -7.33244138e-06 9.99999701e-01 -3.11217091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.714203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:185.81, Y:-18.67, Z:-0.31 [[ 9.91803631e-01 1.27769200e-01 7.67702003e-04 1.85805294e+02] [-1.27769168e-01 9.91803928e-01 -9.11554896e-05 -1.86660691e+01] [-7.73056726e-04 -7.68030063e-06 9.99999701e-01 -3.12201956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.83, Y:-18.67, Z:-0.31 [[ 9.91712833e-01 1.28472050e-01 7.67707566e-04 1.85833567e+02] [-1.28472018e-01 9.91713130e-01 -9.11086078e-05 -1.86695238e+01] [-7.73050583e-04 -8.27536498e-06 9.99999701e-01 -3.09694795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.86, Y:-18.67, Z:-0.31 [[ 9.91597153e-01 1.29361880e-01 7.67711901e-04 1.85861229e+02] [-1.29361848e-01 9.91597451e-01 -9.10720692e-05 -1.86726312e+01] [-7.73042418e-04 -9.00582543e-06 9.99999701e-01 -3.11010717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.89, Y:-18.67, Z:-0.31 [[ 9.91222250e-01 1.32203864e-01 7.67717669e-04 1.85890124e+02] [-1.32203833e-01 9.91222547e-01 -9.10234188e-05 -1.86746641e+01] [-7.73012711e-04 -1.12707807e-05 9.99999701e-01 -3.10371305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.92, Y:-18.68, Z:-0.31 [[ 9.91001291e-01 1.33850111e-01 7.67721978e-04 1.85918970e+02] [-1.33850080e-01 9.91001588e-01 -9.09870576e-05 -1.86766687e+01] [-7.72992328e-04 -1.25913568e-05 9.99999701e-01 -3.10795559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.95, Y:-18.68, Z:-0.31 [[ 9.90768962e-01 1.35559117e-01 7.67726286e-04 1.85947141e+02] [-1.35559088e-01 9.90769259e-01 -9.09506939e-05 -1.86782204e+01] [-7.72968800e-04 -1.39611504e-05 9.99999701e-01 -3.14313341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.98, Y:-18.68, Z:-0.31 [[ 9.90761323e-01 1.35614936e-01 7.67731678e-04 1.85975944e+02] [-1.35614906e-01 9.90761621e-01 -9.09051574e-05 -1.86810498e+01] [-7.72967179e-04 -1.40505455e-05 9.99999701e-01 -3.14011968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.00, Y:-18.68, Z:-0.32 [[ 9.90841132e-01 1.35030594e-01 7.67736041e-04 1.86003843e+02] [-1.35030564e-01 9.90841430e-01 -9.08682930e-05 -1.86838327e+01] [-7.72974676e-04 -1.36317884e-05 9.99999701e-01 -3.15655473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.03, Y:-18.69, Z:-0.31 [[ 9.91006212e-01 1.33813670e-01 7.67741471e-04 1.86032578e+02] [-1.33813640e-01 9.91006509e-01 -9.08223941e-05 -1.86872429e+01] [-7.72990073e-04 -1.27287242e-05 9.99999701e-01 -3.13539675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.06, Y:-18.69, Z:-0.31 [[ 9.91171225e-01 1.32585871e-01 7.67745875e-04 1.86061544e+02] [-1.32585840e-01 9.91171522e-01 -9.07851535e-05 -1.86914502e+01] [-7.73004676e-04 -1.18086000e-05 9.99999701e-01 -3.13435671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.09, Y:-18.70, Z:-0.31 [[ 9.91324988e-01 1.31431273e-01 7.67750286e-04 1.86089290e+02] [-1.31431242e-01 9.91325285e-01 -9.07478353e-05 -1.86961071e+01] [-7.73017374e-04 -1.09457768e-05 9.99999701e-01 -3.14086179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.12, Y:-18.70, Z:-0.32 [[ 9.91562031e-01 1.29630822e-01 7.67755767e-04 1.86116667e+02] [-1.29630791e-01 9.91562328e-01 -9.07014402e-05 -1.87015082e+01] [-7.73035398e-04 -9.58868281e-06 9.99999701e-01 -3.17182835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.14, Y:-18.71, Z:-0.32 [[ 9.91680738e-01 1.28719556e-01 7.67760066e-04 1.86144703e+02] [-1.28719525e-01 9.91681035e-01 -9.06650341e-05 -1.87062403e+01] [-7.73043460e-04 -8.91494285e-06 9.99999701e-01 -3.17324686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.17, Y:-18.71, Z:-0.32 [[ 9.91708503e-01 1.28505470e-01 7.67764357e-04 1.86173053e+02] [-1.28505438e-01 9.91708800e-01 -9.06286812e-05 -1.87099151e+01] [-7.73044951e-04 -8.78466158e-06 9.99999701e-01 -3.17072855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.20, Y:-18.71, Z:-0.32 [[ 9.91691224e-01 1.28638748e-01 7.67768635e-04 1.86201641e+02] [-1.28638716e-01 9.91691521e-01 -9.05924263e-05 -1.87130418e+01] [-7.73043342e-04 -8.92505750e-06 9.99999701e-01 -3.16526081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.23, Y:-18.72, Z:-0.32 [[ 9.91632798e-01 1.29088356e-01 7.67772920e-04 1.86230725e+02] [-1.29088325e-01 9.91633096e-01 -9.05560957e-05 -1.87157830e+01] [-7.73038775e-04 -9.31212532e-06 9.99999701e-01 -3.16427786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.26, Y:-18.72, Z:-0.32 [[ 9.91453648e-01 1.30457176e-01 7.67777183e-04 1.86258614e+02] [-1.30457145e-01 9.91453945e-01 -9.05199383e-05 -1.87191025e+01] [-7.73024693e-04 -1.04156967e-05 9.99999701e-01 -3.16798372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.29, Y:-18.72, Z:-0.31 [[ 9.91336528e-01 1.31344200e-01 7.67782467e-04 1.86286719e+02] [-1.31344169e-01 9.91336825e-01 -9.04751019e-05 -1.87235891e+01] [-7.73014413e-04 -1.11524770e-05 9.99999701e-01 -3.14991931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.32, Y:-18.73, Z:-0.32 [[ 9.91342900e-01 1.31296100e-01 7.67786865e-04 1.86315853e+02] [-1.31296069e-01 9.91343197e-01 -9.04377580e-05 -1.87269307e+01] [-7.73014411e-04 -1.11525682e-05 9.99999701e-01 -3.15014601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.34, Y:-18.73, Z:-0.32 [[ 9.90990013e-01 1.33933586e-01 7.67791252e-04 1.86343243e+02] [-1.33933556e-01 9.90990310e-01 -9.04005045e-05 -1.87306222e+01] [-7.72981354e-04 -1.32470154e-05 9.99999701e-01 -3.15164248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.37, Y:-18.73, Z:-0.31 [[ 9.90725818e-01 1.35874073e-01 7.67796702e-04 1.86372005e+02] [-1.35874044e-01 9.90726116e-01 -9.03541924e-05 -1.87324883e+01] [-7.72953036e-04 -1.48074113e-05 9.99999701e-01 -3.13738734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.40, Y:-18.73, Z:-0.31 [[ 9.90439401e-01 1.37946377e-01 7.67800994e-04 1.86400661e+02] [-1.37946349e-01 9.90439699e-01 -9.03177057e-05 -1.87335947e+01] [-7.72919585e-04 -1.64611292e-05 9.99999701e-01 -3.11707765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.43, Y:-18.73, Z:-0.31 [[ 9.89826817e-01 1.42275379e-01 7.67805371e-04 1.86428592e+02] [-1.42275352e-01 9.89827114e-01 -9.02804753e-05 -1.87325819e+01] [-7.72839264e-04 -1.98777441e-05 9.99999701e-01 -3.13195535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.46, Y:-18.73, Z:-0.31 [[ 9.89541700e-01 1.44245051e-01 7.67810807e-04 1.86457837e+02] [-1.44245024e-01 9.89541998e-01 -9.02342213e-05 -1.87340853e+01] [-7.72796880e-04 -2.14623637e-05 9.99999701e-01 -3.13432899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.49, Y:-18.74, Z:-0.32 [[ 9.89263521e-01 1.46140675e-01 7.67815152e-04 1.86485544e+02] [-1.46140649e-01 9.89263819e-01 -9.01972303e-05 -1.87357358e+01] [-7.72753234e-04 -2.29801750e-05 9.99999701e-01 -3.15908366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.51, Y:-18.74, Z:-0.31 [[ 9.88892579e-01 1.48630005e-01 7.67820955e-04 1.86513990e+02] [-1.48629980e-01 9.88892876e-01 -9.01478112e-05 -1.87365121e+01] [-7.72691342e-04 -2.49747115e-05 9.99999701e-01 -3.14669947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.54, Y:-18.74, Z:-0.32 [[ 9.88842715e-01 1.48961388e-01 7.67825285e-04 1.86542210e+02] [-1.48961363e-01 9.88843013e-01 -9.01109110e-05 -1.87383605e+01] [-7.72681715e-04 -2.52707833e-05 9.99999701e-01 -3.15439612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.57, Y:-18.74, Z:-0.31 [[ 9.89027222e-01 1.47731394e-01 7.67830649e-04 1.86571494e+02] [-1.47731369e-01 9.89027520e-01 -9.00651869e-05 -1.87357024e+01] [-7.72711097e-04 -2.43557512e-05 9.99999701e-01 -3.10398571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.60, Y:-18.74, Z:-0.31 [[ 9.89272047e-01 1.46082947e-01 7.67835044e-04 1.86599739e+02] [-1.46082921e-01 9.89272345e-01 -9.00277013e-05 -1.87350903e+01] [-7.72749486e-04 -2.31056980e-05 9.99999701e-01 -3.13639548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.63, Y:-18.74, Z:-0.31 [[ 9.89627954e-01 1.43652093e-01 7.67840491e-04 1.86628159e+02] [-1.43652066e-01 9.89628251e-01 -8.99812184e-05 -1.87357041e+01] [-7.72802633e-04 -2.12539440e-05 9.99999701e-01 -3.13117053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.66, Y:-18.74, Z:-0.32 [[ 9.90404830e-01 1.38194366e-01 7.67846637e-04 1.86656553e+02] [-1.38194337e-01 9.90405128e-01 -8.99287405e-05 -1.87369836e+01] [-7.72906892e-04 -1.70461982e-05 9.99999701e-01 -3.19776017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.69, Y:-18.74, Z:-0.31 [[ 9.90785224e-01 1.35440211e-01 7.67850718e-04 1.86685124e+02] [-1.35440182e-01 9.90785521e-01 -8.98938845e-05 -1.87391902e+01] [-7.72950620e-04 -1.49323088e-05 9.99999701e-01 -3.13883182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.71, Y:-18.74, Z:-0.31 [[ 9.91083580e-01 1.33239436e-01 7.67855101e-04 1.86713947e+02] [-1.33239406e-01 9.91083878e-01 -8.98564303e-05 -1.87410182e+01] [-7.72981231e-04 -1.32533248e-05 9.99999701e-01 -3.14142447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.74, Y:-18.74, Z:-0.31 [[ 9.91400267e-01 1.30862222e-01 7.67858403e-04 1.86741653e+02] [-1.30862192e-01 9.91400564e-01 -8.98282025e-05 -1.87412863e+01] [-7.73010372e-04 -1.14279298e-05 9.99999701e-01 -3.14857783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.77, Y:-18.74, Z:-0.32 [[ 9.91478203e-01 1.30270425e-01 7.67863906e-04 1.86769368e+02] [-1.30270395e-01 9.91478500e-01 -8.97811355e-05 -1.87416753e+01] [-7.73016381e-04 -1.10138953e-05 9.99999701e-01 -3.16529603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.80, Y:-18.74, Z:-0.32 [[ 9.91526376e-01 1.29903257e-01 7.67869610e-04 1.86798490e+02] [-1.29903227e-01 9.91526673e-01 -8.97323288e-05 -1.87376416e+01] [-7.73019721e-04 -1.07767693e-05 9.99999701e-01 -3.15187336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.83, Y:-18.74, Z:-0.32 [[ 9.91542211e-01 1.29782332e-01 7.67874005e-04 1.86826438e+02] [-1.29782302e-01 9.91542508e-01 -8.96947010e-05 -1.87383215e+01] [-7.73020504e-04 -1.07203737e-05 9.99999701e-01 -3.15983856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82420382200002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:186.86, Y:-18.74, Z:-0.32 [[ 9.91608915e-01 1.29271693e-01 7.67879464e-04 1.86855527e+02] [-1.29271662e-01 9.91609212e-01 -8.96479396e-05 -1.87396144e+01] [-7.73025291e-04 -1.03693585e-05 9.99999701e-01 -3.16646041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.88, Y:-18.74, Z:-0.32 [[ 9.91788044e-01 1.27890136e-01 7.67883893e-04 1.86883963e+02] [-1.27890105e-01 9.91788341e-01 -8.96099917e-05 -1.87380822e+01] [-7.73038526e-04 -9.33063351e-06 9.99999701e-01 -3.15761189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.91, Y:-18.74, Z:-0.32 [[ 9.91863059e-01 1.27307043e-01 7.67889406e-04 1.86911394e+02] [-1.27307012e-01 9.91863356e-01 -8.95627187e-05 -1.87390772e+01] [-7.73043328e-04 -8.92375383e-06 9.99999701e-01 -3.18423630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.94, Y:-18.74, Z:-0.32 [[ 9.92032370e-01 1.25980896e-01 7.67898796e-04 1.86940258e+02] [-1.25980865e-01 9.92032668e-01 -8.94821387e-05 -1.87395515e+01] [-7.73053731e-04 -7.97137631e-06 9.99999701e-01 -3.18572578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.97, Y:-18.74, Z:-0.32 [[ 9.92141335e-01 1.25119868e-01 7.67903028e-04 1.86968262e+02] [-1.25119836e-01 9.92141632e-01 -8.94458120e-05 -1.87404677e+01] [-7.73060011e-04 -7.33701371e-06 9.99999701e-01 -3.17811881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.00, Y:-18.74, Z:-0.32 [[ 9.92223167e-01 1.24469260e-01 7.67908272e-04 1.86997161e+02] [-1.24469228e-01 9.92223464e-01 -8.94007674e-05 -1.87413310e+01] [-7.73064253e-04 -6.87543731e-06 9.99999701e-01 -3.15971748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.03, Y:-18.74, Z:-0.31 [[ 9.92410235e-01 1.22968842e-01 7.67912490e-04 1.87025875e+02] [-1.22968810e-01 9.92410532e-01 -8.93645158e-05 -1.87403551e+01] [-7.73073494e-04 -5.74302501e-06 9.99999701e-01 -3.14212022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.05, Y:-18.74, Z:-0.32 [[ 9.92497201e-01 1.22264945e-01 7.67919061e-04 1.87052386e+02] [-1.22264912e-01 9.92497498e-01 -8.93080163e-05 -1.87419191e+01] [-7.73076986e-04 -5.25160048e-06 9.99999701e-01 -3.16712199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.08, Y:-18.74, Z:-0.32 [[ 9.92641180e-01 1.21090456e-01 7.67928658e-04 1.87081981e+02] [-1.21090423e-01 9.92641477e-01 -8.92254166e-05 -1.87408881e+01] [-7.73082184e-04 -4.41998320e-06 9.99999701e-01 -3.15582714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.11, Y:-18.74, Z:-0.31 [[ 9.92694151e-01 1.20655427e-01 7.67932895e-04 1.87109784e+02] [-1.20655395e-01 9.92694448e-01 -8.91889363e-05 -1.87419058e+01] [-7.73083851e-04 -4.11791105e-06 9.99999701e-01 -3.13864949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.14, Y:-18.74, Z:-0.31 [[ 9.92706885e-01 1.20550615e-01 7.67939415e-04 1.87138618e+02] [-1.20550582e-01 9.92707182e-01 -8.91327673e-05 -1.87432361e+01] [-7.73083982e-04 -4.09283136e-06 9.99999701e-01 -3.14074544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.17, Y:-18.74, Z:-0.31 [[ 9.92727523e-01 1.20380541e-01 7.67943772e-04 1.87166292e+02] [-1.20380508e-01 9.92727820e-01 -8.90952064e-05 -1.87438615e+01] [-7.73084477e-04 -3.99819783e-06 9.99999701e-01 -3.14248016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.19, Y:-18.75, Z:-0.32 [[ 9.92701941e-01 1.20591322e-01 7.67950344e-04 1.87193321e+02] [-1.20591289e-01 9.92702238e-01 -8.90385250e-05 -1.87462187e+01] [-7.73083299e-04 -4.21940543e-06 9.99999701e-01 -3.17311792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.22, Y:-18.75, Z:-0.31 [[ 9.92636480e-01 1.21128979e-01 7.67960657e-04 1.87222493e+02] [-1.21128947e-01 9.92636777e-01 -8.89494904e-05 -1.87462695e+01] [-7.73080352e-04 -4.72775657e-06 9.99999701e-01 -3.14397772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.25, Y:-18.75, Z:-0.31 [[ 9.92581281e-01 1.21580470e-01 7.67964907e-04 1.87250435e+02] [-1.21580438e-01 9.92581578e-01 -8.89127754e-05 -1.87469226e+01] [-7.73077877e-04 -5.11635327e-06 9.99999701e-01 -3.13921940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.28, Y:-18.75, Z:-0.31 [[ 9.92499987e-01 1.22242321e-01 7.67971270e-04 1.87278813e+02] [-1.22242289e-01 9.92500285e-01 -8.88577821e-05 -1.87472116e+01] [-7.73073886e-04 -5.68721840e-06 9.99999701e-01 -3.12632203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.31, Y:-18.74, Z:-0.32 [[ 9.92311049e-01 1.23766689e-01 7.67977817e-04 1.87306667e+02] [-1.23766657e-01 9.92311346e-01 -8.88011682e-05 -1.87441351e+01] [-7.73063727e-04 -6.93166657e-06 9.99999701e-01 -3.15227822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.34, Y:-18.75, Z:-0.31 [[ 9.92219918e-01 1.24495157e-01 7.67985422e-04 1.87335752e+02] [-1.24495126e-01 9.92220215e-01 -8.87353475e-05 -1.87459613e+01] [-7.73057782e-04 -7.56546231e-06 9.99999701e-01 -3.13536003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.36, Y:-18.75, Z:-0.31 [[ 9.92048905e-01 1.25850624e-01 7.67989726e-04 1.87363947e+02] [-1.25850593e-01 9.92049203e-01 -8.86980843e-05 -1.87460084e+01] [-7.73046304e-04 -8.65912525e-06 9.99999701e-01 -3.14428518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.39, Y:-18.75, Z:-0.31 [[ 9.92048461e-01 1.25854124e-01 7.67995066e-04 1.87392502e+02] [-1.25854093e-01 9.92048759e-01 -8.86518192e-05 -1.87466778e+01] [-7.73045749e-04 -8.70842186e-06 9.99999701e-01 -3.13111237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.42, Y:-18.75, Z:-0.32 [[ 9.92099142e-01 1.25453986e-01 7.67999368e-04 1.87419630e+02] [-1.25453955e-01 9.92099439e-01 -8.86145317e-05 -1.87477580e+01] [-7.73048789e-04 -8.43415760e-06 9.99999701e-01 -3.16428948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.45, Y:-18.75, Z:-0.32 [[ 9.92374881e-01 1.23253825e-01 7.68010448e-04 1.87448883e+02] [-1.23253793e-01 9.92375178e-01 -8.85183988e-05 -1.87470243e+01] [-7.73064737e-04 -6.81676561e-06 9.99999701e-01 -3.16012152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.48, Y:-18.75, Z:-0.32 [[ 9.92559633e-01 1.21757072e-01 7.68014621e-04 1.87477028e+02] [-1.21757040e-01 9.92559930e-01 -8.84821776e-05 -1.87473973e+01] [-7.73073870e-04 -5.68734937e-06 9.99999701e-01 -3.17259195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.51, Y:-18.75, Z:-0.31 [[ 9.92775895e-01 1.19980970e-01 7.68019800e-04 1.87505589e+02] [-1.19980938e-01 9.92776192e-01 -8.84372070e-05 -1.87483239e+01] [-7.73082554e-04 -4.34940869e-06 9.99999701e-01 -3.13987262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54420382200001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:187.53, Y:-18.75, Z:-0.32 [[ 9.93117347e-01 1.17121070e-01 7.68026262e-04 1.87533125e+02] [-1.17121037e-01 9.93117644e-01 -8.83810478e-05 -1.87501979e+01] [-7.73091715e-04 -2.17928039e-06 9.99999701e-01 -3.15248577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.56, Y:-18.75, Z:-0.32 [[ 9.93241288e-01 1.16065299e-01 7.68031607e-04 1.87562152e+02] [-1.16065265e-01 9.93241585e-01 -8.83345798e-05 -1.87526855e+01] [-7.73093510e-04 -1.40424014e-06 9.99999701e-01 -3.15460334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.59, Y:-18.75, Z:-0.32 [[ 9.93506690e-01 1.13771119e-01 7.68035879e-04 1.87590599e+02] [-1.13771085e-01 9.93506987e-01 -8.82974177e-05 -1.87530177e+01] [-7.73094708e-04 3.43800027e-07 9.99999701e-01 -3.19789218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.62, Y:-18.75, Z:-0.32 [[ 9.93675887e-01 1.12283756e-01 7.68040117e-04 1.87618981e+02] [-1.12283722e-01 9.93676184e-01 -8.82605411e-05 -1.87544992e+01] [-7.73093397e-04 1.46396869e-06 9.99999701e-01 -3.18746433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.65, Y:-18.76, Z:-0.32 [[ 9.93804309e-01 1.11141375e-01 7.68046408e-04 1.87646728e+02] [-1.11141340e-01 9.93804606e-01 -8.82057613e-05 -1.87559246e+01] [-7.73091367e-04 2.29755901e-06 9.99999701e-01 -3.18740437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.68, Y:-18.76, Z:-0.32 [[ 9.94155483e-01 1.07955019e-01 7.68051620e-04 1.87675812e+02] [-1.07954983e-01 9.94155779e-01 -8.81603575e-05 -1.87579410e+01] [-7.73080310e-04 4.73010333e-06 9.99999701e-01 -3.16933362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.70, Y:-18.76, Z:-0.31 [[ 9.94370512e-01 1.05956097e-01 7.68055801e-04 1.87704586e+02] [-1.05956061e-01 9.94370809e-01 -8.81239122e-05 -1.87614815e+01] [-7.73069534e-04 6.24765250e-06 9.99999701e-01 -3.14800629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:187.73, Y:-18.76, Z:-0.31 [[ 9.94569891e-01 1.04067969e-01 7.68060009e-04 1.87732147e+02] [-1.04067932e-01 9.94570188e-01 -8.80872237e-05 -1.87645194e+01] [-7.73056646e-04 7.67848398e-06 9.99999701e-01 -3.14035315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.784203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:187.76, Y:-18.77, Z:-0.31 [[ 9.95020512e-01 9.96673994e-02 7.68067408e-04 1.87760985e+02] [-9.96673612e-02 9.95020809e-01 -8.80226602e-05 -1.87671716e+01] [-7.73016043e-04 1.10331006e-05 9.99999701e-01 -3.11875718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.79, Y:-18.77, Z:-0.31 [[ 9.95241415e-01 9.74368315e-02 7.68071529e-04 1.87788813e+02] [-9.74367926e-02 9.95241711e-01 -8.79866831e-05 -1.87711351e+01] [-7.72989967e-04 1.27295646e-05 9.99999701e-01 -3.10582907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.844203822 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:187.82, Y:-18.78, Z:-0.31 [[ 9.95425664e-01 9.55361593e-02 7.68077688e-04 1.87816654e+02] [-9.55361199e-02 9.95425960e-01 -8.79328896e-05 -1.87763613e+01] [-7.72965241e-04 1.41514929e-05 9.99999701e-01 -3.11665585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.84, Y:-18.78, Z:-0.31 [[ 9.95644941e-01 9.32231819e-02 7.68082802e-04 1.87843651e+02] [-9.32231418e-02 9.95645237e-01 -8.78881952e-05 -1.87830312e+01] [-7.72931201e-04 1.59023450e-05 9.99999701e-01 -3.09703438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.87, Y:-18.79, Z:-0.31 [[ 9.95715649e-01 9.24648934e-02 7.68087820e-04 1.87871202e+02] [-9.24648532e-02 9.95715945e-01 -8.78443198e-05 -1.87881014e+01] [-7.72919805e-04 1.64468364e-05 9.99999701e-01 -3.10269170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.934203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:187.90, Y:-18.79, Z:-0.31 [[ 9.95744432e-01 9.21544196e-02 7.68093824e-04 1.87899607e+02] [-9.21543792e-02 9.95744728e-01 -8.77917934e-05 -1.87940300e+01] [-7.72915777e-04 1.66349799e-05 9.99999701e-01 -3.11954270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.964203822 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:187.93, Y:-18.80, Z:-0.31 [[ 9.95692867e-01 9.27099000e-02 7.68097911e-04 1.87927479e+02] [-9.27098599e-02 9.95693163e-01 -8.77560170e-05 -1.88029214e+01] [-7.72925690e-04 1.61677904e-05 9.99999701e-01 -3.13794943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.96, Y:-18.81, Z:-0.31 [[ 9.95603549e-01 9.36641993e-02 7.68102061e-04 1.87955182e+02] [-9.36641595e-02 9.95603846e-01 -8.77196809e-05 -1.88078234e+01] [-7.72941559e-04 1.53903917e-05 9.99999701e-01 -3.14792610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.98, Y:-18.81, Z:-0.32 [[ 9.95320866e-01 9.66218593e-02 7.68107219e-04 1.87983471e+02] [-9.66218204e-02 9.95321162e-01 -8.76744905e-05 -1.88144468e+01] [-7.72984642e-04 1.30483321e-05 9.99999701e-01 -3.15350912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.01, Y:-18.82, Z:-0.32 [[ 9.95154858e-01 9.83169272e-02 7.68111323e-04 1.88011885e+02] [-9.83168888e-02 9.95155155e-01 -8.76385215e-05 -1.88202157e+01] [-7.73006293e-04 1.16955849e-05 9.99999701e-01 -3.15971769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.04, Y:-18.83, Z:-0.32 [[ 9.94989022e-01 9.99812766e-02 7.68115417e-04 1.88039679e+02] [-9.99812388e-02 9.94989319e-01 -8.76026264e-05 -1.88262904e+01] [-7.73025258e-04 1.03665207e-05 9.99999701e-01 -3.17365212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.07, Y:-18.84, Z:-0.32 [[ 9.94610143e-01 1.03682561e-01 7.68119496e-04 1.88067674e+02] [-1.03682524e-01 9.94610440e-01 -8.75668490e-05 -1.88360292e+01] [-7.73058824e-04 7.45430784e-06 9.99999701e-01 -3.16869617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.09, Y:-18.84, Z:-0.32 [[ 9.94377941e-01 1.05886358e-01 7.68122680e-04 1.88094603e+02] [-1.05886322e-01 9.94378238e-01 -8.75389092e-05 -1.88422122e+01] [-7.73073653e-04 5.71307528e-06 9.99999701e-01 -3.18787283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.12, Y:-18.85, Z:-0.32 [[ 9.94385504e-01 1.05815306e-01 7.68127986e-04 1.88122920e+02] [-1.05815270e-01 9.94385801e-01 -8.74923227e-05 -1.88453033e+01] [-7.73073589e-04 5.72142746e-06 9.99999701e-01 -3.18809308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.15, Y:-18.85, Z:-0.32 [[ 9.94149322e-01 1.08011741e-01 7.68134234e-04 1.88151239e+02] [-1.08011705e-01 9.94149618e-01 -8.74374369e-05 -1.88509804e+01] [-7.73084625e-04 3.95838009e-06 9.99999701e-01 -3.17844653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.18, Y:-18.86, Z:-0.32 [[ 9.93614894e-01 1.12822218e-01 7.68138467e-04 1.88178832e+02] [-1.12822184e-01 9.93615191e-01 -8.74002355e-05 -1.88564521e+01] [-7.73094737e-04 1.79115964e-07 9.99999701e-01 -3.16616218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.21, Y:-18.86, Z:-0.32 [[ 9.93348403e-01 1.15144950e-01 7.68143726e-04 1.88207222e+02] [-1.15144917e-01 9.93348700e-01 -8.73539877e-05 -1.88606092e+01] [-7.73092942e-04 -1.67490122e-06 9.99999701e-01 -3.15377862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.24, Y:-18.87, Z:-0.32 [[ 9.92868204e-01 1.19214679e-01 7.68147848e-04 1.88235689e+02] [-1.19214648e-01 9.92868501e-01 -8.73177251e-05 -1.88673445e+01] [-7.73079357e-04 -4.87948212e-06 9.99999701e-01 -3.15794553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.26, Y:-18.87, Z:-0.31 [[ 9.92629076e-01 1.21189630e-01 7.68151947e-04 1.88264543e+02] [-1.21189599e-01 9.92629374e-01 -8.72816474e-05 -1.88717670e+01] [-7.73067817e-04 -6.45372526e-06 9.99999701e-01 -3.14156745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.29, Y:-18.88, Z:-0.32 [[ 9.92417064e-01 1.22913710e-01 7.68156240e-04 1.88290856e+02] [-1.22913679e-01 9.92417362e-01 -8.72438508e-05 -1.88755279e+01] [-7.73055055e-04 -7.83462334e-06 9.99999701e-01 -3.16771106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.32, Y:-18.88, Z:-0.32 [[ 9.92111937e-01 1.25352757e-01 7.68163714e-04 1.88319609e+02] [-1.25352728e-01 9.92112235e-01 -8.71779911e-05 -1.88810677e+01] [-7.73032621e-04 -9.80109111e-06 9.99999701e-01 -3.17108702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.35, Y:-18.89, Z:-0.32 [[ 9.92090505e-01 1.25522266e-01 7.68167993e-04 1.88347592e+02] [-1.25522236e-01 9.92090803e-01 -8.71402757e-05 -1.88853323e+01] [-7.73030445e-04 -9.97112404e-06 9.99999701e-01 -3.18465641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.38, Y:-18.89, Z:-0.32 [[ 9.92349957e-01 1.23454338e-01 7.68173333e-04 1.88375547e+02] [-1.23454307e-01 9.92350254e-01 -8.70931761e-05 -1.88916579e+01] [-7.73049032e-04 -8.40739727e-06 9.99999701e-01 -3.18916129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.40, Y:-18.90, Z:-0.32 [[ 9.92617448e-01 1.21284838e-01 7.68177472e-04 1.88404070e+02] [-1.21284807e-01 9.92617745e-01 -8.70566511e-05 -1.88972917e+01] [-7.73065242e-04 -6.75430527e-06 9.99999701e-01 -3.17348700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:188.43, Y:-18.90, Z:-0.32 [[ 9.92948658e-01 1.18542704e-01 7.68181764e-04 1.88431252e+02] [-1.18542672e-01 9.92948955e-01 -8.70187600e-05 -1.89022081e+01] [-7.73080719e-04 -4.65715793e-06 9.99999701e-01 -3.16913697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.46, Y:-18.91, Z:-0.31 [[ 9.93497682e-01 1.13849752e-01 7.68187082e-04 1.88458144e+02] [-1.13849719e-01 9.93497979e-01 -8.69717915e-05 -1.89076156e+01] [-7.73094030e-04 -1.05161026e-06 9.99999701e-01 -3.13029369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.49, Y:-18.91, Z:-0.31 [[ 9.93727654e-01 1.11824685e-01 7.68191327e-04 1.88486150e+02] [-1.11824652e-01 9.93727951e-01 -8.69342819e-05 -1.89128939e+01] [-7.73094592e-04 4.86272502e-07 9.99999701e-01 -3.12273924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.51, Y:-18.92, Z:-0.31 [[ 9.94076923e-01 1.08676037e-01 7.68197642e-04 1.88514304e+02] [-1.08676002e-01 9.94077220e-01 -8.68784420e-05 -1.89206869e+01] [-7.73089381e-04 2.87920588e-06 9.99999701e-01 -3.12597970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.54, Y:-18.93, Z:-0.31 [[ 9.94161497e-01 1.07899616e-01 7.68201839e-04 1.88542974e+02] [-1.07899581e-01 9.94161794e-01 -8.68413193e-05 -1.89260901e+01] [-7.73087063e-04 3.44563923e-06 9.99999701e-01 -3.13119021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.57, Y:-18.93, Z:-0.31 [[ 9.94260507e-01 1.06983433e-01 7.68206044e-04 1.88570237e+02] [-1.06983398e-01 9.94260803e-01 -8.68041040e-05 -1.89309730e+01] [-7.73083759e-04 4.12059933e-06 9.99999701e-01 -3.13975648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.684203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:188.60, Y:-18.94, Z:-0.31 [[ 9.94326545e-01 1.06367903e-01 7.68211254e-04 1.88598148e+02] [-1.06367868e-01 9.94326842e-01 -8.67579663e-05 -1.89371203e+01] [-7.73081334e-04 4.55275552e-06 9.99999701e-01 -3.14890009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.63, Y:-18.94, Z:-0.31 [[ 9.94290435e-01 1.06704927e-01 7.68215498e-04 1.88625991e+02] [-1.06704892e-01 9.94290731e-01 -8.67203787e-05 -1.89415829e+01] [-7.73083041e-04 4.25289158e-06 9.99999701e-01 -3.13698999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.65, Y:-18.95, Z:-0.31 [[ 9.94219164e-01 1.07366957e-01 7.68220777e-04 1.88653228e+02] [-1.07366922e-01 9.94219461e-01 -8.66735831e-05 -1.89461057e+01] [-7.73085926e-04 3.69103707e-06 9.99999701e-01 -3.14403490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.68, Y:-18.95, Z:-0.32 [[ 9.93959233e-01 1.09747224e-01 7.68226145e-04 1.88680722e+02] [-1.09747190e-01 9.93959530e-01 -8.66259763e-05 -1.89517441e+01] [-7.73092659e-04 1.79202833e-06 9.99999701e-01 -3.17158862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.71, Y:-18.96, Z:-0.32 [[ 9.93583733e-01 1.13096313e-01 7.68231226e-04 1.88708780e+02] [-1.13096280e-01 9.93584030e-01 -8.65809002e-05 -1.89569766e+01] [-7.73094257e-04 -8.58719847e-07 9.99999701e-01 -3.15669196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.834203822 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:188.74, Y:-18.96, Z:-0.32 [[ 9.93411425e-01 1.14599958e-01 7.68235355e-04 1.88737147e+02] [-1.14599926e-01 9.93411722e-01 -8.65442471e-05 -1.89612957e+01] [-7.73091974e-04 -2.06567058e-06 9.99999701e-01 -3.16156566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.77, Y:-18.97, Z:-0.32 [[ 9.93223019e-01 1.16221530e-01 7.68239592e-04 1.88765572e+02] [-1.16221498e-01 9.93223316e-01 -8.65066123e-05 -1.89655343e+01] [-7.73087406e-04 -3.36559778e-06 9.99999701e-01 -3.15522164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.79, Y:-18.97, Z:-0.32 [[ 9.93074403e-01 1.17484638e-01 7.68243811e-04 1.88793560e+02] [-1.17484606e-01 9.93074700e-01 -8.64691310e-05 -1.89683437e+01] [-7.73082287e-04 -4.38654083e-06 9.99999701e-01 -3.16083249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.82, Y:-18.97, Z:-0.32 [[ 9.92850536e-01 1.19361728e-01 7.68249058e-04 1.88821430e+02] [-1.19361697e-01 9.92850834e-01 -8.64224906e-05 -1.89690021e+01] [-7.73072255e-04 -5.89489500e-06 9.99999701e-01 -3.16283731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.85, Y:-18.97, Z:-0.32 [[ 9.92763735e-01 1.20081540e-01 7.68254153e-04 1.88849802e+02] [-1.20081509e-01 9.92764032e-01 -8.63771694e-05 -1.89713980e+01] [-7.73067395e-04 -6.50099661e-06 9.99999701e-01 -3.16768128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.88, Y:-18.98, Z:-0.32 [[ 9.92573959e-01 1.21640234e-01 7.68258308e-04 1.88877273e+02] [-1.21640203e-01 9.92574256e-01 -8.63402016e-05 -1.89752554e+01] [-7.73055861e-04 -7.75206103e-06 9.99999701e-01 -3.17590326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.91, Y:-18.98, Z:-0.32 [[ 9.92521928e-01 1.22064046e-01 7.68264058e-04 1.88905106e+02] [-1.22064016e-01 9.92522226e-01 -8.62890105e-05 -1.89786857e+01] [-7.73051938e-04 -8.13366094e-06 9.99999701e-01 -3.17565331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.93, Y:-18.98, Z:-0.32 [[ 9.92520321e-01 1.22077117e-01 7.68269721e-04 1.88933175e+02] [-1.22077086e-01 9.92520618e-01 -8.62385591e-05 -1.89819916e+01] [-7.73051293e-04 -8.19460671e-06 9.99999701e-01 -3.16342417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.96, Y:-18.98, Z:-0.31 [[ 9.92751953e-01 1.20178908e-01 7.68274747e-04 1.88962123e+02] [-1.20178877e-01 9.92752250e-01 -8.61937616e-05 -1.89838764e+01] [-7.73065156e-04 -6.76137127e-06 9.99999701e-01 -3.14159163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.99, Y:-18.99, Z:-0.31 [[ 9.92988795e-01 1.18206015e-01 7.68278731e-04 1.88990434e+02] [-1.18205984e-01 9.92989093e-01 -8.61582297e-05 -1.89855280e+01] [-7.73076821e-04 -5.26098658e-06 9.99999701e-01 -3.12289004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.02, Y:-18.99, Z:-0.31 [[ 9.93286474e-01 1.15677958e-01 7.68284410e-04 1.89018965e+02] [-1.15677926e-01 9.93286771e-01 -8.61075628e-05 -1.89870631e+01] [-7.73087488e-04 -3.34406936e-06 9.99999701e-01 -3.11417077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.05, Y:-18.99, Z:-0.31 [[ 9.93908918e-01 1.10201961e-01 7.68288442e-04 1.89047928e+02] [-1.10201928e-01 9.93909215e-01 -8.60715755e-05 -1.89898311e+01] [-7.73094218e-04 8.80439227e-07 9.99999701e-01 -3.11106790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.08, Y:-18.99, Z:-0.31 [[ 9.94204657e-01 1.07501209e-01 7.68292652e-04 1.89075641e+02] [-1.07501175e-01 9.94204954e-01 -8.60339733e-05 -1.89945966e+01] [-7.73089117e-04 2.94301430e-06 9.99999701e-01 -3.11147752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.10, Y:-19.00, Z:-0.31 [[ 9.94629887e-01 1.03492986e-01 7.68297860e-04 1.89102733e+02] [-1.03492951e-01 9.94630183e-01 -8.59874462e-05 -1.90003433e+01] [-7.73071339e-04 6.01227145e-06 9.99999701e-01 -3.10540221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25420382200002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:189.13, Y:-19.00, Z:-0.31 [[ 9.94766398e-01 1.02172516e-01 7.68303024e-04 1.89131080e+02] [-1.02172480e-01 9.94766695e-01 -8.59412769e-05 -1.90030612e+01] [-7.73063096e-04 6.99206912e-06 9.99999701e-01 -3.11040369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.284203822 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:189.16, Y:-19.01, Z:-0.31 [[ 9.94888939e-01 1.00972319e-01 7.68307191e-04 1.89159690e+02] [-1.00972282e-01 9.94889235e-01 -8.59040116e-05 -1.90055684e+01] [-7.73054481e-04 7.88722030e-06 9.99999701e-01 -3.12141458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.19, Y:-19.01, Z:-0.31 [[ 9.95073921e-01 9.91327475e-02 7.68311354e-04 1.89186806e+02] [-9.91327108e-02 9.95074217e-01 -8.58667567e-05 -1.90093851e+01] [-7.73039027e-04 9.27898297e-06 9.99999701e-01 -3.12118706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.21, Y:-19.01, Z:-0.31 [[ 9.95165308e-01 9.82110961e-02 7.68316535e-04 1.89214640e+02] [-9.82110592e-02 9.95165605e-01 -8.58203736e-05 -1.90125417e+01] [-7.73030702e-04 9.94827784e-06 9.99999701e-01 -3.14563089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.374203822 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:189.24, Y:-19.02, Z:-0.32 [[ 9.95268278e-01 9.71620524e-02 7.68322309e-04 1.89243494e+02] [-9.71620152e-02 9.95268575e-01 -8.57686561e-05 -1.90155069e+01] [-7.73020508e-04 1.07110788e-05 9.99999701e-01 -3.16141063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.27, Y:-19.02, Z:-0.32 [[ 9.95371746e-01 9.60962943e-02 7.68326293e-04 1.89272223e+02] [-9.60962568e-02 9.95372042e-01 -8.57329447e-05 -1.90212789e+01] [-7.73009130e-04 1.15028701e-05 9.99999701e-01 -3.17935383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.30, Y:-19.03, Z:-0.32 [[ 9.95360298e-01 9.62147906e-02 7.68330283e-04 1.89299762e+02] [-9.62147531e-02 9.95360595e-01 -8.56971795e-05 -1.90259130e+01] [-7.73011023e-04 1.13748618e-05 9.99999701e-01 -3.18490443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.33, Y:-19.03, Z:-0.32 [[ 9.95211211e-01 9.77448445e-02 7.68335246e-04 1.89328331e+02] [-9.77448075e-02 9.95211508e-01 -8.56526562e-05 -1.90294480e+01] [-7.73028184e-04 1.01417029e-05 9.99999701e-01 -3.17213094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.36, Y:-19.03, Z:-0.32 [[ 9.95078145e-01 9.90903376e-02 7.68339313e-04 1.89357008e+02] [-9.90903010e-02 9.95078442e-01 -8.56161541e-05 -1.90328426e+01] [-7.73041620e-04 9.05978993e-06 9.99999701e-01 -3.16733425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.39, Y:-19.04, Z:-0.32 [[ 9.94932519e-01 1.00541990e-01 7.68343415e-04 1.89385504e+02] [-1.00541954e-01 9.94932816e-01 -8.55793280e-05 -1.90368853e+01] [-7.73054394e-04 7.89490795e-06 9.99999701e-01 -3.16224012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.41, Y:-19.04, Z:-0.32 [[ 9.94774977e-01 1.02088957e-01 7.68347584e-04 1.89413186e+02] [-1.02088921e-01 9.94775274e-01 -8.55418847e-05 -1.90404767e+01] [-7.73066060e-04 6.65515036e-06 9.99999701e-01 -3.19807588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.44, Y:-19.04, Z:-0.32 [[ 9.94439643e-01 1.05305298e-01 7.68352750e-04 1.89440783e+02] [-1.05305263e-01 9.94439940e-01 -8.54954535e-05 -1.90427144e+01] [-7.73083787e-04 4.10847953e-06 9.99999701e-01 -3.20222617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.47, Y:-19.05, Z:-0.32 [[ 9.94127455e-01 1.08212809e-01 7.68357903e-04 1.89469051e+02] [-1.08212775e-01 9.94127752e-01 -8.54491171e-05 -1.90462765e+01] [-7.73092604e-04 1.80117240e-06 9.99999701e-01 -3.17745014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.50, Y:-19.05, Z:-0.32 [[ 9.93949478e-01 1.09835536e-01 7.68362050e-04 1.89498024e+02] [-1.09835503e-01 9.93949775e-01 -8.54118120e-05 -1.90499521e+01] [-7.73094539e-04 5.01593939e-07 9.99999701e-01 -3.17908719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.53, Y:-19.05, Z:-0.32 [[ 9.93751166e-01 1.11615543e-01 7.68366231e-04 1.89526395e+02] [-1.11615511e-01 9.93751463e-01 -8.53741845e-05 -1.90526017e+01] [-7.73094152e-04 -9.20893850e-07 9.99999701e-01 -3.17719748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.55, Y:-19.05, Z:-0.32 [[ 9.93507269e-01 1.13766058e-01 7.68370415e-04 1.89554127e+02] [-1.13766026e-01 9.93507566e-01 -8.53365080e-05 -1.90544500e+01] [-7.73090219e-04 -2.63200739e-06 9.99999701e-01 -3.19053050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.58, Y:-19.05, Z:-0.32 [[ 9.92988190e-01 1.18211100e-01 7.68375627e-04 1.89582991e+02] [-1.18211069e-01 9.92988487e-01 -8.52895584e-05 -1.90546120e+01] [-7.73070324e-04 -6.13898022e-06 9.99999701e-01 -3.19983165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.764203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:189.61, Y:-19.06, Z:-0.32 [[ 9.92726032e-01 1.20392834e-01 7.68379563e-04 1.89611946e+02] [-1.20392804e-01 9.92726330e-01 -8.52540868e-05 -1.90563452e+01] [-7.73054604e-04 -7.87341857e-06 9.99999701e-01 -3.21028961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.64, Y:-19.06, Z:-0.32 [[ 9.92258449e-01 1.24187677e-01 7.68383838e-04 1.89639594e+02] [-1.24187649e-01 9.92258747e-01 -8.52155319e-05 -1.90564823e+01] [-7.73018304e-04 -1.08679506e-05 9.99999701e-01 -3.21592944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.67, Y:-19.06, Z:-0.32 [[ 9.92053912e-01 1.25811149e-01 7.68389170e-04 1.89667138e+02] [-1.25811121e-01 9.92054210e-01 -8.51674275e-05 -1.90580220e+01] [-7.72998723e-04 -1.21812228e-05 9.99999701e-01 -3.21480064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.70, Y:-19.06, Z:-0.32 [[ 9.91837324e-01 1.27507384e-01 7.68395528e-04 1.89695469e+02] [-1.27507357e-01 9.91837621e-01 -8.51100286e-05 -1.90583485e+01] [-7.72975750e-04 -1.35607796e-05 9.99999701e-01 -3.22553882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.72, Y:-19.05, Z:-0.32 [[ 9.91474195e-01 1.30300924e-01 7.68400781e-04 1.89723702e+02] [-1.30300897e-01 9.91474492e-01 -8.50625731e-05 -1.90548613e+01] [-7.72933506e-04 -1.57859652e-05 9.99999701e-01 -3.20172797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.75, Y:-19.06, Z:-0.32 [[ 9.91409034e-01 1.30795782e-01 7.68407301e-04 1.89753068e+02] [-1.30795755e-01 9.91409332e-01 -8.50036410e-05 -1.90555133e+01] [-7.72924286e-04 -1.62310356e-05 9.99999701e-01 -3.19138521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.78, Y:-19.05, Z:-0.32 [[ 9.91484542e-01 1.30222164e-01 7.68411328e-04 1.89781014e+02] [-1.30222137e-01 9.91484840e-01 -8.49672143e-05 -1.90540456e+01] [-7.72932797e-04 -1.58204856e-05 9.99999701e-01 -3.18561111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.81, Y:-19.05, Z:-0.32 [[ 9.91653806e-01 1.28926872e-01 7.68416358e-04 1.89809506e+02] [-1.28926845e-01 9.91654104e-01 -8.49217037e-05 -1.90544218e+01] [-7.72951924e-04 -1.48565661e-05 9.99999701e-01 -3.17929933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.84, Y:-19.05, Z:-0.32 [[ 9.92055088e-01 1.25801878e-01 7.68422330e-04 1.89837921e+02] [-1.25801850e-01 9.92055385e-01 -8.48676301e-05 -1.90527440e+01] [-7.72994018e-04 -1.24755863e-05 9.99999701e-01 -3.18116433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.87, Y:-19.06, Z:-0.32 [[ 9.92064110e-01 1.25730708e-01 7.68428403e-04 1.89866254e+02] [-1.25730680e-01 9.92064408e-01 -8.48126040e-05 -1.90557337e+01] [-7.72994018e-04 -1.24754851e-05 9.99999701e-01 -3.18138461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.89, Y:-19.06, Z:-0.32 [[ 9.92284942e-01 1.23975819e-01 7.68434484e-04 1.89893704e+02] [-1.23975791e-01 9.92285239e-01 -8.47574770e-05 -1.90567503e+01] [-7.73014073e-04 -1.11637046e-05 9.99999701e-01 -3.18290096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.92, Y:-19.06, Z:-0.32 [[ 9.92471160e-01 1.22476142e-01 7.68441534e-04 1.89921503e+02] [-1.22476113e-01 9.92471458e-01 -8.46935090e-05 -1.90577883e+01] [-7.73029224e-04 -1.00598668e-05 9.99999701e-01 -3.18962670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.95, Y:-19.06, Z:-0.32 [[ 9.92928495e-01 1.18711469e-01 7.68447531e-04 1.89950868e+02] [-1.18711439e-01 9.92928793e-01 -8.46390584e-05 -1.90561295e+01] [-7.73061306e-04 -7.18297946e-06 9.99999701e-01 -3.21655500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.98, Y:-19.06, Z:-0.32 [[ 9.93171413e-01 1.16661711e-01 7.68451517e-04 1.89978164e+02] [-1.16661680e-01 9.93171710e-01 -8.46028568e-05 -1.90574693e+01] [-7.73074221e-04 -5.62370625e-06 9.99999701e-01 -3.22494922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.01, Y:-19.06, Z:-0.32 [[ 9.93620957e-01 1.12768808e-01 7.68458433e-04 1.90007447e+02] [-1.12768776e-01 9.93621254e-01 -8.45399902e-05 -1.90577769e+01] [-7.73090106e-04 -2.65741118e-06 9.99999701e-01 -3.21141335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.04, Y:-19.06, Z:-0.32 [[ 9.93833576e-01 1.10879364e-01 7.68462346e-04 1.90035058e+02] [-1.10879332e-01 9.93833873e-01 -8.45044087e-05 -1.90584122e+01] [-7.73093704e-04 -1.22327277e-06 9.99999701e-01 -3.20756780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.06, Y:-19.06, Z:-0.32 [[ 9.94068515e-01 1.08752914e-01 7.68468175e-04 1.90063705e+02] [-1.08752881e-01 9.94068812e-01 -8.44513628e-05 -1.90591476e+01] [-7.73094578e-04 3.77312977e-07 9.99999701e-01 -3.20285506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.09, Y:-19.06, Z:-0.32 [[ 9.94530067e-01 1.04447860e-01 7.68472041e-04 1.90092019e+02] [-1.04447826e-01 9.94530364e-01 -8.44161735e-05 -1.90617750e+01] [-7.73085867e-04 3.68918865e-06 9.99999701e-01 -3.20160274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.12, Y:-19.07, Z:-0.32 [[ 9.94757428e-01 1.02259807e-01 7.68475890e-04 1.90120693e+02] [-1.02259772e-01 9.94757725e-01 -8.43811183e-05 -1.90652828e+01] [-7.73076125e-04 5.35457486e-06 9.99999701e-01 -3.21595664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.15, Y:-19.07, Z:-0.32 [[ 9.94991041e-01 9.99611860e-02 7.68479714e-04 1.90149551e+02] [-9.99611507e-02 9.94991337e-01 -8.43462755e-05 -1.90690227e+01] [-7.73062012e-04 7.10567190e-06 9.99999701e-01 -3.21268670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.18, Y:-19.08, Z:-0.32 [[ 9.95359765e-01 9.62203129e-02 7.68483741e-04 1.90177702e+02] [-9.62202765e-02 9.95360061e-01 -8.43095771e-05 -1.90751638e+01] [-7.73030317e-04 9.97464277e-06 9.99999701e-01 -3.21493403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.21, Y:-19.08, Z:-0.32 [[ 9.95520183e-01 9.45461459e-02 7.68487765e-04 1.90205103e+02] [-9.45461090e-02 9.95520480e-01 -8.42728784e-05 -1.90796062e+01] [-7.73012984e-04 1.12378234e-05 9.99999701e-01 -3.23276711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.23, Y:-19.08, Z:-0.32 [[ 9.95706634e-01 9.25619203e-02 7.68492761e-04 1.90233536e+02] [-9.25618828e-02 9.95706930e-01 -8.42272966e-05 -1.90833044e+01] [-7.72989808e-04 1.27325411e-05 9.99999701e-01 -3.22042803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.26, Y:-19.09, Z:-0.32 [[ 9.95746126e-01 9.21361091e-02 7.68496659e-04 1.90262376e+02] [-9.21360715e-02 9.95746422e-01 -8.41917134e-05 -1.90870550e+01] [-7.72984896e-04 1.30273093e-05 9.99999701e-01 -3.21294705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.29, Y:-19.09, Z:-0.32 [[ 9.95729583e-01 9.23147146e-02 7.68500711e-04 1.90291351e+02] [-9.23146771e-02 9.95729880e-01 -8.41547104e-05 -1.90917297e+01] [-7.72987839e-04 1.28514398e-05 9.99999701e-01 -3.22194460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.32, Y:-19.10, Z:-0.32 [[ 9.95657626e-01 9.30875946e-02 7.68507470e-04 1.90319316e+02] [-9.30875574e-02 9.95657923e-01 -8.40929373e-05 -1.90963640e+01] [-7.72998561e-04 1.21892911e-05 9.99999701e-01 -3.24245246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.35, Y:-19.10, Z:-0.33 [[ 9.95406525e-01 9.57353573e-02 7.68512508e-04 1.90346342e+02] [-9.57353209e-02 9.95406822e-01 -8.40468791e-05 -1.91011477e+01] [-7.73028851e-04 1.00870204e-05 9.99999701e-01 -3.26759835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.38, Y:-19.11, Z:-0.32 [[ 9.95246382e-01 9.73860811e-02 7.68517355e-04 1.90375345e+02] [-9.73860453e-02 9.95246679e-01 -8.40025294e-05 -1.91052026e+01] [-7.73045022e-04 8.76034756e-06 9.99999701e-01 -3.22776148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.40, Y:-19.11, Z:-0.32 [[ 9.94811137e-01 1.01735985e-01 7.68521448e-04 1.90404313e+02] [-1.01735951e-01 9.94811434e-01 -8.39650669e-05 -1.91101962e+01] [-7.73076193e-04 5.34312351e-06 9.99999701e-01 -3.23344000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.43, Y:-19.11, Z:-0.32 [[ 9.94539771e-01 1.04355414e-01 7.68524491e-04 1.90431328e+02] [-1.04355380e-01 9.94540068e-01 -8.39372059e-05 -1.91133219e+01] [-7.73087702e-04 3.27922435e-06 9.99999701e-01 -3.24280027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.46, Y:-19.12, Z:-0.32 [[ 9.93900322e-01 1.10279459e-01 7.68533247e-04 1.90459570e+02] [-1.10279427e-01 9.93900619e-01 -8.38569590e-05 -1.91164211e+01] [-7.73093370e-04 -1.40794747e-06 9.99999701e-01 -3.24139247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.49, Y:-19.12, Z:-0.33 [[ 9.93604073e-01 1.12917469e-01 7.68537353e-04 1.90486771e+02] [-1.12917438e-01 9.93604371e-01 -8.38193097e-05 -1.91195584e+01] [-7.73086737e-04 -3.49806126e-06 9.99999701e-01 -3.25767347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.51, Y:-19.12, Z:-0.33 [[ 9.93268607e-01 1.15831270e-01 7.68542475e-04 1.90514214e+02] [-1.15831240e-01 9.93268905e-01 -8.37723195e-05 -1.91230283e+01] [-7.73072797e-04 -5.81281255e-06 9.99999701e-01 -3.25668204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.54, Y:-19.13, Z:-0.33 [[ 9.92961059e-01 1.18438781e-01 7.68548608e-04 1.90542079e+02] [-1.18438752e-01 9.92961356e-01 -8.37160211e-05 -1.91257222e+01] [-7.73054291e-04 -7.89918896e-06 9.99999701e-01 -3.26339910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.57, Y:-19.13, Z:-0.33 [[ 9.92423758e-01 1.22859652e-01 7.68555299e-04 1.90570796e+02] [-1.22859624e-01 9.92424055e-01 -8.36545439e-05 -1.91278462e+01] [-7.73010535e-04 -1.14036583e-05 9.99999701e-01 -3.25036579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.60, Y:-19.13, Z:-0.33 [[ 9.92253746e-01 1.24225247e-01 7.68559397e-04 1.90599570e+02] [-1.24225219e-01 9.92254044e-01 -8.36168826e-05 -1.91299450e+01] [-7.72993497e-04 -1.25052944e-05 9.99999701e-01 -3.25384502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.63, Y:-19.13, Z:-0.33 [[ 9.92094580e-01 1.25490056e-01 7.68563494e-04 1.90627698e+02] [-1.25490029e-01 9.92094877e-01 -8.35792075e-05 -1.91304687e+01] [-7.72976264e-04 -1.35285763e-05 9.99999701e-01 -3.27717057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.66, Y:-19.13, Z:-0.33 [[ 9.92135854e-01 1.25163323e-01 7.68568593e-04 1.90656460e+02] [-1.25163296e-01 9.92136151e-01 -8.35322899e-05 -1.91328923e+01] [-7.72979865e-04 -1.33211983e-05 9.99999701e-01 -3.26615970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.68, Y:-19.14, Z:-0.33 [[ 9.92205362e-01 1.24611108e-01 7.68572758e-04 1.90683661e+02] [-1.24611081e-01 9.92205660e-01 -8.34939460e-05 -1.91357145e+01] [-7.72986514e-04 -1.29295412e-05 9.99999701e-01 -3.29968574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.71, Y:-19.14, Z:-0.33 [[ 9.92484471e-01 1.22368235e-01 7.68577930e-04 1.90712616e+02] [-1.22368207e-01 9.92484768e-01 -8.34463136e-05 -1.91374835e+01] [-7.73013067e-04 -1.12303330e-05 9.99999701e-01 -3.27737885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.74, Y:-19.14, Z:-0.33 [[ 9.92624905e-01 1.21223794e-01 7.68582026e-04 1.90741628e+02] [-1.21223766e-01 9.92625202e-01 -8.34085696e-05 -1.91392416e+01] [-7.73024992e-04 -1.03769840e-05 9.99999701e-01 -3.27165383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.77, Y:-19.14, Z:-0.33 [[ 9.92958564e-01 1.18459692e-01 7.68586120e-04 1.90769370e+02] [-1.18459663e-01 9.92958862e-01 -8.33708254e-05 -1.91386491e+01] [-7.73050482e-04 -8.26267731e-06 9.99999701e-01 -3.27526656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.80, Y:-19.14, Z:-0.33 [[ 9.93125218e-01 1.17054302e-01 7.68592811e-04 1.90797122e+02] [-1.17054273e-01 9.93125516e-01 -8.33090961e-05 -1.91400609e+01] [-7.73060820e-04 -7.23070840e-06 9.99999701e-01 -3.25734261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.83, Y:-19.14, Z:-0.33 [[ 9.93317401e-01 1.15412090e-01 7.68598880e-04 1.90825817e+02] [-1.15412060e-01 9.93317698e-01 -8.32530715e-05 -1.91417830e+01] [-7.73071281e-04 -6.00885559e-06 9.99999701e-01 -3.25927414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.85, Y:-19.14, Z:-0.33 [[ 9.93773469e-01 1.11416790e-01 7.68602942e-04 1.90853391e+02] [-1.11416759e-01 9.93773766e-01 -8.32155485e-05 -1.91428036e+01] [-7.73089050e-04 -2.93784476e-06 9.99999701e-01 -3.28002608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.88, Y:-19.15, Z:-0.33 [[ 9.94013190e-01 1.09257436e-01 7.68607993e-04 1.90881709e+02] [-1.09257404e-01 9.94013487e-01 -8.31688730e-05 -1.91451445e+01] [-7.73093529e-04 -1.30515712e-06 9.99999701e-01 -3.26985441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.91, Y:-19.15, Z:-0.33 [[ 9.94490719e-01 1.04821849e-01 7.68612039e-04 1.90909394e+02] [-1.04821816e-01 9.94491016e-01 -8.31314650e-05 -1.91452696e+01] [-7.73091761e-04 2.10616078e-06 9.99999701e-01 -3.26746416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.94, Y:-19.15, Z:-0.33 [[ 9.94690814e-01 1.02905755e-01 7.68617073e-04 1.90938165e+02] [-1.02905722e-01 9.94691111e-01 -8.30848919e-05 -1.91473690e+01] [-7.73086484e-04 3.54868417e-06 9.99999701e-01 -3.25707107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.97, Y:-19.15, Z:-0.33 [[ 9.94863909e-01 1.01218632e-01 7.68621046e-04 1.90965780e+02] [-1.01218598e-01 9.94864206e-01 -8.30481198e-05 -1.91500473e+01] [-7.73079584e-04 4.82283224e-06 9.99999701e-01 -3.29073790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.99, Y:-19.15, Z:-0.32 [[ 9.95112064e-01 9.87491199e-02 7.68631233e-04 1.90994997e+02] [-9.87490852e-02 9.95112361e-01 -8.29538050e-05 -1.91520974e+01] [-7.73066057e-04 6.64670095e-06 9.99999701e-01 -3.19390569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.02, Y:-19.15, Z:-0.32 [[ 9.95173971e-01 9.81232746e-02 7.68628796e-04 1.91022666e+02] [-9.81232398e-02 9.95174268e-01 -8.29763861e-05 -1.91546886e+01] [-7.73061513e-04 7.15559206e-06 9.99999701e-01 -3.18105331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.05, Y:-19.16, Z:-0.32 [[ 9.95256321e-01 9.72844512e-02 7.68634805e-04 1.91050522e+02] [-9.72844162e-02 9.95256618e-01 -8.29206776e-05 -1.91581847e+01] [-7.73055770e-04 7.75114019e-06 9.99999701e-01 -3.18145051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.08, Y:-19.16, Z:-0.32 [[ 9.95341270e-01 9.64114359e-02 7.68639857e-04 1.91078142e+02] [-9.64114007e-02 9.95341567e-01 -8.28738263e-05 -1.91634841e+01] [-7.73049184e-04 8.38209427e-06 9.99999701e-01 -3.19512662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.11, Y:-19.17, Z:-0.32 [[ 9.95380302e-01 9.60076262e-02 7.68644779e-04 1.91106542e+02] [-9.60075908e-02 9.95380598e-01 -8.28281526e-05 -1.91668927e+01] [-7.73046234e-04 8.64977814e-06 9.99999701e-01 -3.19882058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.13, Y:-19.17, Z:-0.32 [[ 9.95398596e-01 9.58177651e-02 7.68648828e-04 1.91133613e+02] [-9.58177297e-02 9.95398893e-01 -8.27905573e-05 -1.91720588e+01] [-7.73044999e-04 8.75941881e-06 9.99999701e-01 -3.24874804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.16, Y:-19.18, Z:-0.33 [[ 9.95424578e-01 9.55474730e-02 7.68652862e-04 1.91161334e+02] [-9.55474376e-02 9.95424874e-01 -8.27530883e-05 -1.91766868e+01] [-7.73043027e-04 8.93164666e-06 9.99999701e-01 -3.28073273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44420382200002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:191.19, Y:-19.18, Z:-0.33 [[ 9.95427088e-01 9.55213129e-02 7.68658278e-04 1.91190149e+02] [-9.55212775e-02 9.95427385e-01 -8.27027547e-05 -1.91819412e+01] [-7.73043375e-04 8.90134161e-06 9.99999701e-01 -3.28942099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.22, Y:-19.19, Z:-0.33 [[ 9.95439950e-01 9.53871862e-02 7.68662127e-04 1.91218788e+02] [-9.53871508e-02 9.95440247e-01 -8.26669642e-05 -1.91865115e+01] [-7.73042586e-04 8.96950850e-06 9.99999701e-01 -3.26241602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.25, Y:-19.19, Z:-0.33 [[ 9.95450365e-01 9.52784358e-02 7.68666106e-04 1.91247550e+02] [-9.52784004e-02 9.95450662e-01 -8.26299452e-05 -1.91919778e+01] [-7.73042036e-04 9.01673211e-06 9.99999701e-01 -3.25890557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.27, Y:-19.20, Z:-0.33 [[ 9.95402878e-01 9.57732727e-02 7.68670118e-04 1.91274228e+02] [-9.57732374e-02 9.95403175e-01 -8.25926038e-05 -1.92011960e+01] [-7.73046840e-04 8.59488973e-06 9.99999701e-01 -3.28684238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.30, Y:-19.21, Z:-0.33 [[ 9.95312155e-01 9.67115505e-02 7.68675111e-04 1.91302438e+02] [-9.67115156e-02 9.95312451e-01 -8.25461133e-05 -1.92071228e+01] [-7.73055072e-04 7.81941488e-06 9.99999701e-01 -3.28741262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.33, Y:-19.22, Z:-0.33 [[ 9.95033402e-01 9.95386242e-02 7.68679057e-04 1.91329276e+02] [-9.95385902e-02 9.95033699e-01 -8.25093513e-05 -1.92152208e+01] [-7.73074433e-04 5.58633089e-06 9.99999701e-01 -3.31083077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.36, Y:-19.22, Z:-0.33 [[ 9.94866527e-01 1.01192895e-01 7.68683968e-04 1.91356850e+02] [-1.01192861e-01 9.94866824e-01 -8.24635763e-05 -1.92208098e+01] [-7.73082906e-04 4.25492180e-06 9.99999701e-01 -3.30687990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.39, Y:-19.23, Z:-0.33 [[ 9.94696217e-01 1.02853510e-01 7.68688703e-04 1.91385734e+02] [-1.02853477e-01 9.94696514e-01 -8.24194086e-05 -1.92261635e+01] [-7.73089099e-04 2.91996813e-06 9.99999701e-01 -3.28758997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.41, Y:-19.23, Z:-0.33 [[ 9.94335249e-01 1.06286509e-01 7.68692556e-04 1.91413134e+02] [-1.06286477e-01 9.94335546e-01 -8.23834568e-05 -1.92345607e+01] [-7.73094583e-04 2.15150919e-07 9.99999701e-01 -3.28111381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.44, Y:-19.24, Z:-0.33 [[ 9.94174779e-01 1.07777165e-01 7.68697720e-04 1.91441904e+02] [-1.07777134e-01 9.94175076e-01 -8.23352450e-05 -1.92411746e+01] [-7.73093974e-04 -9.92413100e-07 9.99999701e-01 -3.26090884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.47, Y:-19.25, Z:-0.33 [[ 9.93859576e-01 1.10646068e-01 7.68701694e-04 1.91469042e+02] [-1.10646038e-01 9.93859873e-01 -8.22981299e-05 -1.92507779e+01] [-7.73087733e-04 -3.26101200e-06 9.99999701e-01 -3.25321142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.50, Y:-19.26, Z:-0.32 [[ 9.93690680e-01 1.12152760e-01 7.68706880e-04 1.91497505e+02] [-1.12152729e-01 9.93690977e-01 -8.22496626e-05 -1.92565360e+01] [-7.73081617e-04 -4.48185154e-06 9.99999701e-01 -3.23323240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.53, Y:-19.26, Z:-0.33 [[ 9.93537151e-01 1.13504792e-01 7.68710903e-04 1.91525194e+02] [-1.13504762e-01 9.93537449e-01 -8.22120399e-05 -1.92625282e+01] [-7.73074530e-04 -5.57163249e-06 9.99999701e-01 -3.25926550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.55, Y:-19.27, Z:-0.32 [[ 9.93383362e-01 1.14842957e-01 7.68714902e-04 1.91553691e+02] [-1.14842927e-01 9.93383660e-01 -8.21746376e-05 -1.92686576e+01] [-7.73066001e-04 -6.65055185e-06 9.99999701e-01 -3.23814744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.58, Y:-19.28, Z:-0.32 [[ 9.93014087e-01 1.17993357e-01 7.68718943e-04 1.91581819e+02] [-1.17993329e-01 9.93014384e-01 -8.21368133e-05 -1.92765008e+01] [-7.73040566e-04 -9.14069438e-06 9.99999701e-01 -3.23113778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.61, Y:-19.28, Z:-0.32 [[ 9.92764034e-01 1.20079067e-01 7.68722967e-04 1.91609944e+02] [-1.20079039e-01 9.92764331e-01 -8.20991413e-05 -1.92811801e+01] [-7.73019130e-04 -1.08024407e-05 9.99999701e-01 -3.22774017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.64, Y:-19.29, Z:-0.33 [[ 9.92289156e-01 1.23942080e-01 7.68726974e-04 1.91637583e+02] [-1.23942054e-01 9.92289454e-01 -8.20615989e-05 -1.92877971e+01] [-7.72970555e-04 -1.38487651e-05 9.99999701e-01 -3.26035155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.67, Y:-19.29, Z:-0.33 [[ 9.92107683e-01 1.25386421e-01 7.68732416e-04 1.91666050e+02] [-1.25386395e-01 9.92107981e-01 -8.20105917e-05 -1.92931966e+01] [-7.72948579e-04 -1.50252482e-05 9.99999701e-01 -3.26503580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.70, Y:-19.30, Z:-0.33 [[ 9.92113589e-01 1.25339683e-01 7.68736291e-04 1.91695220e+02] [-1.25339657e-01 9.92113886e-01 -8.19742483e-05 -1.92962161e+01] [-7.72948576e-04 -1.50253773e-05 9.99999701e-01 -3.26526251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.72, Y:-19.30, Z:-0.33 [[ 9.91931529e-01 1.26772436e-01 7.68740151e-04 1.91723033e+02] [-1.26772410e-01 9.91931827e-01 -8.19380331e-05 -1.93029341e+01] [-7.72925307e-04 -1.61781235e-05 9.99999701e-01 -3.27022358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04420382200001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:191.75, Y:-19.31, Z:-0.33 [[ 9.91880380e-01 1.27172009e-01 7.68744048e-04 1.91751904e+02] [-1.27171984e-01 9.91880678e-01 -8.19014581e-05 -1.93071863e+01] [-7.72917941e-04 -1.65262560e-05 9.99999701e-01 -3.27561387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07420382200002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:191.78, Y:-19.31, Z:-0.33 [[ 9.91822453e-01 1.27623001e-01 7.68748001e-04 1.91780878e+02] [-1.27622976e-01 9.91822751e-01 -8.18643408e-05 -1.93116688e+01] [-7.72909530e-04 -1.69150160e-05 9.99999701e-01 -3.27727934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.81, Y:-19.32, Z:-0.33 [[ 9.91777602e-01 1.27971083e-01 7.68751995e-04 1.91808248e+02] [-1.27971058e-01 9.91777899e-01 -8.18268105e-05 -1.93164581e+01] [-7.72902705e-04 -1.72240082e-05 9.99999701e-01 -3.29325052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.84, Y:-19.32, Z:-0.33 [[ 9.91409217e-01 1.30794397e-01 7.68756972e-04 1.91835224e+02] [-1.30794373e-01 9.91409514e-01 -8.17800258e-05 -1.93219937e+01] [-7.72849346e-04 -1.94716149e-05 9.99999701e-01 -3.26880274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.86, Y:-19.32, Z:-0.32 [[ 9.90974219e-01 1.34050386e-01 7.68761740e-04 1.91864078e+02] [-1.34050363e-01 9.90974517e-01 -8.17351846e-05 -1.93238799e+01] [-7.72779927e-04 -2.20553297e-05 9.99999701e-01 -3.22609539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.89, Y:-19.33, Z:-0.32 [[ 9.90786360e-01 1.35431894e-01 7.68765579e-04 1.91893086e+02] [-1.35431872e-01 9.90786658e-01 -8.16990557e-05 -1.93261498e+01] [-7.72747337e-04 -2.31690512e-05 9.99999701e-01 -3.21485256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.92, Y:-19.33, Z:-0.32 [[ 9.90629043e-01 1.36577844e-01 7.68769538e-04 1.91921491e+02] [-1.36577822e-01 9.90629341e-01 -8.16617892e-05 -1.93281629e+01] [-7.72718852e-04 -2.41003291e-05 9.99999701e-01 -3.21689227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:191.95, Y:-19.33, Z:-0.32 [[ 9.90520705e-01 1.37361359e-01 7.68773569e-04 1.91949010e+02] [-1.37361337e-01 9.90521003e-01 -8.16238221e-05 -1.93296770e+01] [-7.72698326e-04 -2.47496794e-05 9.99999701e-01 -3.24774994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.98, Y:-19.33, Z:-0.32 [[ 9.90461662e-01 1.37786447e-01 7.68778590e-04 1.91978057e+02] [-1.37786425e-01 9.90461960e-01 -8.15765081e-05 -1.93283454e+01] [-7.72686086e-04 -2.51288500e-05 9.99999701e-01 -3.22093386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.01, Y:-19.33, Z:-0.32 [[ 9.90507358e-01 1.37457566e-01 7.68782513e-04 1.92006264e+02] [-1.37457544e-01 9.90507656e-01 -8.15395175e-05 -1.93289394e+01] [-7.72693189e-04 -2.49094641e-05 9.99999701e-01 -3.23091654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.04, Y:-19.33, Z:-0.32 [[ 9.90611438e-01 1.36705479e-01 7.68787388e-04 1.92035153e+02] [-1.36705457e-01 9.90611736e-01 -8.14935271e-05 -1.93257072e+01] [-7.72710421e-04 -2.43690109e-05 9.99999701e-01 -3.22989081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.06, Y:-19.32, Z:-0.33 [[ 9.90713491e-01 1.35963920e-01 7.68791269e-04 1.92063054e+02] [-1.35963897e-01 9.90713789e-01 -8.14569039e-05 -1.93247424e+01] [-7.72727311e-04 -2.38274034e-05 9.99999701e-01 -3.25749836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.09, Y:-19.32, Z:-0.33 [[ 9.90836999e-01 1.35060916e-01 7.68795132e-04 1.92092006e+02] [-1.35060893e-01 9.90837297e-01 -8.14204260e-05 -1.93243931e+01] [-7.72747607e-04 -2.31597865e-05 9.99999701e-01 -3.27072487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.12, Y:-19.32, Z:-0.33 [[ 9.91271941e-01 1.31830753e-01 7.68798930e-04 1.92121490e+02] [-1.31830730e-01 9.91272239e-01 -8.13845432e-05 -1.93222335e+01] [-7.72818023e-04 -2.06771100e-05 9.99999701e-01 -3.28439010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.15, Y:-19.32, Z:-0.33 [[ 9.91558167e-01 1.29660362e-01 7.68802718e-04 1.92150800e+02] [-1.29660338e-01 9.91558465e-01 -8.13487438e-05 -1.93218915e+01] [-7.72860551e-04 -1.90212091e-05 9.99999701e-01 -3.25908382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.18, Y:-19.32, Z:-0.33 [[ 9.92314113e-01 1.23742115e-01 7.68806726e-04 1.92179956e+02] [-1.23742089e-01 9.92314410e-01 -8.13108466e-05 -1.93165135e+01] [-7.72959570e-04 -1.44478496e-05 9.99999701e-01 -3.25551853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.21, Y:-19.32, Z:-0.33 [[ 9.92780158e-01 1.19945685e-01 7.68813094e-04 1.92208402e+02] [-1.19945658e-01 9.92780455e-01 -8.12505942e-05 -1.93158752e+01] [-7.73008272e-04 -1.15518145e-05 9.99999701e-01 -3.27137852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.24, Y:-19.32, Z:-0.33 [[ 9.93276640e-01 1.15762364e-01 7.68818388e-04 1.92237540e+02] [-1.15762336e-01 9.93276938e-01 -8.12004675e-05 -1.93158131e+01] [-7.73049533e-04 -8.34568468e-06 9.99999701e-01 -3.26526506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.27, Y:-19.31, Z:-0.32 [[ 9.94285833e-01 1.06747788e-01 7.68822229e-04 1.92265717e+02] [-1.06747757e-01 9.94286131e-01 -8.11640848e-05 -1.93140020e+01] [-7.73093366e-04 -1.36974902e-06 9.99999701e-01 -3.24429574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.29, Y:-19.32, Z:-0.32 [[ 9.94778212e-01 1.02057426e-01 7.68827012e-04 1.92294826e+02] [-1.02057394e-01 9.94778509e-01 -8.11187550e-05 -1.93152252e+01] [-7.73091360e-04 2.23068889e-06 9.99999701e-01 -3.22519465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.32, Y:-19.32, Z:-0.32 [[ 9.95628003e-01 9.34038958e-02 7.68830805e-04 1.92323462e+02] [-9.34038610e-02 9.95628300e-01 -8.10827944e-05 -1.93151761e+01] [-7.73043156e-04 8.91653505e-06 9.99999701e-01 -3.20784655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.35, Y:-19.32, Z:-0.32 [[ 9.95997391e-01 8.93790066e-02 7.68834621e-04 1.92352165e+02] [-8.93789707e-02 9.95997687e-01 -8.10465872e-05 -1.93171316e+01] [-7.73001368e-04 1.20045423e-05 9.99999701e-01 -3.19801000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.38, Y:-19.32, Z:-0.32 [[ 9.96318646e-01 8.57237736e-02 7.68838407e-04 1.92380932e+02] [-8.57237367e-02 9.96318942e-01 -8.10106583e-05 -1.93195487e+01] [-7.72952808e-04 1.48047282e-05 9.99999701e-01 -3.19078457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.41, Y:-19.32, Z:-0.32 [[ 9.96777630e-01 8.02107521e-02 7.68842167e-04 1.92408975e+02] [-8.02107135e-02 9.96777927e-01 -8.09749547e-05 -1.93230352e+01] [-7.72859963e-04 1.90446446e-05 9.99999701e-01 -3.20215864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.764203822 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:192.44, Y:-19.33, Z:-0.32 [[ 9.96920082e-01 7.84204037e-02 7.68846822e-04 1.92437334e+02] [-7.84203645e-02 9.96920378e-01 -8.09307391e-05 -1.93267926e+01] [-7.72825685e-04 2.03882310e-05 9.99999701e-01 -3.20622813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.47, Y:-19.33, Z:-0.32 [[ 9.97068549e-01 7.65095910e-02 7.68850702e-04 1.92465267e+02] [-7.65095514e-02 9.97068845e-01 -8.08938574e-05 -1.93314872e+01] [-7.72786238e-04 2.18322987e-05 9.99999701e-01 -3.22844098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.49, Y:-19.33, Z:-0.32 [[ 9.97064915e-01 7.65569359e-02 7.68854549e-04 1.92493676e+02] [-7.65568963e-02 9.97065211e-01 -8.08572772e-05 -1.93343644e+01] [-7.72788309e-04 2.17588362e-05 9.99999701e-01 -3.23146266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.52, Y:-19.34, Z:-0.32 [[ 9.97016516e-01 7.71846877e-02 7.68858260e-04 1.92522320e+02] [-7.71846483e-02 9.97016812e-01 -8.08219798e-05 -1.93371773e+01] [-7.72802830e-04 2.12367943e-05 9.99999701e-01 -3.21144343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.55, Y:-19.34, Z:-0.32 [[ 9.96836060e-01 7.94813102e-02 7.68862161e-04 1.92549759e+02] [-7.94812716e-02 9.96836356e-01 -8.07848489e-05 -1.93425597e+01] [-7.72850640e-04 1.94191083e-05 9.99999701e-01 -3.23662157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.58, Y:-19.35, Z:-0.32 [[ 9.96695809e-01 8.12211357e-02 7.68866995e-04 1.92578223e+02] [-8.12210976e-02 9.96696106e-01 -8.07388117e-05 -1.93470465e+01] [-7.72884438e-04 1.80238140e-05 9.99999701e-01 -3.21780017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.61, Y:-19.35, Z:-0.32 [[ 9.96353177e-01 8.53214875e-02 7.68870874e-04 1.92605360e+02] [-8.53214506e-02 9.96353473e-01 -8.07018613e-05 -1.93530692e+01] [-7.72952768e-04 1.48063776e-05 9.99999701e-01 -3.22995638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.63, Y:-19.36, Z:-0.32 [[ 9.96148842e-01 8.76749267e-02 7.68875715e-04 1.92633650e+02] [-8.76748906e-02 9.96149139e-01 -8.06557130e-05 -1.93579701e+01] [-7.72986365e-04 1.29340010e-05 9.99999701e-01 -3.22010055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.66, Y:-19.36, Z:-0.32 [[ 9.95930862e-01 9.01172929e-02 7.68879593e-04 1.92661165e+02] [-9.01172575e-02 9.95931159e-01 -8.06187283e-05 -1.93624561e+01] [-7.73016285e-04 1.10013594e-05 9.99999701e-01 -3.22025043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.69, Y:-19.37, Z:-0.32 [[ 9.95445350e-01 9.53308156e-02 7.68884418e-04 1.92688692e+02] [-9.53307818e-02 9.95445647e-01 -8.05726770e-05 -1.93658543e+01] [-7.73063706e-04 6.90734394e-06 9.99999701e-01 -3.21546623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.72, Y:-19.37, Z:-0.32 [[ 9.95214321e-01 9.77131703e-02 7.68889190e-04 1.92716580e+02] [-9.77131372e-02 9.95214618e-01 -8.05271130e-05 -1.93692370e+01] [-7.73078322e-04 5.01116112e-06 9.99999701e-01 -3.22579611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.74, Y:-19.37, Z:-0.32 [[ 9.94745403e-01 1.02376716e-01 7.68892929e-04 1.92744920e+02] [-1.02376685e-01 9.94745700e-01 -8.04913972e-05 -1.93742671e+01] [-7.73093380e-04 1.35173847e-06 9.99999701e-01 -3.23070569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.77, Y:-19.38, Z:-0.33 [[ 9.94501380e-01 1.04720647e-01 7.68895854e-04 1.92772274e+02] [-1.04720616e-01 9.94501677e-01 -8.04634453e-05 -1.93782978e+01] [-7.73094401e-04 -4.98240332e-07 9.99999701e-01 -3.25006527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.80, Y:-19.38, Z:-0.33 [[ 9.94251064e-01 1.07071151e-01 7.68900729e-04 1.92801285e+02] [-1.07071121e-01 9.94251361e-01 -8.04168385e-05 -1.93825183e+01] [-7.73090919e-04 -2.37253547e-06 9.99999701e-01 -3.25252956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.83, Y:-19.38, Z:-0.32 [[ 9.93703256e-01 1.12041281e-01 7.68904470e-04 1.92830612e+02] [-1.12041252e-01 9.93703553e-01 -8.03810466e-05 -1.93839636e+01] [-7.73069100e-04 -6.27411191e-06 9.99999701e-01 -3.22609443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.86, Y:-19.39, Z:-0.33 [[ 9.93406097e-01 1.14646131e-01 7.68907455e-04 1.92858752e+02] [-1.14646104e-01 9.93406394e-01 -8.03524861e-05 -1.93852943e+01] [-7.73049684e-04 -8.32959423e-06 9.99999701e-01 -3.26054230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.89, Y:-19.39, Z:-0.32 [[ 9.93148840e-01 1.16853716e-01 7.68912413e-04 1.92887799e+02] [-1.16853689e-01 9.93149137e-01 -8.03050161e-05 -1.93868707e+01] [-7.73028639e-04 -1.00954181e-05 9.99999701e-01 -3.23614484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.92, Y:-19.39, Z:-0.33 [[ 9.92818597e-01 1.19627098e-01 7.68916370e-04 1.92915478e+02] [-1.19627072e-01 9.92818895e-01 -8.02671135e-05 -1.93880765e+01] [-7.72996822e-04 -1.22925306e-05 9.99999701e-01 -3.26298829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.94, Y:-19.39, Z:-0.33 [[ 9.92804269e-01 1.19745952e-01 7.68921294e-04 1.92942844e+02] [-1.19745926e-01 9.92804566e-01 -8.02199101e-05 -1.93896707e+01] [-7.72994581e-04 -1.24325231e-05 9.99999701e-01 -3.26398333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.97, Y:-19.39, Z:-0.33 [[ 9.93067874e-01 1.17539805e-01 7.68926037e-04 1.92970957e+02] [-1.17539778e-01 9.93068172e-01 -8.01744262e-05 -1.93911965e+01] [-7.73019660e-04 -1.07607484e-05 9.99999701e-01 -3.27408968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.00, Y:-19.39, Z:-0.33 [[ 9.93291300e-01 1.15636507e-01 7.68930730e-04 1.92999393e+02] [-1.15636479e-01 9.93291598e-01 -8.01293899e-05 -1.93936398e+01] [-7.73038316e-04 -9.32461646e-06 9.99999701e-01 -3.25159990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.03, Y:-19.40, Z:-0.33 [[ 9.93579969e-01 1.13129370e-01 7.68934692e-04 1.93027383e+02] [-1.13129342e-01 9.93580266e-01 -8.00913541e-05 -1.93952951e+01] [-7.73059020e-04 -7.41191027e-06 9.99999701e-01 -3.26594205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.06, Y:-19.40, Z:-0.33 [[ 9.94252533e-01 1.07057507e-01 7.68939605e-04 1.93055425e+02] [-1.07057477e-01 9.94252830e-01 -8.00441497e-05 -1.93955367e+01] [-7.73089706e-04 -2.73663563e-06 9.99999701e-01 -3.25324312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.08, Y:-19.40, Z:-0.32 [[ 9.94595504e-01 1.03822887e-01 7.68944323e-04 1.93084415e+02] [-1.03822856e-01 9.94595801e-01 -7.99988003e-05 -1.93982208e+01] [-7.73094502e-04 -2.67548530e-07 9.99999701e-01 -3.23089373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.11, Y:-19.40, Z:-0.32 [[ 9.94904840e-01 1.00815517e-01 7.68948177e-04 1.93112261e+02] [-1.00815485e-01 9.94905137e-01 -7.99617417e-05 -1.94014698e+01] [-7.73091876e-04 2.03244047e-06 9.99999701e-01 -3.23482159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.14, Y:-19.41, Z:-0.32 [[ 9.95470435e-01 9.50685122e-02 7.68952968e-04 1.93141203e+02] [-9.50684788e-02 9.95470732e-01 -7.99156441e-05 -1.94057805e+01] [-7.73067635e-04 6.45047207e-06 9.99999701e-01 -3.23619930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.17, Y:-19.41, Z:-0.32 [[ 9.95689118e-01 9.27501454e-02 7.68956840e-04 1.93168613e+02] [-9.27501113e-02 9.95689415e-01 -7.98783711e-05 -1.94097448e+01] [-7.73050916e-04 8.21319239e-06 9.99999701e-01 -3.24397915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.20, Y:-19.41, Z:-0.33 [[ 9.95979918e-01 8.95734954e-02 7.68961633e-04 1.93195900e+02] [-8.95734605e-02 9.95980215e-01 -7.98322015e-05 -1.94134693e+01] [-7.73021422e-04 1.06327151e-05 9.99999701e-01 -3.25481224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.22, Y:-19.42, Z:-0.32 [[ 9.96043953e-01 8.88586043e-02 7.68966977e-04 1.93224404e+02] [-8.88585692e-02 9.96044250e-01 -7.97806898e-05 -1.94156880e+01] [-7.73014337e-04 1.11357683e-05 9.99999701e-01 -3.24589198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.25, Y:-19.42, Z:-0.32 [[ 9.96078982e-01 8.84650796e-02 7.68970726e-04 1.93251867e+02] [-8.84650444e-02 9.96079279e-01 -7.97445413e-05 -1.94182798e+01] [-7.73010413e-04 1.14048320e-05 9.99999701e-01 -3.23577193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.28, Y:-19.42, Z:-0.32 [[ 9.96037894e-01 8.89265036e-02 7.68975383e-04 1.93279721e+02] [-8.89264686e-02 9.96038190e-01 -7.96996105e-05 -1.94218621e+01] [-7.73016257e-04 1.10015669e-05 9.99999701e-01 -3.23609230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.31, Y:-19.42, Z:-0.32 [[ 9.95979179e-01 8.95817145e-02 7.68980004e-04 1.93308134e+02] [-8.95816797e-02 9.95979476e-01 -7.96549981e-05 -1.94246922e+01] [-7.73023933e-04 1.04481992e-05 9.99999701e-01 -3.23329504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.34, Y:-19.43, Z:-0.32 [[ 9.95797215e-01 9.15822859e-02 7.68983685e-04 1.93336794e+02] [-9.15822518e-02 9.95797512e-01 -7.96194432e-05 -1.94278866e+01] [-7.73043771e-04 8.85956237e-06 9.99999701e-01 -3.23481676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.37, Y:-19.43, Z:-0.32 [[ 9.95730168e-01 9.23084046e-02 7.68987366e-04 1.93365829e+02] [-9.23083707e-02 9.95730465e-01 -7.95838785e-05 -1.94322051e+01] [-7.73050408e-04 8.26009786e-06 9.99999701e-01 -3.23870275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.39, Y:-19.44, Z:-0.32 [[ 9.95672202e-01 9.29315566e-02 7.68991034e-04 1.93394082e+02] [-9.29315229e-02 9.95672499e-01 -7.95484196e-05 -1.94363841e+01] [-7.73055783e-04 7.74064227e-06 9.99999701e-01 -3.21454673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.42, Y:-19.44, Z:-0.32 [[ 9.95683370e-01 9.28118265e-02 7.68994878e-04 1.93421470e+02] [-9.28117928e-02 9.95683667e-01 -7.95112480e-05 -1.94388456e+01] [-7.73055224e-04 7.79623418e-06 9.99999701e-01 -3.21110936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.45, Y:-19.44, Z:-0.32 [[ 9.95687762e-01 9.27646979e-02 7.68999631e-04 1.93450648e+02] [-9.27646642e-02 9.95688059e-01 -7.94652449e-05 -1.94417712e+01] [-7.73055320e-04 7.78657932e-06 9.99999701e-01 -3.21133608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.48, Y:-19.44, Z:-0.32 [[ 9.95726649e-01 9.23463585e-02 7.69003391e-04 1.93478109e+02] [-9.23463247e-02 9.95726946e-01 -7.94288459e-05 -1.94449684e+01] [-7.73052362e-04 8.07478169e-06 9.99999701e-01 -3.20149721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.51, Y:-19.45, Z:-0.32 [[ 9.95797619e-01 9.15778916e-02 7.69008063e-04 1.93506742e+02] [-9.15778576e-02 9.95797916e-01 -7.93835900e-05 -1.94488862e+01] [-7.73046408e-04 8.62587903e-06 9.99999701e-01 -3.19175280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.54, Y:-19.45, Z:-0.32 [[ 9.96006851e-01 8.92735230e-02 7.69011809e-04 1.93535688e+02] [-8.92734883e-02 9.96007148e-01 -7.93472764e-05 -1.94537188e+01] [-7.73024870e-04 1.03780641e-05 9.99999701e-01 -3.18050582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.964203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:193.56, Y:-19.46, Z:-0.32 [[ 9.96111573e-01 8.80973468e-02 7.69015653e-04 1.93563624e+02] [-8.80973119e-02 9.96111870e-01 -7.93100087e-05 -1.94584893e+01] [-7.73012621e-04 1.12534058e-05 9.99999701e-01 -3.20222732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.59, Y:-19.46, Z:-0.32 [[ 9.96355211e-01 8.52977232e-02 7.69020712e-04 1.93591877e+02] [-8.52976875e-02 9.96355508e-01 -7.92609239e-05 -1.94649301e+01] [-7.72978798e-04 1.33763463e-05 9.99999701e-01 -3.16859642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.62, Y:-19.47, Z:-0.32 [[ 9.96443897e-01 8.42553824e-02 7.69024449e-04 1.93620444e+02] [-8.42553464e-02 9.96444193e-01 -7.92246526e-05 -1.94687408e+01] [-7.72965050e-04 1.41485003e-05 9.99999701e-01 -3.17993273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.65, Y:-19.47, Z:-0.31 [[ 9.96441917e-01 8.42787897e-02 7.68868514e-04 1.93648778e+02] [-8.42787525e-02 9.96442214e-01 -8.07386258e-05 -1.94735300e+01] [-7.72937598e-04 1.56520719e-05 9.99999701e-01 -3.14770179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.68, Y:-19.48, Z:-0.32 [[ 9.96428683e-01 8.44351085e-02 7.69034432e-04 1.93677770e+02] [-8.44350726e-02 9.96428980e-01 -7.91260511e-05 -1.94834948e+01] [-7.72969212e-04 1.39099888e-05 9.99999701e-01 -3.15716091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.71, Y:-19.49, Z:-0.32 [[ 9.96379222e-01 8.50167941e-02 7.69036342e-04 1.93705862e+02] [-8.50167584e-02 9.96379518e-01 -7.91074873e-05 -1.94891235e+01] [-7.72977525e-04 1.34400797e-05 9.99999701e-01 -3.19295536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.74, Y:-19.49, Z:-0.32 [[ 9.96325905e-01 8.56393562e-02 7.69039197e-04 1.93735201e+02] [-8.56393206e-02 9.96326202e-01 -7.90797245e-05 -1.94936944e+01] [-7.72986238e-04 1.29291838e-05 9.99999701e-01 -3.18413447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.76, Y:-19.50, Z:-0.32 [[ 9.96179856e-01 8.73218388e-02 7.69041115e-04 1.93763690e+02] [-8.73218038e-02 9.96180153e-01 -7.90610626e-05 -1.95016267e+01] [-7.73007253e-04 1.16049806e-05 9.99999701e-01 -3.22869412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.79, Y:-19.51, Z:-0.32 [[ 9.96109252e-01 8.81235849e-02 7.69043022e-04 1.93793209e+02] [-8.81235501e-02 9.96109549e-01 -7.90425105e-05 -1.95079904e+01] [-7.73016607e-04 1.09641747e-05 9.99999701e-01 -3.21338464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.234203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:193.82, Y:-19.52, Z:-0.33 [[ 9.95928713e-01 9.01410405e-02 7.69044914e-04 1.93821651e+02] [-9.01410064e-02 9.95929010e-01 -7.90240980e-05 -1.95151085e+01] [-7.73037454e-04 9.37988572e-06 9.99999701e-01 -3.25726919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.85, Y:-19.52, Z:-0.32 [[ 9.95833888e-01 9.11826536e-02 7.69046871e-04 1.93850911e+02] [-9.11826197e-02 9.95834185e-01 -7.90050479e-05 -1.95204660e+01] [-7.73047054e-04 8.55219567e-06 9.99999701e-01 -3.23934642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29420382200001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:193.88, Y:-19.53, Z:-0.33 [[ 9.95726439e-01 9.23486194e-02 7.69048799e-04 1.93880362e+02] [-9.23485859e-02 9.95726736e-01 -7.89862748e-05 -1.95261802e+01] [-7.73056724e-04 7.62815305e-06 9.99999701e-01 -3.26260291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.91, Y:-19.54, Z:-0.32 [[ 9.95456929e-01 9.52098268e-02 7.69050722e-04 1.93909379e+02] [-9.52097942e-02 9.95457226e-01 -7.89675432e-05 -1.95354664e+01] [-7.73075585e-04 5.38762705e-06 9.99999701e-01 -3.23387677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.94, Y:-19.54, Z:-0.32 [[ 9.95318163e-01 9.66496895e-02 7.69052634e-04 1.93937384e+02] [-9.66496574e-02 9.95318460e-01 -7.89489222e-05 -1.95396948e+01] [-7.73082672e-04 4.25062268e-06 9.99999701e-01 -3.22138866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.97, Y:-19.55, Z:-0.32 [[ 9.95088891e-01 9.89823575e-02 7.69055011e-04 1.93966112e+02] [-9.89823261e-02 9.95089188e-01 -7.89257608e-05 -1.95460089e+01] [-7.73090585e-04 2.41529398e-06 9.99999701e-01 -3.20621210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.99, Y:-19.55, Z:-0.32 [[ 9.95008670e-01 9.97855495e-02 7.69056890e-04 1.93994323e+02] [-9.97855183e-02 9.95008967e-01 -7.89074434e-05 -1.95513331e+01] [-7.73092325e-04 1.77284990e-06 9.99999701e-01 -3.21605064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.02, Y:-19.56, Z:-0.32 [[ 9.94944479e-01 1.00423564e-01 7.69059688e-04 1.94023872e+02] [-1.00423533e-01 9.94944776e-01 -7.88801642e-05 -1.95562572e+01] [-7.73093347e-04 1.24969291e-06 9.99999701e-01 -3.22165202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.05, Y:-19.56, Z:-0.32 [[ 9.94825212e-01 1.01598260e-01 7.69061539e-04 1.94052582e+02] [-1.01598229e-01 9.94825509e-01 -7.88621207e-05 -1.95624024e+01] [-7.73094291e-04 3.18735358e-07 9.99999701e-01 -3.23144887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.08, Y:-19.57, Z:-0.32 [[ 9.94739656e-01 1.02432539e-01 7.69063389e-04 1.94081657e+02] [-1.02432508e-01 9.94739953e-01 -7.88440721e-05 -1.95670135e+01] [-7.73094278e-04 -3.47766909e-07 9.99999701e-01 -3.21858770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.11, Y:-19.57, Z:-0.32 [[ 9.94678308e-01 1.03026558e-01 7.69065318e-04 1.94110973e+02] [-1.03026527e-01 9.94678606e-01 -7.88252459e-05 -1.95709254e+01] [-7.73093912e-04 -8.28366852e-07 9.99999701e-01 -3.21155859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.14, Y:-19.57, Z:-0.32 [[ 9.94369709e-01 1.05963624e-01 7.69067270e-04 1.94138982e+02] [-1.05963595e-01 9.94370007e-01 -7.88062060e-05 -1.95748363e+01] [-7.73088017e-04 -3.13062844e-06 9.99999701e-01 -3.22760970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.17, Y:-19.58, Z:-0.32 [[ 9.94178611e-01 1.07741809e-01 7.69070174e-04 1.94168055e+02] [-1.07741781e-01 9.94178909e-01 -7.87778506e-05 -1.95779511e+01] [-7.73081014e-04 -4.54173579e-06 9.99999701e-01 -3.19006055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.20, Y:-19.58, Z:-0.32 [[ 9.93783192e-01 1.11330030e-01 7.69072109e-04 1.94196300e+02] [-1.11330003e-01 9.93783490e-01 -7.87589535e-05 -1.95792074e+01] [-7.73059401e-04 -7.35147580e-06 9.99999701e-01 -3.18534228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.23, Y:-19.58, Z:-0.32 [[ 9.93578876e-01 1.13138964e-01 7.69074996e-04 1.94225692e+02] [-1.13138937e-01 9.93579174e-01 -7.87307568e-05 -1.95811525e+01] [-7.73044415e-04 -8.78711039e-06 9.99999701e-01 -3.18702544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.26, Y:-19.58, Z:-0.32 [[ 9.93432213e-01 1.14419606e-01 7.69076915e-04 1.94255039e+02] [-1.14419579e-01 9.93432511e-01 -7.87120005e-05 -1.95831479e+01] [-7.73032207e-04 -9.80242031e-06 9.99999701e-01 -3.19018902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.28, Y:-19.59, Z:-0.32 [[ 9.93332883e-01 1.15278757e-01 7.69078820e-04 1.94283943e+02] [-1.15278731e-01 9.93333181e-01 -7.86933829e-05 -1.95850139e+01] [-7.73023186e-04 -1.04897054e-05 9.99999701e-01 -3.19024551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.31, Y:-19.59, Z:-0.32 [[ 9.93422297e-01 1.14505672e-01 7.69081657e-04 1.94314035e+02] [-1.14505645e-01 9.93422594e-01 -7.86656519e-05 -1.95870143e+01] [-7.73030758e-04 -9.91597880e-06 9.99999701e-01 -3.19154194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.34, Y:-19.59, Z:-0.32 [[ 9.93872726e-01 1.10527882e-01 7.69083548e-04 1.94343591e+02] [-1.10527854e-01 9.93873024e-01 -7.86471552e-05 -1.95879191e+01] [-7.73064095e-04 -6.83989141e-06 9.99999701e-01 -3.21280304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.37, Y:-19.59, Z:-0.32 [[ 9.94223724e-01 1.07324718e-01 7.69084490e-04 1.94371882e+02] [-1.07324689e-01 9.94224021e-01 -7.86379453e-05 -1.95898604e+01] [-7.73082070e-04 -4.35804305e-06 9.99999701e-01 -3.21984942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.40, Y:-19.59, Z:-0.32 [[ 9.94632208e-01 1.03470665e-01 7.69087287e-04 1.94401939e+02] [-1.03470635e-01 9.94632506e-01 -7.86105833e-05 -1.95921633e+01] [-7.73093105e-04 -1.38933168e-06 9.99999701e-01 -3.19859331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.43, Y:-19.60, Z:-0.32 [[ 9.95437733e-01 9.54103113e-02 7.69089173e-04 1.94432514e+02] [-9.54102791e-02 9.95438030e-01 -7.85921256e-05 -1.95952515e+01] [-7.73079111e-04 4.85455475e-06 9.99999701e-01 -3.18508947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.894203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:194.46, Y:-19.60, Z:-0.32 [[ 9.95755059e-01 9.20395107e-02 7.69089173e-04 1.94462696e+02] [-9.20394774e-02 9.95755356e-01 -7.85921256e-05 -1.95990399e+01] [-7.73058244e-04 7.47194109e-06 9.99999701e-01 -3.19516715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.49, Y:-19.60, Z:-0.32 [[ 9.96263701e-01 8.63599853e-02 7.69089173e-04 1.94491526e+02] [-8.63599504e-02 9.96263998e-01 -7.85921256e-05 -1.96036386e+01] [-7.73003069e-04 1.18799791e-05 9.99999701e-01 -3.21289675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.52, Y:-19.61, Z:-0.32 [[ 9.96427777e-01 8.44458089e-02 7.69090129e-04 1.94522063e+02] [-8.44457734e-02 9.96428073e-01 -7.85827702e-05 -1.96073544e+01] [-7.72978981e-04 1.33556442e-05 9.99999701e-01 -3.19908610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.55, Y:-19.61, Z:-0.32 [[ 9.96498833e-01 8.36031394e-02 7.69090129e-04 1.94552477e+02] [-8.36031036e-02 9.96499129e-01 -7.85827702e-05 -1.96115212e+01] [-7.72967410e-04 1.40093170e-05 9.99999701e-01 -3.20104301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.58, Y:-19.62, Z:-0.32 [[ 9.96499143e-01 8.35994440e-02 7.69090129e-04 1.94583139e+02] [-8.35994083e-02 9.96499439e-01 -7.85827702e-05 -1.96155660e+01] [-7.72967358e-04 1.40121834e-05 9.99999701e-01 -3.18418862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.61, Y:-19.62, Z:-0.32 [[ 9.96426493e-01 8.44609517e-02 7.69090129e-04 1.94613518e+02] [-8.44609162e-02 9.96426790e-01 -7.85827702e-05 -1.96185500e+01] [-7.72979184e-04 1.33438972e-05 9.99999701e-01 -3.18757169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.64, Y:-19.62, Z:-0.32 [[ 9.96205196e-01 8.70322655e-02 7.69090129e-04 1.94643254e+02] [-8.70322308e-02 9.96205493e-01 -7.85827702e-05 -1.96228467e+01] [-7.73011048e-04 1.13489344e-05 9.99999701e-01 -3.22273723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.67, Y:-19.63, Z:-0.32 [[ 9.96050539e-01 8.87847533e-02 7.69090129e-04 1.94673869e+02] [-8.87847191e-02 9.96050836e-01 -7.85827702e-05 -1.96267402e+01] [-7.73029817e-04 9.98895952e-06 9.99999701e-01 -3.21165135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.70, Y:-19.63, Z:-0.32 [[ 9.95873744e-01 9.07463227e-02 7.69089172e-04 1.94703002e+02] [-9.07462891e-02 9.95874041e-01 -7.85921336e-05 -1.96300746e+01] [-7.73047888e-04 8.47585398e-06 9.99999701e-01 -3.21092881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.73, Y:-19.63, Z:-0.32 [[ 9.95522323e-01 9.45236092e-02 7.69090129e-04 1.94731892e+02] [-9.45235767e-02 9.95522620e-01 -7.85827640e-05 -1.96332267e+01] [-7.73074547e-04 5.53374600e-06 9.99999701e-01 -3.20730464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.76, Y:-19.64, Z:-0.32 [[ 9.95312959e-01 9.67032675e-02 7.69091073e-04 1.94762578e+02] [-9.67032357e-02 9.95313256e-01 -7.85735294e-05 -1.96366130e+01] [-7.73084857e-04 3.83165679e-06 9.99999701e-01 -3.18125816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.79, Y:-19.64, Z:-0.32 [[ 9.94821431e-01 1.01635276e-01 7.69091073e-04 1.94791550e+02] [-1.01635246e-01 9.94821728e-01 -7.85735294e-05 -1.96383405e+01] [-7.73094352e-04 -1.29174398e-10 9.99999701e-01 -3.19747863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.82, Y:-19.64, Z:-0.32 [[ 9.94569743e-01 1.04069374e-01 7.69092948e-04 1.94821021e+02] [-1.04069344e-01 9.94570041e-01 -7.85551663e-05 -1.96396482e+01] [-7.73091992e-04 -1.91040693e-06 9.99999701e-01 -3.18753474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.85, Y:-19.64, Z:-0.32 [[ 9.94063613e-01 1.08797714e-01 7.69094809e-04 1.94849663e+02] [-1.08797686e-01 9.94063910e-01 -7.85369475e-05 -1.96413248e+01] [-7.73074033e-04 -5.60501347e-06 9.99999701e-01 -3.22064619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.88, Y:-19.64, Z:-0.32 [[ 9.93877846e-01 1.10481830e-01 7.69097596e-04 1.94879550e+02] [-1.10481802e-01 9.93878144e-01 -7.85096422e-05 -1.96442654e+01] [-7.73063180e-04 -6.94229435e-06 9.99999701e-01 -3.23333430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.91, Y:-19.65, Z:-0.32 [[ 9.93741877e-01 1.11698212e-01 7.69099428e-04 1.94909119e+02] [-1.11698185e-01 9.93742174e-01 -7.84916943e-05 -1.96470850e+01] [-7.73053920e-04 -7.90652665e-06 9.99999701e-01 -3.24570673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.94, Y:-19.65, Z:-0.32 [[ 9.93564891e-01 1.13261712e-01 7.69101265e-04 1.94938737e+02] [-1.13261685e-01 9.93565189e-01 -7.84736883e-05 -1.96487292e+01] [-7.73040308e-04 -9.14100368e-06 9.99999701e-01 -3.23738755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.97, Y:-19.65, Z:-0.32 [[ 9.93543661e-01 1.13447791e-01 7.69103099e-04 1.94966937e+02] [-1.13447764e-01 9.93543959e-01 -7.84557083e-05 -1.96503110e+01] [-7.73038365e-04 -9.30385519e-06 9.99999701e-01 -3.24425155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.00, Y:-19.65, Z:-0.32 [[ 9.93594138e-01 1.13004853e-01 7.69105828e-04 1.94995722e+02] [-1.13004826e-01 9.93594436e-01 -7.84289444e-05 -1.96511690e+01] [-7.73042123e-04 -8.98613088e-06 9.99999701e-01 -3.24911493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.03, Y:-19.65, Z:-0.32 [[ 9.93666295e-01 1.12368599e-01 7.69109506e-04 1.95025270e+02] [-1.12368572e-01 9.93666593e-01 -7.83928665e-05 -1.96528307e+01] [-7.73047319e-04 -8.52738738e-06 9.99999701e-01 -3.22193197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.05, Y:-19.65, Z:-0.32 [[ 9.93712290e-01 1.11961126e-01 7.69111458e-04 1.95053552e+02] [-1.11961099e-01 9.93712587e-01 -7.83737125e-05 -1.96546648e+01] [-7.73050546e-04 -8.22964242e-06 9.99999701e-01 -3.24698139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.524203822 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:195.08, Y:-19.66, Z:-0.33 [[ 9.93772681e-01 1.11423817e-01 7.69114368e-04 1.95082664e+02] [-1.11423790e-01 9.93772979e-01 -7.83451429e-05 -1.96568044e+01] [-7.73054591e-04 -7.84037481e-06 9.99999701e-01 -3.25508807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.11, Y:-19.66, Z:-0.33 [[ 9.93941017e-01 1.09912066e-01 7.69118109e-04 1.95111362e+02] [-1.09912038e-01 9.93941315e-01 -7.83083934e-05 -1.96603648e+01] [-7.73065302e-04 -6.70141468e-06 9.99999701e-01 -3.25488076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.14, Y:-19.66, Z:-0.32 [[ 9.94027224e-01 1.09129679e-01 7.69120107e-04 1.95141290e+02] [-1.09129651e-01 9.94027521e-01 -7.82887677e-05 -1.96629166e+01] [-7.73070182e-04 -6.11264221e-06 9.99999701e-01 -3.24744175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.17, Y:-19.66, Z:-0.33 [[ 9.94177577e-01 1.07751349e-01 7.69121973e-04 1.95169980e+02] [-1.07751321e-01 9.94177875e-01 -7.82704320e-05 -1.96634312e+01] [-7.73077793e-04 -5.05920018e-06 9.99999701e-01 -3.26360370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.20, Y:-19.67, Z:-0.33 [[ 9.94243655e-01 1.07139918e-01 7.69124753e-04 1.95199258e+02] [-1.07139889e-01 9.94243953e-01 -7.82431011e-05 -1.96651744e+01] [-7.73080595e-04 -4.61123424e-06 9.99999701e-01 -3.26437495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.23, Y:-19.67, Z:-0.33 [[ 9.94269042e-01 1.06904071e-01 7.69126598e-04 1.95227945e+02] [-1.06904042e-01 9.94269340e-01 -7.82249686e-05 -1.96669868e+01] [-7.73081562e-04 -4.44607784e-06 9.99999701e-01 -3.26394949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.26, Y:-19.67, Z:-0.32 [[ 9.94177333e-01 1.07753606e-01 7.69129351e-04 1.95257576e+02] [-1.07753578e-01 9.94177630e-01 -7.81978844e-05 -1.96689532e+01] [-7.73077300e-04 -5.13387510e-06 9.99999701e-01 -3.24665832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.29, Y:-19.67, Z:-0.33 [[ 9.94075628e-01 1.08687879e-01 7.69131276e-04 1.95286251e+02] [-1.08687851e-01 9.94075925e-01 -7.81789462e-05 -1.96708035e+01] [-7.73071989e-04 -5.87944043e-06 9.99999701e-01 -3.26861289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.32, Y:-19.67, Z:-0.33 [[ 9.93976281e-01 1.09592704e-01 7.69134151e-04 1.95315105e+02] [-1.09592677e-01 9.93976579e-01 -7.81506517e-05 -1.96723237e+01] [-7.73066074e-04 -6.61157621e-06 9.99999701e-01 -3.26719263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.34, Y:-19.68, Z:-0.33 [[ 9.93981466e-01 1.09545670e-01 7.69137861e-04 1.95344290e+02] [-1.09545642e-01 9.93981764e-01 -7.81141244e-05 -1.96751958e+01] [-7.73066072e-04 -6.61170893e-06 9.99999701e-01 -3.26741934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.37, Y:-19.68, Z:-0.32 [[ 9.93805658e-01 1.11129308e-01 7.69141556e-04 1.95373468e+02] [-1.11129281e-01 9.93805955e-01 -7.80777289e-05 -1.96751310e+01] [-7.73054182e-04 -7.88005898e-06 9.99999701e-01 -3.24812997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.40, Y:-19.68, Z:-0.32 [[ 9.93771788e-01 1.11431780e-01 7.69145349e-04 1.95401975e+02] [-1.11431753e-01 9.93772086e-01 -7.80403404e-05 -1.96764026e+01] [-7.73051352e-04 -8.15292579e-06 9.99999701e-01 -3.23771495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.43, Y:-19.68, Z:-0.32 [[ 9.93773098e-01 1.11420095e-01 7.69149170e-04 1.95430888e+02] [-1.11420068e-01 9.93773396e-01 -7.80026610e-05 -1.96757570e+01] [-7.73051047e-04 -8.18170645e-06 9.99999701e-01 -3.21682757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.46, Y:-19.68, Z:-0.32 [[ 9.93797281e-01 1.11204194e-01 7.69153016e-04 1.95459106e+02] [-1.11204167e-01 9.93797579e-01 -7.79647194e-05 -1.96774530e+01] [-7.73052409e-04 -8.05189428e-06 9.99999701e-01 -3.22998273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.49, Y:-19.68, Z:-0.32 [[ 9.93865299e-01 1.10594650e-01 7.69157812e-04 1.95488245e+02] [-1.10594623e-01 9.93865596e-01 -7.79173820e-05 -1.96794702e+01] [-7.73056733e-04 -7.62533610e-06 9.99999701e-01 -3.21125844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.52, Y:-19.68, Z:-0.32 [[ 9.93996321e-01 1.09410796e-01 7.69161631e-04 1.95515678e+02] [-1.09410769e-01 9.93996619e-01 -7.78796668e-05 -1.96802665e+01] [-7.73064936e-04 -6.74246319e-06 9.99999701e-01 -3.22744472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.54, Y:-19.68, Z:-0.32 [[ 9.94028863e-01 1.09114748e-01 7.69166382e-04 1.95543585e+02] [-1.09114721e-01 9.94029160e-01 -7.78327094e-05 -1.96812683e+01] [-7.73066510e-04 -6.55941543e-06 9.99999701e-01 -3.24182138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03420382200002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:195.57, Y:-19.68, Z:-0.32 [[ 9.94089441e-01 1.08561469e-01 7.69170927e-04 1.95572183e+02] [-1.08561442e-01 9.94089738e-01 -7.77877672e-05 -1.96812386e+01] [-7.73069680e-04 -6.17430676e-06 9.99999701e-01 -3.21201047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.60, Y:-19.68, Z:-0.32 [[ 9.94140243e-01 1.08095266e-01 7.69174788e-04 1.95600370e+02] [-1.08095238e-01 9.94140540e-01 -7.77495726e-05 -1.96833957e+01] [-7.73072200e-04 -5.85015288e-06 9.99999701e-01 -3.23666799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.63, Y:-19.69, Z:-0.33 [[ 9.94198488e-01 1.07558238e-01 7.69179581e-04 1.95628404e+02] [-1.07558210e-01 9.94198786e-01 -7.77021276e-05 -1.96854348e+01] [-7.73074909e-04 -5.48024150e-06 9.99999701e-01 -3.25905112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.66, Y:-19.69, Z:-0.32 [[ 9.94357026e-01 1.06082579e-01 7.69184139e-04 1.95657577e+02] [-1.06082551e-01 9.94357323e-01 -7.76569831e-05 -1.96851873e+01] [-7.73081934e-04 -4.37824877e-06 9.99999701e-01 -3.21587306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.69, Y:-19.69, Z:-0.32 [[ 9.94457015e-01 1.05141109e-01 7.69187951e-04 1.95685328e+02] [-1.05141081e-01 9.94457313e-01 -7.76192067e-05 -1.96867674e+01] [-7.73085552e-04 -3.68428779e-06 9.99999701e-01 -3.23566559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.71, Y:-19.69, Z:-0.32 [[ 9.94611183e-01 1.03672576e-01 7.69193235e-04 1.95714166e+02] [-1.03672547e-01 9.94611480e-01 -7.75668025e-05 -1.96883742e+01] [-7.73089973e-04 -2.59541248e-06 9.99999701e-01 -3.23715037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.74, Y:-19.69, Z:-0.33 [[ 9.94639992e-01 1.03395818e-01 7.69197037e-04 1.95742303e+02] [-1.03395789e-01 9.94640289e-01 -7.75290855e-05 -1.96905946e+01] [-7.73090546e-04 -2.41820557e-06 9.99999701e-01 -3.25639580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.77, Y:-19.69, Z:-0.33 [[ 9.94647237e-01 1.03326093e-01 7.69201754e-04 1.95770468e+02] [-1.03326064e-01 9.94647535e-01 -7.74822570e-05 -1.96925956e+01] [-7.73090567e-04 -2.41107639e-06 9.99999701e-01 -3.26037595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.80, Y:-19.69, Z:-0.33 [[ 9.94615878e-01 1.03627528e-01 7.69206344e-04 1.95799332e+02] [-1.03627499e-01 9.94616175e-01 -7.74366614e-05 -1.96932601e+01] [-7.73089641e-04 -2.69119667e-06 9.99999701e-01 -3.25284617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.83, Y:-19.70, Z:-0.32 [[ 9.94608440e-01 1.03698892e-01 7.69212636e-04 1.95828245e+02] [-1.03698863e-01 9.94608737e-01 -7.73741120e-05 -1.96951227e+01] [-7.73089218e-04 -2.80953090e-06 9.99999701e-01 -3.24204273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.86, Y:-19.70, Z:-0.32 [[ 9.94705781e-01 1.02760978e-01 7.69216309e-04 1.95857291e+02] [-1.02760948e-01 9.94706078e-01 -7.73375810e-05 -1.96973463e+01] [-7.73091423e-04 -2.11725859e-06 9.99999701e-01 -3.22010798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.89, Y:-19.70, Z:-0.32 [[ 9.94786371e-01 1.01977865e-01 7.69220099e-04 1.95885115e+02] [-1.01977836e-01 9.94786668e-01 -7.72998629e-05 -1.96999117e+01] [-7.73092774e-04 -1.54655079e-06 9.99999701e-01 -3.23593381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.91, Y:-19.70, Z:-0.32 [[ 9.94905893e-01 1.00805118e-01 7.69224811e-04 1.95913668e+02] [-1.00805089e-01 9.94906191e-01 -7.72529457e-05 -1.97022817e+01] [-7.73094019e-04 -6.82364296e-07 9.99999701e-01 -3.22447921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.94, Y:-19.71, Z:-0.32 [[ 9.95151310e-01 9.83528261e-02 7.69228572e-04 1.95941350e+02] [-9.83527958e-02 9.95151607e-01 -7.72154728e-05 -1.97052141e+01] [-7.73093410e-04 1.18529819e-06 9.99999701e-01 -3.23192571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.97, Y:-19.71, Z:-0.32 [[ 9.95298286e-01 9.68541708e-02 7.69233248e-04 1.95970288e+02] [-9.68541401e-02 9.95298583e-01 -7.71688624e-05 -1.97086205e+01] [-7.73090888e-04 2.30261172e-06 9.99999701e-01 -3.21820956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.00, Y:-19.71, Z:-0.32 [[ 9.95599965e-01 9.37022835e-02 7.69237081e-04 1.95997767e+02] [-9.37022519e-02 9.95600262e-01 -7.71306423e-05 -1.97123157e+01] [-7.73079957e-04 4.71201809e-06 9.99999701e-01 -3.21771791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.03, Y:-19.72, Z:-0.32 [[ 9.95720816e-01 9.24092237e-02 7.69241847e-04 1.96026156e+02] [-9.24091917e-02 9.95721113e-01 -7.70830761e-05 -1.97163552e+01] [-7.73073536e-04 5.66820611e-06 9.99999701e-01 -3.20943419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.05, Y:-19.72, Z:-0.32 [[ 9.95850428e-01 9.10018270e-02 7.69245651e-04 1.96054692e+02] [-9.10017946e-02 9.95850725e-01 -7.70450941e-05 -1.97205124e+01] [-7.73065084e-04 6.72265522e-06 9.99999701e-01 -3.20550998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.08, Y:-19.73, Z:-0.32 [[ 9.96043705e-01 8.88613829e-02 7.69249432e-04 1.96082393e+02] [-8.88613500e-02 9.96044002e-01 -7.70073257e-05 -1.97266614e+01] [-7.73049261e-04 8.34611898e-06 9.99999701e-01 -3.21026977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.11, Y:-19.73, Z:-0.32 [[ 9.96101411e-01 8.82121689e-02 7.69253195e-04 1.96111256e+02] [-8.82121358e-02 9.96101708e-01 -7.69697229e-05 -1.97310940e+01] [-7.73044087e-04 8.81218229e-06 9.99999701e-01 -3.19811098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.14, Y:-19.74, Z:-0.32 [[ 9.96115439e-01 8.80536218e-02 7.69256869e-04 1.96140182e+02] [-8.80535886e-02 9.96115736e-01 -7.69329796e-05 -1.97360555e+01] [-7.73043100e-04 8.89830086e-06 9.99999701e-01 -3.20916184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.17, Y:-19.74, Z:-0.32 [[ 9.96067228e-01 8.85973168e-02 7.69259693e-04 1.96168391e+02] [-8.85972838e-02 9.96067526e-01 -7.69047349e-05 -1.97400194e+01] [-7.73048152e-04 8.44796681e-06 9.99999701e-01 -3.22494653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.20, Y:-19.74, Z:-0.32 [[ 9.95973669e-01 8.96429562e-02 7.69262505e-04 1.96196365e+02] [-8.96429235e-02 9.95973966e-01 -7.68765939e-05 -1.97444727e+01] [-7.73056873e-04 7.60812334e-06 9.99999701e-01 -3.23429472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.23, Y:-19.75, Z:-0.32 [[ 9.95742418e-01 9.21761644e-02 7.69265286e-04 1.96225771e+02] [-9.21761325e-02 9.95742715e-01 -7.68487560e-05 -1.97511004e+01] [-7.73073928e-04 5.61366713e-06 9.99999701e-01 -3.22305726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.25, Y:-19.76, Z:-0.32 [[ 9.95561276e-01 9.41124506e-02 7.69267170e-04 1.96253873e+02] [-9.41124194e-02 9.95561574e-01 -7.68298963e-05 -1.97552706e+01] [-7.73083484e-04 4.09127515e-06 9.99999701e-01 -3.24237767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.28, Y:-19.76, Z:-0.32 [[ 9.95385803e-01 9.59505720e-02 7.69269985e-04 1.96282775e+02] [-9.59505413e-02 9.95386100e-01 -7.68017025e-05 -1.97588389e+01] [-7.73089817e-04 2.63545288e-06 9.99999701e-01 -3.22445529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.31, Y:-19.76, Z:-0.32 [[ 9.94987970e-01 9.99917408e-02 7.69273690e-04 1.96309950e+02] [-9.99917113e-02 9.94988267e-01 -7.67645729e-05 -1.97633806e+01] [-7.73094119e-04 -5.41166152e-07 9.99999701e-01 -3.24208275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.34, Y:-19.77, Z:-0.32 [[ 9.94798011e-01 1.01864252e-01 7.69278299e-04 1.96338158e+02] [-1.01864223e-01 9.94798308e-01 -7.67183581e-05 -1.97671049e+01] [-7.73091608e-04 -2.04266614e-06 9.99999701e-01 -3.24388007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.37, Y:-19.77, Z:-0.33 [[ 9.94421388e-01 1.05477544e-01 7.69281968e-04 1.96366859e+02] [-1.05477516e-01 9.94421685e-01 -7.66815465e-05 -1.97707401e+01] [-7.73078852e-04 -4.88818115e-06 9.99999701e-01 -3.25099174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.904203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:196.40, Y:-19.77, Z:-0.32 [[ 9.94240530e-01 1.07168913e-01 7.69285628e-04 1.96395156e+02] [-1.07168885e-01 9.94240828e-01 -7.66448098e-05 -1.97736751e+01] [-7.73069121e-04 -6.24010697e-06 9.99999701e-01 -3.24884612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.42, Y:-19.78, Z:-0.32 [[ 9.93900823e-01 1.10274939e-01 7.69289387e-04 1.96422428e+02] [-1.10274913e-01 9.93901121e-01 -7.66070664e-05 -1.97784045e+01] [-7.73045423e-04 -8.69349345e-06 9.99999701e-01 -3.24322860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.45, Y:-19.78, Z:-0.33 [[ 9.93757686e-01 1.11557475e-01 7.69294055e-04 1.96449923e+02] [-1.11557449e-01 9.93757983e-01 -7.65601617e-05 -1.97809542e+01] [-7.73032967e-04 -9.73823339e-06 9.99999701e-01 -3.25755645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.994203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:196.48, Y:-19.78, Z:-0.33 [[ 9.93650058e-01 1.12512092e-01 7.69298633e-04 1.96479212e+02] [-1.12512066e-01 9.93650356e-01 -7.65141278e-05 -1.97828443e+01] [-7.73022625e-04 -1.05271114e-05 9.99999701e-01 -3.27059538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.51, Y:-19.78, Z:-0.33 [[ 9.93367791e-01 1.14977561e-01 7.69304214e-04 1.96507913e+02] [-1.14977536e-01 9.93368089e-01 -7.64579744e-05 -1.97841271e+01] [-7.72993208e-04 -1.25018136e-05 9.99999701e-01 -3.27059526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.54, Y:-19.79, Z:-0.33 [[ 9.93248427e-01 1.16004183e-01 7.69307768e-04 1.96537197e+02] [-1.16004158e-01 9.93248725e-01 -7.64221955e-05 -1.97853012e+01] [-7.72979254e-04 -1.33366746e-05 9.99999701e-01 -3.26968202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.57, Y:-19.79, Z:-0.33 [[ 9.93231189e-01 1.16151683e-01 7.69311374e-04 1.96565109e+02] [-1.16151659e-01 9.93231487e-01 -7.63858804e-05 -1.97859725e+01] [-7.72976628e-04 -1.34879533e-05 9.99999701e-01 -3.30956008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.59, Y:-19.79, Z:-0.33 [[ 9.93376477e-01 1.14902495e-01 7.69315856e-04 1.96593624e+02] [-1.14902470e-01 9.93376775e-01 -7.63407127e-05 -1.97881404e+01] [-7.72992242e-04 -1.25612241e-05 9.99999701e-01 -3.30845568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.62, Y:-19.79, Z:-0.33 [[ 9.93582799e-01 1.13104511e-01 7.69319336e-04 1.96622327e+02] [-1.13104486e-01 9.93583096e-01 -7.63056285e-05 -1.97898824e+01] [-7.73013199e-04 -1.11975081e-05 9.99999701e-01 -3.29759916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.65, Y:-19.79, Z:-0.33 [[ 9.93820730e-01 1.10994440e-01 7.69322805e-04 1.96651241e+02] [-1.10994414e-01 9.93821027e-01 -7.62706355e-05 -1.97913451e+01] [-7.73034797e-04 -9.59119549e-06 9.99999701e-01 -3.27264848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.68, Y:-19.79, Z:-0.33 [[ 9.94270441e-01 1.06891057e-01 7.69326442e-04 1.96679657e+02] [-1.06891030e-01 9.94270739e-01 -7.62339328e-05 -1.97913242e+01] [-7.73067496e-04 -6.43695016e-06 9.99999701e-01 -3.28440011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.71, Y:-19.79, Z:-0.33 [[ 9.94688753e-01 1.02925665e-01 7.69330961e-04 1.96708280e+02] [-1.02925637e-01 9.94689051e-01 -7.61883013e-05 -1.97927724e+01] [-7.73086815e-04 -3.40023257e-06 9.99999701e-01 -3.26729957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.74, Y:-19.80, Z:-0.33 [[ 9.94873628e-01 1.01123054e-01 7.69333634e-04 1.96737078e+02] [-1.01123025e-01 9.94873926e-01 -7.61613049e-05 -1.97950325e+01] [-7.73091636e-04 -2.02647044e-06 9.99999701e-01 -3.25824210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.77, Y:-19.80, Z:-0.32 [[ 9.95022451e-01 9.96480267e-02 7.69337210e-04 1.96765597e+02] [-9.96479977e-02 9.95022749e-01 -7.61251592e-05 -1.97971581e+01] [-7.73093748e-04 -9.16670027e-07 9.99999701e-01 -3.23423482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.79, Y:-19.80, Z:-0.32 [[ 9.95249642e-01 9.73527523e-02 7.69340940e-04 1.96794291e+02] [-9.73527225e-02 9.95249939e-01 -7.60874460e-05 -1.97982087e+01] [-7.73093846e-04 8.28568356e-07 9.99999701e-01 -3.22620848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.82, Y:-19.80, Z:-0.32 [[ 9.95362634e-01 9.61906148e-02 7.69343723e-04 1.96822380e+02] [-9.61905847e-02 9.95362932e-01 -7.60592920e-05 -1.98000931e+01] [-7.73092414e-04 1.70295465e-06 9.99999701e-01 -3.23664960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.85, Y:-19.80, Z:-0.32 [[ 9.95473508e-01 9.50363240e-02 7.69348214e-04 1.96851565e+02] [-9.50362937e-02 9.95473805e-01 -7.60138369e-05 -1.98020278e+01] [-7.73090070e-04 2.55375808e-06 9.99999701e-01 -3.21108013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.88, Y:-19.80, Z:-0.32 [[ 9.95679928e-01 9.28487427e-02 7.69351916e-04 1.96879256e+02] [-9.28487117e-02 9.95680225e-01 -7.59763581e-05 -1.98031025e+01] [-7.73082798e-04 4.21480049e-06 9.99999701e-01 -3.22705631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.91, Y:-19.81, Z:-0.32 [[ 9.95782267e-01 9.17446682e-02 7.69357061e-04 1.96907176e+02] [-9.17446369e-02 9.95782565e-01 -7.59242196e-05 -1.98053924e+01] [-7.73077989e-04 5.01960733e-06 9.99999701e-01 -3.23363445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.94, Y:-19.81, Z:-0.33 [[ 9.95926420e-01 9.01663631e-02 7.69361540e-04 1.96935340e+02] [-9.01663314e-02 9.95926718e-01 -7.58788047e-05 -1.98078479e+01] [-7.73069429e-04 6.19919880e-06 9.99999701e-01 -3.26320903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.96, Y:-19.81, Z:-0.32 [[ 9.95980127e-01 8.95711766e-02 7.69365983e-04 1.96964279e+02] [-8.95711447e-02 9.95980424e-01 -7.58337274e-05 -1.98105940e+01] [-7.73065974e-04 6.61589362e-06 9.99999701e-01 -3.22945747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.99, Y:-19.81, Z:-0.33 [[ 9.96008830e-01 8.92514307e-02 7.69369721e-04 1.96993204e+02] [-8.92513988e-02 9.96009128e-01 -7.57957888e-05 -1.98137223e+01] [-7.73064147e-04 6.82595113e-06 9.99999701e-01 -3.25043741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.02, Y:-19.82, Z:-0.32 [[ 9.96061695e-01 8.86595074e-02 7.69372504e-04 1.97022280e+02] [-8.86594754e-02 9.96061992e-01 -7.57675284e-05 -1.98157202e+01] [-7.73060220e-04 7.25697015e-06 9.99999701e-01 -3.24959291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.594203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:197.05, Y:-19.82, Z:-0.33 [[ 9.96053002e-01 8.87571119e-02 7.69376183e-04 1.97050477e+02] [-8.87570799e-02 9.96053299e-01 -7.57301526e-05 -1.98176648e+01] [-7.73061275e-04 7.14366257e-06 9.99999701e-01 -3.27207459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.624203822 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:197.08, Y:-19.82, Z:-0.33 [[ 9.95999623e-01 8.93541166e-02 7.69380899e-04 1.97079091e+02] [-8.93540848e-02 9.95999921e-01 -7.56822069e-05 -1.98221530e+01] [-7.73065831e-04 6.63212344e-06 9.99999701e-01 -3.25888513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.654203822 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:197.11, Y:-19.82, Z:-0.33 [[ 9.96003961e-01 8.93057593e-02 7.69384561e-04 1.97108284e+02] [-8.93057275e-02 9.96004258e-01 -7.56449558e-05 -1.98249345e+01] [-7.73065829e-04 6.63222756e-06 9.99999701e-01 -3.25911185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.14, Y:-19.83, Z:-0.32 [[ 9.95986221e-01 8.95033845e-02 7.69388232e-04 1.97136793e+02] [-8.95033528e-02 9.95986518e-01 -7.56076008e-05 -1.98292203e+01] [-7.73067443e-04 6.44130220e-06 9.99999701e-01 -3.24424098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.17, Y:-19.83, Z:-0.33 [[ 9.95944852e-01 8.99625443e-02 7.69391911e-04 1.97165033e+02] [-8.99625127e-02 9.95945149e-01 -7.55701441e-05 -1.98328736e+01] [-7.73070625e-04 6.04726637e-06 9.99999701e-01 -3.26570954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.19, Y:-19.84, Z:-0.33 [[ 9.95826641e-01 9.12617650e-02 7.69394651e-04 1.97193860e+02] [-9.12617339e-02 9.95826938e-01 -7.55422402e-05 -1.98354323e+01] [-7.73078038e-04 5.01068540e-06 9.99999701e-01 -3.25645763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.774203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:197.22, Y:-19.84, Z:-0.33 [[ 9.95789896e-01 9.16618307e-02 7.69398307e-04 1.97221485e+02] [-9.16617997e-02 9.95790193e-01 -7.55049885e-05 -1.98375388e+01] [-7.73080214e-04 4.66267112e-06 9.99999701e-01 -3.28705739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.25, Y:-19.84, Z:-0.33 [[ 9.95783672e-01 9.17294169e-02 7.69402862e-04 1.97251194e+02] [-9.17293860e-02 9.95783970e-01 -7.54585398e-05 -1.98418405e+01] [-7.73080804e-04 4.56352976e-06 9.99999701e-01 -3.29839844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.28, Y:-19.85, Z:-0.33 [[ 9.95741313e-01 9.21880941e-02 7.69388296e-04 1.97280236e+02] [-9.21880632e-02 9.95741611e-01 -7.56071155e-05 -1.98454686e+01] [-7.73082017e-04 4.35671161e-06 9.99999701e-01 -3.28491699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.31, Y:-19.85, Z:-0.33 [[ 9.95637985e-01 9.32974363e-02 7.69407691e-04 1.97307357e+02] [-9.32974058e-02 9.95638282e-01 -7.54092281e-05 -1.98490183e+01] [-7.73087240e-04 3.29655023e-06 9.99999701e-01 -3.29757201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.34, Y:-19.85, Z:-0.33 [[ 9.95405579e-01 9.57451929e-02 7.69412242e-04 1.97336181e+02] [-9.57451632e-02 9.95405876e-01 -7.53627635e-05 -1.98536418e+01] [-7.73093090e-04 1.34901447e-06 9.99999701e-01 -3.26849964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.36, Y:-19.86, Z:-0.33 [[ 9.95298224e-01 9.68548062e-02 7.69415913e-04 1.97364240e+02] [-9.68547770e-02 9.95298521e-01 -7.53252682e-05 -1.98574512e+01] [-7.73094135e-04 4.49498949e-07 9.99999701e-01 -3.26945695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.39, Y:-19.86, Z:-0.32 [[ 9.95150436e-01 9.83616629e-02 7.69420482e-04 1.97392916e+02] [-9.83616341e-02 9.95150734e-01 -7.52785733e-05 -1.98619430e+01] [-7.73093883e-04 -7.67950821e-07 9.99999701e-01 -3.24785989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.42, Y:-19.87, Z:-0.32 [[ 9.95141737e-01 9.84496345e-02 7.69423135e-04 1.97421937e+02] [-9.84496058e-02 9.95142035e-01 -7.52514451e-05 -1.98650586e+01] [-7.73093781e-04 -8.63550460e-07 9.99999701e-01 -3.22537447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.014203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:197.45, Y:-19.87, Z:-0.32 [[ 9.95171383e-01 9.81495136e-02 7.69426828e-04 1.97451057e+02] [-9.81494847e-02 9.95171680e-01 -7.52136680e-05 -1.98676695e+01] [-7.73093974e-04 -6.68356754e-07 9.99999701e-01 -3.23379531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.48, Y:-19.87, Z:-0.32 [[ 9.95271651e-01 9.71274915e-02 7.69430551e-04 1.97478984e+02] [-9.71274624e-02 9.95271948e-01 -7.51755579e-05 -1.98730367e+01] [-7.73094257e-04 8.72646581e-08 9.99999701e-01 -3.20581627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.51, Y:-19.88, Z:-0.32 [[ 9.95323259e-01 9.65971981e-02 7.69433317e-04 1.97507377e+02] [-9.65971689e-02 9.95323556e-01 -7.51472443e-05 -1.98781803e+01] [-7.73094118e-04 4.70719996e-07 9.99999701e-01 -3.20383952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.54, Y:-19.88, Z:-0.32 [[ 9.95361015e-01 9.62073659e-02 7.69436943e-04 1.97535891e+02] [-9.62073366e-02 9.95361313e-01 -7.51100937e-05 -1.98835721e+01] [-7.73093910e-04 7.36180130e-07 9.99999701e-01 -3.22357617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.57, Y:-19.89, Z:-0.32 [[ 9.95321744e-01 9.66128062e-02 7.69438781e-04 1.97565564e+02] [-9.66127770e-02 9.95322041e-01 -7.50912632e-05 -1.98871534e+01] [-7.73094155e-04 4.02349717e-07 9.99999701e-01 -3.20957638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.59, Y:-19.89, Z:-0.32 [[ 9.95216022e-01 9.76958423e-02 7.69440621e-04 1.97594209e+02] [-9.76958135e-02 9.95216319e-01 -7.50724061e-05 -1.98909449e+01] [-7.73094124e-04 -4.57866028e-07 9.99999701e-01 -3.22318542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.62, Y:-19.90, Z:-0.32 [[ 9.95039328e-01 9.94793664e-02 7.69443374e-04 1.97623139e+02] [-9.94793381e-02 9.95039625e-01 -7.50441714e-05 -1.98950969e+01] [-7.73091993e-04 -1.87181570e-06 9.99999701e-01 -3.21107763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.65, Y:-19.90, Z:-0.32 [[ 9.94497118e-01 1.04761108e-01 7.69446999e-04 1.97652104e+02] [-1.04761081e-01 9.94497416e-01 -7.50069860e-05 -1.98976794e+01] [-7.73070867e-04 -6.01386809e-06 9.99999701e-01 -3.20532463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.68, Y:-19.90, Z:-0.32 [[ 9.93825638e-01 1.10950480e-01 7.69450682e-04 1.97680225e+02] [-1.10950455e-01 9.93825936e-01 -7.49691858e-05 -1.98976214e+01] [-7.73017911e-04 -1.08646046e-05 9.99999701e-01 -3.22804844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.71, Y:-19.90, Z:-0.32 [[ 9.93479368e-01 1.14009448e-01 7.69455269e-04 1.97709369e+02] [-1.14009424e-01 9.93479665e-01 -7.49220790e-05 -1.98996296e+01] [-7.72979988e-04 -1.32916122e-05 9.99999701e-01 -3.23619549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.314203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:197.74, Y:-19.90, Z:-0.32 [[ 9.93126663e-01 1.17042037e-01 7.69458789e-04 1.97738048e+02] [-1.17042014e-01 9.93126961e-01 -7.48859075e-05 -1.99012409e+01] [-7.72935068e-04 -1.56878148e-05 9.99999701e-01 -3.24460487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.344203822 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:197.77, Y:-19.90, Z:-0.33 [[ 9.92877571e-01 1.19136634e-01 7.69462475e-04 1.97765542e+02] [-1.19136612e-01 9.92877869e-01 -7.48480136e-05 -1.99021220e+01] [-7.72899403e-04 -1.73562387e-05 9.99999701e-01 -3.26431336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.79, Y:-19.90, Z:-0.33 [[ 9.92698407e-01 1.20620399e-01 7.69467033e-04 1.97794055e+02] [-1.20620378e-01 9.92698705e-01 -7.48011253e-05 -1.99026094e+01] [-7.72871469e-04 -1.85584461e-05 9.99999701e-01 -3.25668639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.82, Y:-19.90, Z:-0.33 [[ 9.92690259e-01 1.20687439e-01 7.69470663e-04 1.97821481e+02] [-1.20687418e-01 9.92690557e-01 -7.47637690e-05 -1.99045325e+01] [-7.72869309e-04 -1.86481621e-05 9.99999701e-01 -3.25867488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.85, Y:-19.90, Z:-0.32 [[ 9.92744259e-01 1.20242438e-01 7.69475675e-04 1.97850220e+02] [-1.20242417e-01 9.92744557e-01 -7.47121466e-05 -1.99043039e+01] [-7.72876359e-04 -1.83535601e-05 9.99999701e-01 -3.23382546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.88, Y:-19.90, Z:-0.32 [[ 9.92805243e-01 1.19737867e-01 7.69479202e-04 1.97878623e+02] [-1.19737845e-01 9.92805541e-01 -7.46758110e-05 -1.99049264e+01] [-7.72884738e-04 -1.79972445e-05 9.99999701e-01 -3.23594641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.91, Y:-19.91, Z:-0.32 [[ 9.92846477e-01 1.19395486e-01 7.69482714e-04 1.97907364e+02] [-1.19395464e-01 9.92846775e-01 -7.46396059e-05 -1.99057210e+01] [-7.72890062e-04 -1.77670755e-05 9.99999701e-01 -3.22715096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.524203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:197.94, Y:-19.90, Z:-0.32 [[ 9.92885291e-01 1.19072276e-01 7.69486310e-04 1.97935589e+02] [-1.19072253e-01 9.92885589e-01 -7.46025133e-05 -1.99040912e+01] [-7.72894959e-04 -1.75527308e-05 9.99999701e-01 -3.22772864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.96, Y:-19.90, Z:-0.32 [[ 9.92898869e-01 1.18959003e-01 7.69491337e-04 1.97963180e+02] [-1.18958981e-01 9.92899167e-01 -7.45506201e-05 -1.99036968e+01] [-7.72895775e-04 -1.75166790e-05 9.99999701e-01 -3.23340631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.99, Y:-19.90, Z:-0.32 [[ 9.92996968e-01 1.18137329e-01 7.69495664e-04 1.97992085e+02] [-1.18137307e-01 9.92997266e-01 -7.45059382e-05 -1.99015500e+01] [-7.72909023e-04 -1.69219747e-05 9.99999701e-01 -3.23701303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.02, Y:-19.90, Z:-0.32 [[ 9.93055949e-01 1.17640511e-01 7.69499150e-04 1.98021173e+02] [-1.17640489e-01 9.93056247e-01 -7.44699165e-05 -1.99024158e+01] [-7.72916617e-04 -1.65714624e-05 9.99999701e-01 -3.22638866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.05, Y:-19.90, Z:-0.32 [[ 9.93180379e-01 1.16585341e-01 7.69502704e-04 1.98049190e+02] [-1.16585318e-01 9.93180677e-01 -7.44331694e-05 -1.99002693e+01] [-7.72933033e-04 -1.57871539e-05 9.99999701e-01 -3.22811548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.08, Y:-19.90, Z:-0.32 [[ 9.93302363e-01 1.15541438e-01 7.69507142e-04 1.98078559e+02] [-1.15541415e-01 9.93302661e-01 -7.43872619e-05 -1.98997053e+01] [-7.72948303e-04 -1.50209012e-05 9.99999701e-01 -3.20041860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.11, Y:-19.90, Z:-0.32 [[ 9.93441664e-01 1.14337518e-01 7.69510753e-04 1.98106410e+02] [-1.14337494e-01 9.93441962e-01 -7.43498903e-05 -1.98989210e+01] [-7.72965254e-04 -1.41216526e-05 9.99999701e-01 -3.19695914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.13, Y:-19.90, Z:-0.32 [[ 9.93605581e-01 1.12904196e-01 7.69515238e-04 1.98134123e+02] [-1.12904172e-01 9.93605879e-01 -7.43034348e-05 -1.98986721e+01] [-7.72984034e-04 -1.30531732e-05 9.99999701e-01 -3.20755211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.16, Y:-19.90, Z:-0.32 [[ 9.93833000e-01 1.10884516e-01 7.69519669e-04 1.98163450e+02] [-1.10884492e-01 9.93833298e-01 -7.42575265e-05 -1.98965874e+01] [-7.73008280e-04 -1.15282168e-05 9.99999701e-01 -3.21690090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.19, Y:-19.89, Z:-0.33 [[ 9.94026293e-01 1.09138156e-01 7.69523327e-04 1.98192123e+02] [-1.09138132e-01 9.94026591e-01 -7.42195913e-05 -1.98942122e+01] [-7.73026839e-04 -1.02081130e-05 9.99999701e-01 -3.25438982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.22, Y:-19.89, Z:-0.33 [[ 9.94121489e-01 1.08267602e-01 7.69526973e-04 1.98220100e+02] [-1.08267577e-01 9.94121786e-01 -7.41817738e-05 -1.98943089e+01] [-7.73035012e-04 -9.56912515e-06 9.99999701e-01 -3.27545291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.25, Y:-19.89, Z:-0.32 [[ 9.94225583e-01 1.07307489e-01 7.69531362e-04 1.98249334e+02] [-1.07307464e-01 9.94225881e-01 -7.41362129e-05 -1.98938958e+01] [-7.73043368e-04 -8.86833960e-06 9.99999701e-01 -3.24365453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.28, Y:-19.89, Z:-0.33 [[ 9.94301113e-01 1.06605364e-01 7.69535057e-04 1.98277207e+02] [-1.06605338e-01 9.94301411e-01 -7.40978463e-05 -1.98923633e+01] [-7.73049021e-04 -8.36097390e-06 9.99999701e-01 -3.26102426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.31, Y:-19.89, Z:-0.32 [[ 9.94422856e-01 1.05463694e-01 7.69539637e-04 1.98305870e+02] [-1.05463668e-01 9.94423154e-01 -7.40502478e-05 -1.98886617e+01] [-7.73057645e-04 -7.52121383e-06 9.99999701e-01 -3.24828951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.33, Y:-19.89, Z:-0.33 [[ 9.94674514e-01 1.03063179e-01 7.69545148e-04 1.98333975e+02] [-1.03063153e-01 9.94674812e-01 -7.39929266e-05 -1.98894023e+01] [-7.73073122e-04 -5.71287100e-06 9.99999701e-01 -3.27089592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.36, Y:-19.89, Z:-0.33 [[ 9.94842432e-01 1.01429495e-01 7.69549705e-04 1.98361732e+02] [-1.01429468e-01 9.94842730e-01 -7.39455068e-05 -1.98900601e+01] [-7.73081185e-04 -4.49088918e-06 9.99999701e-01 -3.28426184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.39, Y:-19.89, Z:-0.33 [[ 9.95016356e-01 9.97088719e-02 7.69554166e-04 1.98390981e+02] [-9.97088446e-02 9.95016654e-01 -7.38990490e-05 -1.98902372e+01] [-7.73087602e-04 -3.20059432e-06 9.99999701e-01 -3.25090870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.42, Y:-19.89, Z:-0.33 [[ 9.95180823e-01 9.80537505e-02 7.69557798e-04 1.98419029e+02] [-9.80537227e-02 9.95181120e-01 -7.38612080e-05 -1.98908630e+01] [-7.73091760e-04 -1.95274922e-06 9.99999701e-01 -3.26697170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.45, Y:-19.89, Z:-0.33 [[ 9.95477071e-01 9.49989977e-02 7.69562297e-04 1.98447607e+02] [-9.49989690e-02 9.95477368e-01 -7.38143004e-05 -1.98912389e+01] [-7.73094135e-04 3.72818743e-07 9.99999701e-01 -3.26834151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.48, Y:-19.89, Z:-0.33 [[ 9.95698248e-01 9.26520732e-02 7.69565729e-04 1.98475081e+02] [-9.26520439e-02 9.95698545e-01 -7.37785095e-05 -1.98924952e+01] [-7.73091208e-04 2.15929501e-06 9.99999701e-01 -3.31069590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.50, Y:-19.90, Z:-0.33 [[ 9.95770630e-01 9.18708923e-02 7.69569979e-04 1.98504211e+02] [-9.18708627e-02 9.95770927e-01 -7.37341503e-05 -1.98956445e+01] [-7.73089433e-04 2.72124338e-06 9.99999701e-01 -3.30212029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.53, Y:-19.90, Z:-0.33 [[ 9.95860762e-01 9.08886676e-02 7.69572670e-04 1.98532440e+02] [-9.08886378e-02 9.95861060e-01 -7.37060517e-05 -1.98981837e+01] [-7.73086499e-04 3.45555319e-06 9.99999701e-01 -3.32815734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.56, Y:-19.90, Z:-0.33 [[ 9.95918441e-01 9.02544528e-02 7.69541085e-04 1.98560540e+02] [-9.02544226e-02 9.95918739e-01 -7.40361321e-05 -1.98992773e+01] [-7.73082477e-04 4.27946305e-06 9.99999701e-01 -3.31922520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.59, Y:-19.90, Z:-0.33 [[ 9.95971581e-01 8.96661483e-02 7.69580004e-04 1.98589473e+02] [-8.96661182e-02 9.95971878e-01 -7.36293447e-05 -1.99011036e+01] [-7.73082102e-04 4.32748332e-06 9.99999701e-01 -3.29280160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.62, Y:-19.90, Z:-0.33 [[ 9.96056903e-01 8.87133184e-02 7.69583562e-04 1.98617017e+02] [-8.87132880e-02 9.96057201e-01 -7.35921316e-05 -1.99035630e+01] [-7.73077851e-04 5.02966247e-06 9.99999701e-01 -3.30079704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.64, Y:-19.91, Z:-0.33 [[ 9.96232530e-01 8.67188208e-02 7.69587982e-04 1.98644118e+02] [-8.67187899e-02 9.96232827e-01 -7.35458819e-05 -1.99083383e+01] [-7.73066624e-04 6.53106146e-06 9.99999701e-01 -3.29997666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.67, Y:-19.91, Z:-0.33 [[ 9.96307294e-01 8.58556014e-02 7.69592273e-04 1.98672458e+02] [-8.58555703e-02 9.96307591e-01 -7.35009522e-05 -1.99124654e+01] [-7.73061092e-04 7.15575132e-06 9.99999701e-01 -3.30096780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.70, Y:-19.92, Z:-0.33 [[ 9.96436146e-01 8.43469890e-02 7.69595685e-04 1.98701290e+02] [-8.43469574e-02 9.96436443e-01 -7.34652113e-05 -1.99183973e+01] [-7.73049757e-04 8.29033751e-06 9.99999701e-01 -3.29780881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.73, Y:-19.92, Z:-0.33 [[ 9.96468706e-01 8.39614530e-02 7.69599134e-04 1.98728496e+02] [-8.39614213e-02 9.96469003e-01 -7.34290656e-05 -1.99217440e+01] [-7.73046893e-04 8.55312890e-06 9.99999701e-01 -3.31051416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.76, Y:-19.92, Z:-0.33 [[ 9.96488344e-01 8.37280578e-02 7.69603422e-04 1.98756817e+02] [-8.37280261e-02 9.96488641e-01 -7.33840982e-05 -1.99249313e+01] [-7.73045376e-04 8.68902309e-06 9.99999701e-01 -3.29459424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.79, Y:-19.93, Z:-0.33 [[ 9.96557625e-01 8.28993774e-02 7.69606976e-04 1.98785507e+02] [-8.28993455e-02 9.96557923e-01 -7.33468018e-05 -1.99313548e+01] [-7.73038334e-04 9.29440001e-06 9.99999701e-01 -3.31053645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.81, Y:-19.94, Z:-0.33 [[ 9.96599598e-01 8.23932584e-02 7.69610566e-04 1.98813619e+02] [-8.23932264e-02 9.96599895e-01 -7.33091107e-05 -1.99365705e+01] [-7.73033986e-04 9.64913263e-06 9.99999701e-01 -3.32110698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.84, Y:-19.94, Z:-0.33 [[ 9.96637284e-01 8.19361399e-02 7.69614148e-04 1.98840602e+02] [-8.19361077e-02 9.96637582e-01 -7.32714924e-05 -1.99448593e+01] [-7.73029966e-04 9.96591350e-06 9.99999701e-01 -3.31957948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.87, Y:-19.95, Z:-0.34 [[ 9.96547324e-01 8.30231209e-02 7.69618610e-04 1.98868864e+02] [-8.30230891e-02 9.96547621e-01 -7.32245982e-05 -1.99501441e+01] [-7.73040929e-04 9.07566294e-06 9.99999701e-01 -3.36311016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.90, Y:-19.95, Z:-0.33 [[ 9.96420010e-01 8.45373922e-02 7.69609054e-04 1.98897498e+02] [-8.45373608e-02 9.96420308e-01 -7.33250963e-05 -1.99545199e+01] [-7.73052802e-04 8.00187501e-06 9.99999701e-01 -3.30340549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.92, Y:-19.96, Z:-0.33 [[ 9.95999514e-01 8.93553359e-02 7.69624652e-04 1.98924792e+02] [-8.93553061e-02 9.95999811e-01 -7.31610030e-05 -1.99588743e+01] [-7.73083334e-04 4.09827702e-06 9.99999701e-01 -3.29978927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.95, Y:-19.96, Z:-0.33 [[ 9.96003676e-01 8.93089315e-02 7.69629001e-04 1.98953994e+02] [-8.93089016e-02 9.96003973e-01 -7.31152293e-05 -1.99615576e+01] [-7.73083386e-04 4.08831638e-06 9.99999701e-01 -3.30001599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.98, Y:-19.97, Z:-0.33 [[ 9.95741041e-01 9.21910319e-02 7.69632406e-04 1.98982767e+02] [-9.21910030e-02 9.95741339e-01 -7.30793715e-05 -1.99656345e+01] [-7.73092065e-04 1.81494612e-06 9.99999701e-01 -3.28364606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.01, Y:-19.97, Z:-0.33 [[ 9.95227038e-01 9.75835535e-02 7.69635932e-04 1.99011210e+02] [-9.75835262e-02 9.95227336e-01 -7.30422114e-05 -1.99721027e+01] [-7.73090437e-04 -2.41020450e-06 9.99999701e-01 -3.28742277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.04, Y:-19.98, Z:-0.33 [[ 9.95030491e-01 9.95677162e-02 7.69639513e-04 1.99038732e+02] [-9.95676895e-02 9.95030788e-01 -7.30044591e-05 -1.99766544e+01] [-7.73083899e-04 -3.98956528e-06 9.99999701e-01 -3.29372943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.07, Y:-19.98, Z:-0.33 [[ 9.94855024e-01 1.01305917e-01 7.69644285e-04 1.99067753e+02] [-1.01305891e-01 9.94855322e-01 -7.29541217e-05 -1.99808142e+01] [-7.73075397e-04 -5.39072528e-06 9.99999701e-01 -3.29033590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.10, Y:-19.98, Z:-0.33 [[ 9.94506011e-01 1.04676653e-01 7.69647824e-04 1.99096499e+02] [-1.04676628e-01 9.94506309e-01 -7.29167674e-05 -1.99840813e+01] [-7.73052299e-04 -8.04797537e-06 9.99999701e-01 -3.26219825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.12, Y:-19.99, Z:-0.33 [[ 9.94388087e-01 1.05791020e-01 7.69629594e-04 1.99124466e+02] [-1.05790995e-01 9.94388385e-01 -7.31093356e-05 -1.99862683e+01] [-7.73045040e-04 -8.72082801e-06 9.99999701e-01 -3.29081309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.15, Y:-19.99, Z:-0.33 [[ 9.94039317e-01 1.09019470e-01 7.69557656e-04 1.99152084e+02] [-1.09019445e-01 9.94039614e-01 -7.38685802e-05 -1.99890741e+01] [-7.73023909e-04 -1.04684756e-05 9.99999701e-01 -3.28906913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.18, Y:-19.99, Z:-0.33 [[ 9.93906413e-01 1.10224543e-01 7.69652457e-04 1.99179593e+02] [-1.10224519e-01 9.93906711e-01 -7.28672523e-05 -1.99914941e+01] [-7.72994502e-04 -1.24113427e-05 9.99999701e-01 -3.29471427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.21, Y:-19.99, Z:-0.33 [[ 9.93800579e-01 1.11174715e-01 7.69656747e-04 1.99208693e+02] [-1.11174692e-01 9.93800877e-01 -7.28219174e-05 -1.99941744e+01] [-7.72981505e-04 -1.31958881e-05 9.99999701e-01 -3.28143266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.24, Y:-20.00, Z:-0.33 [[ 9.93714393e-01 1.11942454e-01 7.69660337e-04 1.99236966e+02] [-1.11942431e-01 9.93714691e-01 -7.27839534e-05 -1.99950032e+01] [-7.72970398e-04 -1.38311873e-05 9.99999701e-01 -3.30017503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.27, Y:-20.00, Z:-0.33 [[ 9.93711705e-01 1.11966313e-01 7.69664802e-04 1.99266311e+02] [-1.11966291e-01 9.93712003e-01 -7.27367044e-05 -1.99959531e+01] [-7.72969212e-04 -1.38971983e-05 9.99999701e-01 -3.29567568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.29, Y:-19.99, Z:-0.33 [[ 9.93723202e-01 1.11864227e-01 7.69668340e-04 1.99294016e+02] [-1.11864204e-01 9.93723500e-01 -7.26992450e-05 -1.99942094e+01] [-7.72969962e-04 -1.38554096e-05 9.99999701e-01 -3.32866862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.32, Y:-19.99, Z:-0.33 [[ 9.93773434e-01 1.11417093e-01 7.69672742e-04 1.99322795e+02] [-1.11417070e-01 9.93773732e-01 -7.26526079e-05 -1.99949006e+01] [-7.72975296e-04 -1.35544500e-05 9.99999701e-01 -3.34144829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.35, Y:-20.00, Z:-0.34 [[ 9.93870818e-01 1.10545038e-01 7.69676196e-04 1.99350360e+02] [-1.10545015e-01 9.93871116e-01 -7.26159989e-05 -1.99960690e+01] [-7.72986278e-04 -1.29129446e-05 9.99999701e-01 -3.35497609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.054203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:199.38, Y:-20.00, Z:-0.34 [[ 9.94201701e-01 1.07528530e-01 7.69680483e-04 1.99379478e+02] [-1.07528506e-01 9.94201999e-01 -7.25705399e-05 -1.99976147e+01] [-7.73021278e-04 -1.06128380e-05 9.99999701e-01 -3.36402860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.41, Y:-20.00, Z:-0.34 [[ 9.94456898e-01 1.05142220e-01 7.69684064e-04 1.99407429e+02] [-1.05142196e-01 9.94457195e-01 -7.25325363e-05 -1.99991056e+01] [-7.73044087e-04 -8.79579159e-06 9.99999701e-01 -3.36456718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.44, Y:-20.00, Z:-0.33 [[ 9.94702497e-01 1.02792757e-01 7.69688489e-04 1.99435915e+02] [-1.02792731e-01 9.94702794e-01 -7.24855470e-05 -2.00004586e+01] [-7.73062280e-04 -7.01682757e-06 9.99999701e-01 -3.34715016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.46, Y:-20.00, Z:-0.34 [[ 9.95161193e-01 9.82527752e-02 7.69692020e-04 1.99464031e+02] [-9.82527485e-02 9.95161490e-01 -7.24480382e-05 -2.00009267e+01] [-7.73086078e-04 -3.52688032e-06 9.99999701e-01 -3.35418048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.49, Y:-20.00, Z:-0.34 [[ 9.95517225e-01 9.45772859e-02 7.69696388e-04 1.99493154e+02] [-9.45772581e-02 9.95517522e-01 -7.24015983e-05 -2.00029951e+01] [-7.73093788e-04 -7.18735796e-07 9.99999701e-01 -3.36384540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.204203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:199.52, Y:-20.00, Z:-0.34 [[ 9.95595270e-01 9.37521502e-02 7.69699757e-04 1.99521514e+02] [-9.37521223e-02 9.95595568e-01 -7.23657693e-05 -2.00044508e+01] [-7.73094113e-04 -1.13968027e-07 9.99999701e-01 -3.39826634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.55, Y:-20.01, Z:-0.34 [[ 9.95691803e-01 9.27213052e-02 7.69703119e-04 1.99551106e+02] [-9.27212770e-02 9.95692101e-01 -7.23299842e-05 -2.00056326e+01] [-7.73093846e-04 6.50516247e-07 9.99999701e-01 -3.37358314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.264203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:199.58, Y:-20.01, Z:-0.34 [[ 9.95708396e-01 9.25429489e-02 7.69636563e-04 1.99578486e+02] [-9.25429201e-02 9.95708694e-01 -7.30385565e-05 -2.00076967e+01] [-7.73093020e-04 1.50068902e-06 9.99999701e-01 -3.39344867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.61, Y:-20.01, Z:-0.34 [[ 9.95705022e-01 9.25792472e-02 7.69709248e-04 1.99607582e+02] [-9.25792190e-02 9.95705319e-01 -7.22643731e-05 -2.00078261e+01] [-7.73093773e-04 6.94918262e-07 9.99999701e-01 -3.38783447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.64, Y:-20.01, Z:-0.34 [[ 9.95688525e-01 9.27565058e-02 7.69712570e-04 1.99636379e+02] [-9.27564776e-02 9.95688822e-01 -7.22289649e-05 -2.00061115e+01] [-7.73093909e-04 5.21724647e-07 9.99999701e-01 -3.37082120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.66, Y:-20.01, Z:-0.34 [[ 9.95735293e-01 9.22531015e-02 7.69716036e-04 1.99663770e+02] [-9.22530733e-02 9.95735590e-01 -7.21920078e-05 -2.00087301e+01] [-7.73093588e-04 8.75460093e-07 9.99999701e-01 -3.39234274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.69, Y:-20.01, Z:-0.34 [[ 9.95792458e-01 9.16339877e-02 7.69720329e-04 1.99692659e+02] [-9.16339593e-02 9.95792756e-01 -7.21462128e-05 -2.00125974e+01] [-7.73092972e-04 1.31013329e-06 9.99999701e-01 -3.36542526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.72, Y:-20.02, Z:-0.34 [[ 9.95877276e-01 9.07075420e-02 7.69723866e-04 1.99719945e+02] [-9.07075134e-02 9.95877574e-01 -7.21084590e-05 -2.00152439e+01] [-7.73091517e-04 1.99143790e-06 9.99999701e-01 -3.37671303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.75, Y:-20.02, Z:-0.34 [[ 9.95993401e-01 8.94234418e-02 7.69728265e-04 1.99749257e+02] [-8.94234128e-02 9.95993699e-01 -7.20614673e-05 -2.00156451e+01] [-7.73088486e-04 2.94101755e-06 9.99999701e-01 -3.37906317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.78, Y:-20.02, Z:-0.34 [[ 9.96141589e-01 8.77572929e-02 7.69731673e-04 1.99776805e+02] [-8.77572635e-02 9.96141886e-01 -7.20250440e-05 -2.00179683e+01] [-7.73082684e-04 4.19759652e-06 9.99999701e-01 -3.37198291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.80, Y:-20.02, Z:-0.34 [[ 9.96251225e-01 8.65037758e-02 7.69735908e-04 1.99804632e+02] [-8.65037460e-02 9.96251523e-01 -7.19797578e-05 -2.00207376e+01] [-7.73077091e-04 5.12488244e-06 9.99999701e-01 -3.39180824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.83, Y:-20.02, Z:-0.34 [[ 9.96376091e-01 8.50534648e-02 7.69740062e-04 1.99833664e+02] [-8.50534346e-02 9.96376389e-01 -7.19353105e-05 -2.00233561e+01] [-7.73069170e-04 6.20558745e-06 9.99999701e-01 -3.39422741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.564203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:199.86, Y:-20.03, Z:-0.34 [[ 9.96585760e-01 8.25604696e-02 7.69743229e-04 1.99862015e+02] [-8.25604386e-02 9.96586057e-01 -7.19013997e-05 -2.00270875e+01] [-7.73051583e-04 8.10557243e-06 9.99999701e-01 -3.37890540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.89, Y:-20.03, Z:-0.34 [[ 9.96701312e-01 8.11535677e-02 7.69746667e-04 1.99889442e+02] [-8.11535364e-02 9.96701609e-01 -7.18645763e-05 -2.00305399e+01] [-7.73039809e-04 9.15985331e-06 9.99999701e-01 -3.35872405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.92, Y:-20.04, Z:-0.34 [[ 9.96903916e-01 7.86256335e-02 7.69751390e-04 1.99917523e+02] [-7.86256014e-02 9.96904213e-01 -7.18139538e-05 -2.00361760e+01] [-7.73014821e-04 1.10694457e-05 9.99999701e-01 -3.35347547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.95, Y:-20.04, Z:-0.34 [[ 9.96996576e-01 7.74418155e-02 7.69754737e-04 1.99945845e+02] [-7.74417832e-02 9.96996873e-01 -7.17780584e-05 -2.00405063e+01] [-7.73001689e-04 1.19512990e-05 9.99999701e-01 -3.36144128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.98, Y:-20.04, Z:-0.34 [[ 9.97072206e-01 7.64619119e-02 7.69758099e-04 1.99975404e+02] [-7.64618793e-02 9.97072503e-01 -7.17419923e-05 -2.00449314e+01] [-7.72990164e-04 1.26747958e-05 9.99999701e-01 -3.36683701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.00, Y:-20.05, Z:-0.34 [[ 9.97154412e-01 7.53822699e-02 7.69688344e-04 2.00002286e+02] [-7.53822364e-02 9.97154709e-01 -7.24902420e-05 -2.00519090e+01] [-7.72962835e-04 1.42631359e-05 9.99999701e-01 -3.37247192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.03, Y:-20.06, Z:-0.34 [[ 9.97140408e-01 7.55672890e-02 7.69764169e-04 2.00029621e+02] [-7.55672562e-02 9.97140705e-01 -7.16759147e-05 -2.00570990e+01] [-7.72979541e-04 1.33019846e-05 9.99999701e-01 -3.37342533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.06, Y:-20.06, Z:-0.34 [[ 9.96971269e-01 7.77669370e-02 7.69768670e-04 2.00057638e+02] [-7.77669048e-02 9.96971566e-01 -7.16275429e-05 -2.00647397e+01] [-7.73007731e-04 1.15480754e-05 9.99999701e-01 -3.36310292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.09, Y:-20.07, Z:-0.34 [[ 9.96812510e-01 7.97761136e-02 7.69771968e-04 2.00086142e+02] [-7.97760821e-02 9.96812807e-01 -7.15920888e-05 -2.00691520e+01] [-7.73029894e-04 9.95449804e-06 9.99999701e-01 -3.36468767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.12, Y:-20.07, Z:-0.34 [[ 9.96616312e-01 8.21908430e-02 7.69775317e-04 2.00115112e+02] [-8.21908122e-02 9.96616609e-01 -7.15560542e-05 -2.00737276e+01] [-7.73052119e-04 8.04547226e-06 9.99999701e-01 -3.35596081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.14, Y:-20.08, Z:-0.34 [[ 9.96146661e-01 8.76996990e-02 7.69778767e-04 2.00143436e+02] [-8.76996699e-02 9.96146958e-01 -7.15189239e-05 -2.00793736e+01] [-7.73084966e-04 3.73399348e-06 9.99999701e-01 -3.35461230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.17, Y:-20.08, Z:-0.34 [[ 9.95895711e-01 9.05049138e-02 7.69782208e-04 2.00171448e+02] [-9.05048856e-02 9.95896009e-01 -7.14818722e-05 -2.00825701e+01] [-7.73092489e-04 1.51943933e-06 9.99999701e-01 -3.37138851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.20, Y:-20.09, Z:-0.34 [[ 9.95357370e-01 9.62450668e-02 7.69786486e-04 2.00199890e+02] [-9.62450404e-02 9.95357668e-01 -7.14357669e-05 -2.00870197e+01] [-7.73088222e-04 -2.98401436e-06 9.99999701e-01 -3.36942487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.23, Y:-20.09, Z:-0.34 [[ 9.95111415e-01 9.87556544e-02 7.69789871e-04 2.00227959e+02] [-9.87556287e-02 9.95111713e-01 -7.13992724e-05 -2.00915561e+01] [-7.73077999e-04 -4.97085171e-06 9.99999701e-01 -3.36135043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.26, Y:-20.10, Z:-0.34 [[ 9.94883648e-01 1.01024420e-01 7.69793369e-04 2.00256364e+02] [-1.01024395e-01 9.94883946e-01 -7.13615397e-05 -2.00958377e+01] [-7.73064323e-04 -6.77148047e-06 9.99999701e-01 -3.35385880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.28, Y:-20.10, Z:-0.34 [[ 9.94370692e-01 1.05954393e-01 7.69796861e-04 2.00283829e+02] [-1.05954369e-01 9.94370990e-01 -7.13238529e-05 -2.00994644e+01] [-7.73020743e-04 -1.06409917e-05 9.99999701e-01 -3.35870493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.31, Y:-20.10, Z:-0.33 [[ 9.94135056e-01 1.08142949e-01 7.69801199e-04 2.00312737e+02] [-1.08142926e-01 9.94135354e-01 -7.12770047e-05 -2.01022843e+01] [-7.72994693e-04 -1.23895852e-05 9.99999701e-01 -3.34642339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.34, Y:-20.10, Z:-0.34 [[ 9.93924522e-01 1.10061128e-01 7.69804644e-04 2.00340613e+02] [-1.10061106e-01 9.93924820e-01 -7.12397702e-05 -2.01045332e+01] [-7.72968672e-04 -1.39185958e-05 9.99999701e-01 -3.36234958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.37, Y:-20.11, Z:-0.34 [[ 9.93718276e-01 1.11907981e-01 7.69808929e-04 2.00368739e+02] [-1.11907960e-01 9.93718574e-01 -7.11934384e-05 -2.01064494e+01] [-7.72940545e-04 -1.54015257e-05 9.99999701e-01 -3.36645841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.40, Y:-20.11, Z:-0.34 [[ 9.93764372e-01 1.11497891e-01 7.69813113e-04 2.00396783e+02] [-1.11497870e-01 9.93764670e-01 -7.11481758e-05 -2.01095819e+01] [-7.72945946e-04 -1.51279998e-05 9.99999701e-01 -3.36605465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.43, Y:-20.11, Z:-0.33 [[ 9.94126577e-01 1.08220864e-01 7.69817241e-04 2.00425582e+02] [-1.08220841e-01 9.94126875e-01 -7.11034752e-05 -2.01140669e+01] [-7.72990888e-04 -1.26244150e-05 9.99999701e-01 -3.32762298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.45, Y:-20.12, Z:-0.33 [[ 9.94365331e-01 1.06004696e-01 7.69820673e-04 2.00452853e+02] [-1.06004673e-01 9.94365629e-01 -7.10663061e-05 -2.01169958e+01] [-7.73016580e-04 -1.09387176e-05 9.99999701e-01 -3.32526890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.48, Y:-20.12, Z:-0.33 [[ 9.94579919e-01 1.03972078e-01 7.69825544e-04 2.00481386e+02] [-1.03972054e-01 9.94580216e-01 -7.10134968e-05 -2.01197298e+01] [-7.73036677e-04 -9.41174536e-06 9.99999701e-01 -3.31041620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.51, Y:-20.12, Z:-0.34 [[ 9.94938229e-01 1.00485461e-01 7.69829085e-04 2.00509468e+02] [-1.00485436e-01 9.94938527e-01 -7.09750875e-05 -2.01228261e+01] [-7.73064580e-04 -6.74078366e-06 9.99999701e-01 -3.35709031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28420382200002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:200.54, Y:-20.13, Z:-0.34 [[ 9.95104719e-01 9.88231012e-02 7.69833482e-04 2.00537698e+02] [-9.88230759e-02 9.95105017e-01 -7.09273634e-05 -2.01265823e+01] [-7.73074422e-04 -5.49715864e-06 9.99999701e-01 -3.37168929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.57, Y:-20.13, Z:-0.34 [[ 9.95495160e-01 9.48092520e-02 7.69836986e-04 2.00565375e+02] [-9.48092255e-02 9.95495457e-01 -7.08893190e-05 -2.01325611e+01] [-7.73090185e-04 -2.41767445e-06 9.99999701e-01 -3.38421360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.59, Y:-20.14, Z:-0.34 [[ 9.95686737e-01 9.27756962e-02 7.69841886e-04 2.00594399e+02] [-9.27756692e-02 9.95687034e-01 -7.08360579e-05 -2.01361881e+01] [-7.73093449e-04 -8.92072855e-07 9.99999701e-01 -3.36678147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.62, Y:-20.14, Z:-0.34 [[ 9.95880492e-01 9.06722305e-02 7.69845174e-04 2.00623077e+02] [-9.06722029e-02 9.95880789e-01 -7.08003077e-05 -2.01395991e+01] [-7.73093641e-04 7.05087411e-07 9.99999701e-01 -3.36090038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.65, Y:-20.14, Z:-0.34 [[ 9.96151525e-01 8.76444306e-02 7.69848452e-04 2.00652071e+02] [-8.76444021e-02 9.96151823e-01 -7.07646522e-05 -2.01431283e+01] [-7.73088066e-04 3.01940901e-06 9.99999701e-01 -3.35060608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.68, Y:-20.15, Z:-0.34 [[ 9.96222279e-01 8.68365073e-02 7.69851781e-04 2.00680582e+02] [-8.68364785e-02 9.96222576e-01 -7.07284172e-05 -2.01455773e+01] [-7.73085533e-04 3.61000736e-06 9.99999701e-01 -3.35741504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.71, Y:-20.15, Z:-0.34 [[ 9.96226338e-01 8.67899266e-02 7.69855097e-04 2.00709792e+02] [-8.67898979e-02 9.96226635e-01 -7.06923020e-05 -2.01481686e+01] [-7.73085532e-04 3.60988781e-06 9.99999701e-01 -3.35764175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.494203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:200.74, Y:-20.15, Z:-0.34 [[ 9.96232171e-01 8.67229410e-02 7.69858401e-04 2.00738239e+02] [-8.67229123e-02 9.96232469e-01 -7.06563056e-05 -2.01509136e+01] [-7.73085457e-04 3.62572212e-06 9.99999701e-01 -3.36012005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.77, Y:-20.15, Z:-0.34 [[ 9.96121819e-01 8.79814104e-02 7.69861860e-04 2.00765869e+02] [-8.79813821e-02 9.96122117e-01 -7.06185913e-05 -2.01539479e+01] [-7.73089549e-04 2.61120914e-06 9.99999701e-01 -3.38082906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.79, Y:-20.16, Z:-0.34 [[ 9.96074495e-01 8.85155804e-02 7.69866158e-04 2.00794927e+02] [-8.85155523e-02 9.96074792e-01 -7.05717089e-05 -2.01570949e+01] [-7.73090969e-04 2.14955120e-06 9.99999701e-01 -3.39216072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.82, Y:-20.16, Z:-0.34 [[ 9.96010550e-01 8.92322386e-02 7.69808555e-04 2.00822317e+02] [-8.92322102e-02 9.96010847e-01 -7.11998285e-05 -2.01626427e+01] [-7.73090991e-04 2.22406149e-06 9.99999701e-01 -3.40157195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.85, Y:-20.17, Z:-0.34 [[ 9.96055590e-01 8.87280598e-02 7.69862318e-04 2.00850042e+02] [-8.87280317e-02 9.96055888e-01 -7.06136819e-05 -2.01666906e+01] [-7.73091310e-04 2.02678441e-06 9.99999701e-01 -3.42391776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.88, Y:-20.17, Z:-0.34 [[ 9.96125656e-01 8.79379610e-02 7.69866460e-04 2.00878657e+02] [-8.79379327e-02 9.96125953e-01 -7.05684973e-05 -2.01704999e+01] [-7.73089611e-04 2.59462575e-06 9.99999701e-01 -3.40601917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.91, Y:-20.18, Z:-0.34 [[ 9.96348288e-01 8.53785518e-02 7.69869765e-04 2.00907699e+02] [-8.53785228e-02 9.96348585e-01 -7.05324260e-05 -2.01760405e+01] [-7.73080607e-04 4.54451864e-06 9.99999701e-01 -3.39303279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.94, Y:-20.18, Z:-0.34 [[ 9.96461722e-01 8.40442988e-02 7.69871490e-04 2.00936977e+02] [-8.40442694e-02 9.96462019e-01 -7.05135868e-05 -2.01807158e+01] [-7.73073965e-04 5.56080323e-06 9.99999701e-01 -3.39041213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.96, Y:-20.19, Z:-0.34 [[ 9.96671869e-01 8.15143778e-02 7.69873224e-04 2.00964977e+02] [-8.15143477e-02 9.96672166e-01 -7.04946536e-05 -2.01880568e+01] [-7.73057541e-04 7.50432451e-06 9.99999701e-01 -3.39535928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.99, Y:-20.19, Z:-0.34 [[ 9.96732238e-01 8.07728468e-02 7.69875811e-04 2.00994093e+02] [-8.07728165e-02 9.96732535e-01 -7.04663849e-05 -2.01946056e+01] [-7.73052040e-04 8.05107991e-06 9.99999701e-01 -3.37817363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.02, Y:-20.20, Z:-0.34 [[ 9.96747425e-01 8.05852231e-02 7.69877543e-04 2.01022402e+02] [-8.05851927e-02 9.96747722e-01 -7.04474625e-05 -2.02010530e+01] [-7.73050712e-04 8.17759673e-06 9.99999701e-01 -3.38863754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.05, Y:-20.21, Z:-0.34 [[ 9.96601091e-01 8.23751974e-02 7.69880132e-04 2.01050226e+02] [-8.23751676e-02 9.96601388e-01 -7.04191590e-05 -2.02068407e+01] [-7.73064400e-04 6.76080578e-06 9.99999701e-01 -3.40602409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.08, Y:-20.21, Z:-0.34 [[ 9.96469129e-01 8.39564278e-02 7.69881650e-04 2.01079943e+02] [-8.39563985e-02 9.96469427e-01 -7.04025516e-05 -2.02099971e+01] [-7.73074273e-04 5.51747869e-06 9.99999701e-01 -3.39501799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.11, Y:-20.22, Z:-0.34 [[ 9.96116456e-01 8.80421117e-02 7.69883367e-04 2.01108825e+02] [-8.80420836e-02 9.96116753e-01 -7.03837715e-05 -2.02155324e+01] [-7.73090456e-04 2.32829726e-06 9.99999701e-01 -3.38835502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.14, Y:-20.22, Z:-0.34 [[ 9.95937373e-01 9.00453052e-02 7.69885130e-04 2.01138045e+02] [-9.00452777e-02 9.95937670e-01 -7.03644811e-05 -2.02200414e+01] [-7.73093594e-04 7.54096098e-07 9.99999701e-01 -3.41392962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.17, Y:-20.22, Z:-0.34 [[ 9.95763098e-01 9.19524860e-02 7.69886006e-04 2.01167606e+02] [-9.19524591e-02 9.95763396e-01 -7.03548933e-05 -2.02241107e+01] [-7.73093611e-04 -7.36105001e-07 9.99999701e-01 -3.38301479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97420382200002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:201.20, Y:-20.23, Z:-0.34 [[ 9.95458729e-01 9.51910007e-02 7.69887745e-04 2.01195558e+02] [-9.51909748e-02 9.95459026e-01 -7.03358579e-05 -2.02284080e+01] [-7.73087046e-04 -3.26992125e-06 9.99999701e-01 -3.39872017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.22, Y:-20.23, Z:-0.34 [[ 9.95346798e-01 9.63543403e-02 7.69890347e-04 2.01224341e+02] [-9.63543147e-02 9.95347096e-01 -7.03073673e-05 -2.02317616e+01] [-7.73082541e-04 -4.20204393e-06 9.99999701e-01 -3.37408398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.25, Y:-20.24, Z:-0.34 [[ 9.95174033e-01 9.81226368e-02 7.69887774e-04 2.01253640e+02] [-9.81226118e-02 9.95174331e-01 -7.03355329e-05 -2.02363811e+01] [-7.73074058e-04 -5.54730327e-06 9.99999701e-01 -3.36164102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.28, Y:-20.24, Z:-0.34 [[ 9.95138880e-01 9.84785071e-02 7.69889436e-04 2.01281624e+02] [-9.84784822e-02 9.95139178e-01 -7.03173395e-05 -2.02400353e+01] [-7.73071887e-04 -5.84202458e-06 9.99999701e-01 -3.37090024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.31, Y:-20.24, Z:-0.34 [[ 9.95112753e-01 9.87421660e-02 7.69891917e-04 2.01311160e+02] [-9.87421411e-02 9.95113051e-01 -7.02901629e-05 -2.02448078e+01] [-7.73070097e-04 -6.07413880e-06 9.99999701e-01 -3.36868212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.34, Y:-20.25, Z:-0.34 [[ 9.95162177e-01 9.82428018e-02 7.69893567e-04 2.01341299e+02] [-9.82427768e-02 9.95162475e-01 -7.02720886e-05 -2.02539586e+01] [-7.73072914e-04 -5.70435708e-06 9.99999701e-01 -3.35909520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.37, Y:-20.26, Z:-0.34 [[ 9.95226830e-01 9.75856769e-02 7.69893567e-04 2.01371348e+02] [-9.75856517e-02 9.95227128e-01 -7.02720886e-05 -2.02589337e+01] [-7.73076512e-04 -5.19389742e-06 9.99999701e-01 -3.35825535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.40, Y:-20.26, Z:-0.34 [[ 9.95364252e-01 9.61738718e-02 7.69893567e-04 2.01400343e+02] [-9.61738462e-02 9.95364549e-01 -7.02720886e-05 -2.02618121e+01] [-7.73083102e-04 -4.09730056e-06 9.99999701e-01 -3.36232514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.43, Y:-20.27, Z:-0.34 [[ 9.95426432e-01 9.55281448e-02 7.69892938e-04 2.01430535e+02] [-9.55281190e-02 9.95426729e-01 -7.02789798e-05 -2.02659479e+01] [-7.73085629e-04 -3.58887010e-06 9.99999701e-01 -3.35419512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.46, Y:-20.28, Z:-0.34 [[ 9.95539288e-01 9.43447570e-02 7.69892938e-04 2.01460696e+02] [-9.43447309e-02 9.95539586e-01 -7.02789798e-05 -2.02765159e+01] [-7.73089349e-04 -2.66985654e-06 9.99999701e-01 -3.35252310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.274203822 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:201.49, Y:-20.28, Z:-0.34 [[ 9.95582311e-01 9.38896698e-02 7.69891180e-04 2.01490811e+02] [-9.38896435e-02 9.95582608e-01 -7.02982286e-05 -2.02830804e+01] [-7.73090547e-04 -2.29713559e-06 9.99999701e-01 -3.40076502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.52, Y:-20.29, Z:-0.34 [[ 9.95626646e-01 9.34183552e-02 7.69890305e-04 2.01521354e+02] [-9.34183288e-02 9.95626944e-01 -7.03078147e-05 -2.02890148e+01] [-7.73091571e-04 -1.92153192e-06 9.99999701e-01 -3.35376422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.55, Y:-20.30, Z:-0.34 [[ 9.95641188e-01 9.32632399e-02 7.69888567e-04 2.01552130e+02] [-9.32632134e-02 9.95641486e-01 -7.03268398e-05 -2.02958300e+01] [-7.73091905e-04 -1.78198343e-06 9.99999701e-01 -3.37678748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.58, Y:-20.30, Z:-0.34 [[ 9.95613656e-01 9.35566962e-02 7.69877297e-04 2.01583541e+02] [-9.35566697e-02 9.95613954e-01 -7.04499947e-05 -2.03009424e+01] [-7.73091648e-04 -1.88617922e-06 9.99999701e-01 -3.35783466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.61, Y:-20.31, Z:-0.34 [[ 9.95504731e-01 9.47087001e-02 7.69875625e-04 2.01614911e+02] [-9.47086740e-02 9.95505029e-01 -7.04682596e-05 -2.03073578e+01] [-7.73089014e-04 -2.76241380e-06 9.99999701e-01 -3.35622164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.424203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:201.65, Y:-20.31, Z:-0.34 [[ 9.95425637e-01 9.55364264e-02 7.69873051e-04 2.01646457e+02] [-9.55364004e-02 9.95425935e-01 -7.04963669e-05 -2.03121585e+01] [-7.73086573e-04 -3.37700920e-06 9.99999701e-01 -3.38367425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.68, Y:-20.32, Z:-0.34 [[ 9.95317552e-01 9.66559788e-02 7.69870445e-04 2.01677041e+02] [-9.66559531e-02 9.95317850e-01 -7.05248181e-05 -2.03183008e+01] [-7.73082441e-04 -4.21797241e-06 9.99999701e-01 -3.39074319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.71, Y:-20.32, Z:-0.34 [[ 9.95220737e-01 9.76478002e-02 7.69859163e-04 2.01709125e+02] [-9.76477747e-02 9.95221034e-01 -7.06477568e-05 -2.03249616e+01] [-7.73078631e-04 -4.86492155e-06 9.99999701e-01 -3.38241397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.514203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:201.74, Y:-20.33, Z:-0.34 [[ 9.95039293e-01 9.94797129e-02 7.69847255e-04 2.01740390e+02] [-9.94796879e-02 9.95039591e-01 -7.07772869e-05 -2.03329288e+01] [-7.73069401e-04 -6.15798316e-06 9.99999701e-01 -3.41252968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.77, Y:-20.34, Z:-0.34 [[ 9.94949160e-01 1.00377171e-01 7.69835323e-04 2.01772527e+02] [-1.00377147e-01 9.94949458e-01 -7.09068347e-05 -2.03376117e+01] [-7.73064664e-04 -6.72517745e-06 9.99999701e-01 -3.38909889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.80, Y:-20.34, Z:-0.34 [[ 9.94739513e-01 1.02433920e-01 7.69823378e-04 2.01804094e+02] [-1.02433895e-01 9.94739811e-01 -7.10362813e-05 -2.03443877e+01] [-7.73050486e-04 -8.19341142e-06 9.99999701e-01 -3.38891008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.83, Y:-20.35, Z:-0.34 [[ 9.94620192e-01 1.03586106e-01 7.69811347e-04 2.01834996e+02] [-1.03586082e-01 9.94620490e-01 -7.11664225e-05 -2.03492749e+01] [-7.73041991e-04 -8.95818011e-06 9.99999701e-01 -3.38742478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.87, Y:-20.35, Z:-0.34 [[ 9.94471259e-01 1.05006297e-01 7.69800226e-04 2.01866731e+02] [-1.05006273e-01 9.94471557e-01 -7.12865168e-05 -2.03542983e+01] [-7.73029962e-04 -9.94146074e-06 9.99999701e-01 -3.35671049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.90, Y:-20.36, Z:-0.33 [[ 9.94046705e-01 1.08952082e-01 7.69788548e-04 2.01898245e+02] [-1.08952060e-01 9.94047003e-01 -7.14123959e-05 -2.03609587e+01] [-7.72986528e-04 -1.28827910e-05 9.99999701e-01 -3.30741323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.93, Y:-20.36, Z:-0.33 [[ 9.93786402e-01 1.11301367e-01 7.69776799e-04 2.01929886e+02] [-1.11301345e-01 9.93786700e-01 -7.15388184e-05 -2.03646802e+01] [-7.72956313e-04 -1.45828880e-05 9.99999701e-01 -3.30860305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.96, Y:-20.37, Z:-0.33 [[ 9.93226897e-01 1.16188374e-01 7.69768470e-04 2.01961440e+02] [-1.16188354e-01 9.93227195e-01 -7.16283233e-05 -2.03673510e+01] [-7.72877357e-04 -1.82949540e-05 9.99999701e-01 -3.27280505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.99, Y:-20.37, Z:-0.33 [[ 9.92940078e-01 1.18614543e-01 7.69757243e-04 2.01994562e+02] [-1.18614523e-01 9.92940376e-01 -7.17487764e-05 -2.03706519e+01] [-7.72833494e-04 -2.00621529e-05 9.99999701e-01 -3.26366742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.03, Y:-20.37, Z:-0.33 [[ 9.92467226e-01 1.22508009e-01 7.69743197e-04 2.02025832e+02] [-1.22507990e-01 9.92467524e-01 -7.18991529e-05 -2.03716257e+01] [-7.72753347e-04 -2.29421392e-05 9.99999701e-01 -3.31421039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.06, Y:-20.37, Z:-0.33 [[ 9.92301423e-01 1.23843825e-01 7.69731873e-04 2.02057559e+02] [-1.23843807e-01 9.92301721e-01 -7.20201757e-05 -2.03730713e+01] [-7.72725517e-04 -2.38608025e-05 9.99999701e-01 -3.32121842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.09, Y:-20.38, Z:-0.33 [[ 9.92190062e-01 1.24732870e-01 7.69730200e-04 2.02089054e+02] [-1.24732852e-01 9.92190360e-01 -7.20380495e-05 -2.03753911e+01] [-7.72704397e-04 -2.45352062e-05 9.99999701e-01 -3.32334399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.12, Y:-20.38, Z:-0.34 [[ 9.92109536e-01 1.25371754e-01 7.69728505e-04 2.02120554e+02] [-1.25371736e-01 9.92109834e-01 -7.20561582e-05 -2.03783142e+01] [-7.72689026e-04 -2.50145974e-05 9.99999701e-01 -3.35404822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.15, Y:-20.38, Z:-0.33 [[ 9.92088035e-01 1.25541780e-01 7.69717537e-04 2.02151775e+02] [-1.25541762e-01 9.92088333e-01 -7.21731294e-05 -2.03780904e+01] [-7.72688532e-04 -2.50295979e-05 9.99999701e-01 -3.34110196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.18, Y:-20.38, Z:-0.33 [[ 9.92155599e-01 1.25006702e-01 7.69715893e-04 2.02183196e+02] [-1.25006684e-01 9.92155897e-01 -7.21906608e-05 -2.03750815e+01] [-7.72702479e-04 -2.45952631e-05 9.99999701e-01 -3.32726600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.21, Y:-20.38, Z:-0.33 [[ 9.92240237e-01 1.24333100e-01 7.69714197e-04 2.02213967e+02] [-1.24333081e-01 9.92240535e-01 -7.22087378e-05 -2.03751606e+01] [-7.72719563e-04 -2.40525225e-05 9.99999701e-01 -3.32309002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.24, Y:-20.38, Z:-0.33 [[ 9.92346901e-01 1.23478891e-01 7.69713353e-04 2.02244600e+02] [-1.23478872e-01 9.92347199e-01 -7.22177400e-05 -2.03750078e+01] [-7.72740256e-04 -2.33782861e-05 9.99999701e-01 -3.31429627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.28, Y:-20.37, Z:-0.33 [[ 9.92487929e-01 1.22340172e-01 7.69713353e-04 2.02275335e+02] [-1.22340152e-01 9.92488228e-01 -7.22177400e-05 -2.03748781e+01] [-7.72766572e-04 -2.24916136e-05 9.99999701e-01 -3.30733692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.31, Y:-20.37, Z:-0.33 [[ 9.92845877e-01 1.19400468e-01 7.69713353e-04 2.02307132e+02] [-1.19400448e-01 9.92846175e-01 -7.22177400e-05 -2.03735567e+01] [-7.72829790e-04 -2.02030338e-05 9.99999701e-01 -3.29321466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.34, Y:-20.37, Z:-0.33 [[ 9.93045220e-01 1.17731046e-01 7.69711613e-04 2.02337411e+02] [-1.17731025e-01 9.93045518e-01 -7.22362709e-05 -2.03741439e+01] [-7.72863119e-04 -1.88850540e-05 9.99999701e-01 -3.30791830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.37, Y:-20.37, Z:-0.33 [[ 9.93419867e-01 1.14526749e-01 7.69710745e-04 2.02368292e+02] [-1.14526728e-01 9.93420165e-01 -7.22455237e-05 -2.03709825e+01] [-7.72920220e-04 -1.63823145e-05 9.99999701e-01 -3.30977369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.40, Y:-20.37, Z:-0.33 [[ 9.93590718e-01 1.13034914e-01 7.69710745e-04 2.02399358e+02] [-1.13034892e-01 9.93591017e-01 -7.22455237e-05 -2.03706949e+01] [-7.72943948e-04 -1.52216888e-05 9.99999701e-01 -3.29935193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.43, Y:-20.37, Z:-0.33 [[ 9.93767795e-01 1.11467384e-01 7.69710745e-04 2.02429679e+02] [-1.11467362e-01 9.93768093e-01 -7.22455237e-05 -2.03702145e+01] [-7.72966999e-04 -1.40023514e-05 9.99999701e-01 -3.29486244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.46, Y:-20.37, Z:-0.33 [[ 9.94057655e-01 1.08852125e-01 7.69710745e-04 2.02459423e+02] [-1.08852102e-01 9.94057953e-01 -7.22455237e-05 -2.03660553e+01] [-7.73001167e-04 -1.19684167e-05 9.99999701e-01 -3.32464999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.234203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:202.49, Y:-20.37, Z:-0.33 [[ 9.94192700e-01 1.07611719e-01 7.69711617e-04 2.02489743e+02] [-1.07611696e-01 9.94192998e-01 -7.22362298e-05 -2.03659162e+01] [-7.73015365e-04 -1.10132400e-05 9.99999701e-01 -3.32101792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.52, Y:-20.36, Z:-0.33 [[ 9.94490845e-01 1.04820644e-01 7.69712487e-04 2.02518937e+02] [-1.04820620e-01 9.94491143e-01 -7.22269637e-05 -2.03636086e+01] [-7.73043127e-04 -8.85268552e-06 9.99999701e-01 -3.33844110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.55, Y:-20.36, Z:-0.33 [[ 9.94605943e-01 1.03722831e-01 7.69715089e-04 2.02549083e+02] [-1.03722806e-01 9.94606241e-01 -7.21992197e-05 -2.03633538e+01] [-7.73052139e-04 -8.02723622e-06 9.99999701e-01 -3.32013399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.58, Y:-20.36, Z:-0.33 [[ 9.94694139e-01 1.02873597e-01 7.69716781e-04 2.02578700e+02] [-1.02873572e-01 9.94694437e-01 -7.21811820e-05 -2.03627417e+01] [-7.73058538e-04 -7.38531618e-06 9.99999701e-01 -3.30673674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.61, Y:-20.36, Z:-0.33 [[ 9.94746954e-01 1.02361636e-01 7.69718536e-04 2.02607687e+02] [-1.02361611e-01 9.94747252e-01 -7.21624570e-05 -2.03616126e+01] [-7.73062066e-04 -7.00624479e-06 9.99999701e-01 -3.32237652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.64, Y:-20.36, Z:-0.33 [[ 9.94815864e-01 1.01689747e-01 7.69721168e-04 2.02636893e+02] [-1.01689722e-01 9.94816162e-01 -7.21343696e-05 -2.03579748e+01] [-7.73066384e-04 -6.51231634e-06 9.99999701e-01 -3.33141459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.67, Y:-20.36, Z:-0.33 [[ 9.94818244e-01 1.01666457e-01 7.69723727e-04 2.02666926e+02] [-1.01666432e-01 9.94818542e-01 -7.21070516e-05 -2.03607420e+01] [-7.73066305e-04 -6.52165417e-06 9.99999701e-01 -3.33164775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.70, Y:-20.36, Z:-0.33 [[ 9.94849786e-01 1.01357343e-01 7.69725415e-04 2.02696414e+02] [-1.01357318e-01 9.94850084e-01 -7.20890310e-05 -2.03603266e+01] [-7.73068146e-04 -6.29954643e-06 9.99999701e-01 -3.33188972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.73, Y:-20.36, Z:-0.33 [[ 9.94905363e-01 1.00810346e-01 7.69727111e-04 2.02725545e+02] [-1.00810320e-01 9.94905661e-01 -7.20709231e-05 -2.03566453e+01] [-7.73071354e-04 -5.89268843e-06 9.99999701e-01 -3.34269966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.75, Y:-20.36, Z:-0.33 [[ 9.94955175e-01 1.00317534e-01 7.69729645e-04 2.02754314e+02] [-1.00317508e-01 9.94955473e-01 -7.20438496e-05 -2.03557524e+01] [-7.73073984e-04 -5.53695871e-06 9.99999701e-01 -3.34177191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.78, Y:-20.35, Z:-0.33 [[ 9.95037171e-01 9.95009362e-02 7.69733013e-04 2.02783229e+02] [-9.95009102e-02 9.95037468e-01 -7.20078392e-05 -2.03548276e+01] [-7.73078036e-04 -4.93865885e-06 9.99999701e-01 -3.31954281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.81, Y:-20.35, Z:-0.33 [[ 9.95365281e-01 9.61632182e-02 7.69736576e-04 2.02811835e+02] [-9.61631913e-02 9.95365579e-01 -7.19697389e-05 -2.03521454e+01] [-7.73090134e-04 -2.38414617e-06 9.99999701e-01 -3.34558830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.84, Y:-20.35, Z:-0.34 [[ 9.95606105e-01 9.36370189e-02 7.69738622e-04 2.02840090e+02] [-9.36369913e-02 9.95606403e-01 -7.19478457e-05 -2.03530124e+01] [-7.73093682e-04 -4.44294262e-07 9.99999701e-01 -3.35199378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.87, Y:-20.35, Z:-0.33 [[ 9.96000263e-01 8.93469813e-02 7.69743232e-04 2.02868994e+02] [-8.93469524e-02 9.96000561e-01 -7.18984916e-05 -2.03537022e+01] [-7.73088604e-04 2.83670466e-06 9.99999701e-01 -3.31781137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.654203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:202.90, Y:-20.36, Z:-0.34 [[ 9.96110742e-01 8.81067329e-02 7.69746761e-04 2.02897252e+02] [-8.81067037e-02 9.96111040e-01 -7.18606904e-05 -2.03551309e+01] [-7.73084657e-04 3.76135590e-06 9.99999701e-01 -3.35406540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.93, Y:-20.35, Z:-0.33 [[ 9.96207846e-01 8.70019262e-02 7.69751130e-04 2.02925036e+02] [-8.70018966e-02 9.96208143e-01 -7.18138586e-05 -2.03537240e+01] [-7.73080288e-04 4.57172114e-06 9.99999701e-01 -3.32870867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.95, Y:-20.35, Z:-0.33 [[ 9.96186774e-01 8.72428754e-02 7.69755315e-04 2.02954057e+02] [-8.72428460e-02 9.96187071e-01 -7.17689748e-05 -2.03537806e+01] [-7.73081624e-04 4.33965906e-06 9.99999701e-01 -3.29976645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.98, Y:-20.35, Z:-0.33 [[ 9.96126953e-01 8.79232620e-02 7.69758850e-04 2.02981822e+02] [-8.79232329e-02 9.96127251e-01 -7.17310390e-05 -2.03546793e+01] [-7.73084594e-04 3.77353473e-06 9.99999701e-01 -3.31458082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.01, Y:-20.36, Z:-0.33 [[ 9.96044090e-01 8.88570628e-02 7.69763244e-04 2.03010936e+02] [-8.88570339e-02 9.96044388e-01 -7.16838556e-05 -2.03562716e+01] [-7.73087976e-04 3.00140203e-06 9.99999701e-01 -3.31281199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.04, Y:-20.36, Z:-0.34 [[ 9.96001704e-01 8.93309175e-02 7.69766733e-04 2.03038932e+02] [-8.93308888e-02 9.96002002e-01 -7.16463698e-05 -2.03579336e+01] [-7.73089443e-04 2.59596001e-06 9.99999701e-01 -3.37057868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.07, Y:-20.36, Z:-0.33 [[ 9.96028914e-01 8.90270220e-02 7.69771074e-04 2.03067417e+02] [-8.90269933e-02 9.96029211e-01 -7.15996970e-05 -2.03580168e+01] [-7.73088784e-04 2.78496411e-06 9.99999701e-01 -3.31045229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.09, Y:-20.36, Z:-0.33 [[ 9.96097116e-01 8.82606509e-02 7.69774547e-04 2.03094849e+02] [-8.82606220e-02 9.96097414e-01 -7.15623365e-05 -2.03598702e+01] [-7.73086574e-04 3.34225668e-06 9.99999701e-01 -3.32599095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.12, Y:-20.36, Z:-0.33 [[ 9.96173283e-01 8.73967874e-02 7.69778851e-04 2.03124085e+02] [-8.73967582e-02 9.96173580e-01 -7.15160197e-05 -2.03619629e+01] [-7.73083624e-04 3.96617204e-06 9.99999701e-01 -3.29786397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.15, Y:-20.36, Z:-0.33 [[ 9.96342678e-01 8.54439931e-02 7.69782312e-04 2.03151764e+02] [-8.54439634e-02 9.96342975e-01 -7.14787387e-05 -2.03637391e+01] [-7.73074628e-04 5.44406622e-06 9.99999701e-01 -3.30219041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.954203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.18, Y:-20.37, Z:-0.33 [[ 9.96408518e-01 8.46727395e-02 7.69786880e-04 2.03178988e+02] [-8.46727096e-02 9.96408815e-01 -7.14295093e-05 -2.03658900e+01] [-7.73070566e-04 5.99303059e-06 9.99999701e-01 -3.31513581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.21, Y:-20.37, Z:-0.33 [[ 9.96419192e-01 8.45470323e-02 7.69791947e-04 2.03207173e+02] [-8.45470023e-02 9.96419490e-01 -7.13748654e-05 -2.03685596e+01] [-7.73070232e-04 6.03568423e-06 9.99999701e-01 -3.26913828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.23, Y:-20.37, Z:-0.33 [[ 9.96265136e-01 8.63434206e-02 7.69796285e-04 2.03234618e+02] [-8.63433913e-02 9.96265433e-01 -7.13280475e-05 -2.03735005e+01] [-7.73080137e-04 4.59482513e-06 9.99999701e-01 -3.27106890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.26, Y:-20.38, Z:-0.32 [[ 9.96103338e-01 8.81904001e-02 7.69801167e-04 2.03263237e+02] [-8.81903714e-02 9.96103636e-01 -7.12753188e-05 -2.03770326e+01] [-7.73087540e-04 3.10853219e-06 9.99999701e-01 -3.24721624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.29, Y:-20.38, Z:-0.32 [[ 9.95557645e-01 9.41508520e-02 7.69804520e-04 2.03291763e+02] [-9.41508251e-02 9.95557943e-01 -7.12390861e-05 -2.03789249e+01] [-7.73092225e-04 -1.55511397e-06 9.99999701e-01 -3.23113818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.32, Y:-20.38, Z:-0.32 [[ 9.95209856e-01 9.77586335e-02 7.69807946e-04 2.03320563e+02] [-9.77586076e-02 9.95210153e-01 -7.12020437e-05 -2.03798030e+01] [-7.73081299e-04 -4.39437736e-06 9.99999701e-01 -3.23923046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.35, Y:-20.38, Z:-0.33 [[ 9.94815347e-01 1.01694803e-01 7.69811379e-04 2.03348323e+02] [-1.01694779e-01 9.94815645e-01 -7.11649118e-05 -2.03802751e+01] [-7.73057505e-04 -7.48985155e-06 9.99999701e-01 -3.25191320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.38, Y:-20.38, Z:-0.33 [[ 9.93968373e-01 1.09664398e-01 7.69815839e-04 2.03376874e+02] [-1.09664376e-01 9.93968671e-01 -7.11166287e-05 -2.03780202e+01] [-7.72971789e-04 -1.37336939e-05 9.99999701e-01 -3.25631485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.41, Y:-20.38, Z:-0.33 [[ 9.93595122e-01 1.12996201e-01 7.69820045e-04 2.03405823e+02] [-1.12996180e-01 9.93595420e-01 -7.10710792e-05 -2.03788213e+01] [-7.72920432e-04 -1.63708466e-05 9.99999701e-01 -3.25114886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.43, Y:-20.38, Z:-0.33 [[ 9.93247518e-01 1.16011965e-01 7.69823424e-04 2.03433519e+02] [-1.16011945e-01 9.93247816e-01 -7.10344505e-05 -2.03798080e+01] [-7.72866281e-04 -1.87539213e-05 9.99999701e-01 -3.26018622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.46, Y:-20.38, Z:-0.33 [[ 9.92673122e-01 1.20828305e-01 7.69827605e-04 2.03461257e+02] [-1.20828287e-01 9.92673421e-01 -7.09891181e-05 -2.03771458e+01] [-7.72764897e-04 -2.25479609e-05 9.99999701e-01 -3.26905356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.49, Y:-20.38, Z:-0.33 [[ 9.92449553e-01 1.22651101e-01 7.69833402e-04 2.03489808e+02] [-1.22651083e-01 9.92449851e-01 -7.09261994e-05 -2.03764567e+01] [-7.72720221e-04 -2.40302253e-05 9.99999701e-01 -3.25888511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.52, Y:-20.37, Z:-0.33 [[ 9.92235214e-01 1.24373182e-01 7.69836704e-04 2.03518787e+02] [-1.24373164e-01 9.92235512e-01 -7.08903420e-05 -2.03714742e+01] [-7.72676173e-04 -2.54071330e-05 9.99999701e-01 -3.26718123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.55, Y:-20.37, Z:-0.33 [[ 9.92261201e-01 1.24165681e-01 7.69840074e-04 2.03546237e+02] [-1.24165663e-01 9.92261499e-01 -7.08537252e-05 -2.03693302e+01] [-7.72680267e-04 -2.52823008e-05 9.99999701e-01 -3.28636047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.58, Y:-20.37, Z:-0.33 [[ 9.92371471e-01 1.23281264e-01 7.69845948e-04 2.03575704e+02] [-1.23281246e-01 9.92371770e-01 -7.07898367e-05 -2.03676155e+01] [-7.72700447e-04 -2.46577533e-05 9.99999701e-01 -3.26965291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.61, Y:-20.37, Z:-0.33 [[ 9.92562141e-01 1.21736616e-01 7.69849287e-04 2.03605126e+02] [-1.21736597e-01 9.92562439e-01 -7.07535062e-05 -2.03662999e+01] [-7.72736779e-04 -2.34915810e-05 9.99999701e-01 -3.27589143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.63, Y:-20.36, Z:-0.33 [[ 9.93178752e-01 1.16599198e-01 7.69851791e-04 2.03632186e+02] [-1.16599178e-01 9.93179051e-01 -7.07262589e-05 -2.03621885e+01] [-7.72847296e-04 -1.95202686e-05 9.99999701e-01 -3.28594582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.66, Y:-20.36, Z:-0.33 [[ 9.93572540e-01 1.13194590e-01 7.69857629e-04 2.03660326e+02] [-1.13194569e-01 9.93572838e-01 -7.06626532e-05 -2.03612162e+01] [-7.72908259e-04 -1.69352310e-05 9.99999701e-01 -3.30188592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.69, Y:-20.36, Z:-0.33 [[ 9.94349256e-01 1.06155380e-01 7.69861760e-04 2.03688985e+02] [-1.06155357e-01 9.94349554e-01 -7.06176150e-05 -2.03573963e+01] [-7.73008137e-04 -1.15063771e-05 9.99999701e-01 -3.26887095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.72, Y:-20.36, Z:-0.33 [[ 9.94759136e-01 1.02243181e-01 7.69866931e-04 2.03715881e+02] [-1.02243157e-01 9.94759434e-01 -7.05611999e-05 -2.03565066e+01] [-7.73046794e-04 -8.52222705e-06 9.99999701e-01 -3.30484281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.74, Y:-20.36, Z:-0.33 [[ 9.95119822e-01 9.86709051e-02 7.69872900e-04 2.03743853e+02] [-9.86708801e-02 9.95120120e-01 -7.04960101e-05 -2.03561361e+01] [-7.73071917e-04 -5.81205960e-06 9.99999701e-01 -3.29940495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.77, Y:-20.35, Z:-0.33 [[ 9.95789554e-01 9.16655408e-02 7.69877672e-04 2.03773350e+02] [-9.16655137e-02 9.95789852e-01 -7.04438612e-05 -2.03537292e+01] [-7.73093647e-04 -4.23971090e-07 9.99999701e-01 -3.28337013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.80, Y:-20.35, Z:-0.33 [[ 9.96070000e-01 8.85661462e-02 7.69880917e-04 2.03802668e+02] [-8.85661182e-02 9.96070298e-01 -7.04083709e-05 -2.03541643e+01] [-7.73091312e-04 1.94630173e-06 9.99999701e-01 -3.26390989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.83, Y:-20.35, Z:-0.33 [[ 9.96290383e-01 8.60516119e-02 7.69884275e-04 2.03830150e+02] [-8.60515832e-02 9.96290681e-01 -7.03716391e-05 -2.03545826e+01] [-7.73084121e-04 3.86082653e-06 9.99999701e-01 -3.27073504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.86, Y:-20.35, Z:-0.33 [[ 9.96612838e-01 8.22329564e-02 7.69889180e-04 2.03857944e+02] [-8.22329266e-02 9.96613135e-01 -7.03179377e-05 -2.03535298e+01] [-7.73064121e-04 6.76951903e-06 9.99999701e-01 -3.27170420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.89, Y:-20.35, Z:-0.33 [[ 9.96710792e-01 8.10370506e-02 7.69894155e-04 2.03886605e+02] [-8.10370205e-02 9.96711090e-01 -7.02634222e-05 -2.03541055e+01] [-7.73055983e-04 7.64238273e-06 9.99999701e-01 -3.26437559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.91, Y:-20.35, Z:-0.32 [[ 9.96757086e-01 8.04656398e-02 7.69897478e-04 2.03914551e+02] [-8.04656096e-02 9.96757383e-01 -7.02269910e-05 -2.03520745e+01] [-7.73051855e-04 8.04898099e-06 9.99999701e-01 -3.24605913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.94, Y:-20.35, Z:-0.32 [[ 9.96722254e-01 8.08959532e-02 7.69902309e-04 2.03943246e+02] [-8.08959232e-02 9.96722552e-01 -7.01739887e-05 -2.03528447e+01] [-7.73055786e-04 7.66201814e-06 9.99999701e-01 -3.23070072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.97, Y:-20.35, Z:-0.32 [[ 9.96660049e-01 8.16587596e-02 7.69905679e-04 2.03971878e+02] [-8.16587298e-02 9.96660347e-01 -7.01369991e-05 -2.03542475e+01] [-7.73061761e-04 7.03322516e-06 9.99999701e-01 -3.23030989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.00, Y:-20.35, Z:-0.32 [[ 9.96447285e-01 8.42152885e-02 7.69909039e-04 2.03999857e+02] [-8.42152595e-02 9.96447583e-01 -7.01000875e-05 -2.03539911e+01] [-7.73077500e-04 5.01295234e-06 9.99999701e-01 -3.22604913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.03, Y:-20.36, Z:-0.32 [[ 9.96298580e-01 8.59566540e-02 7.69913225e-04 2.04028020e+02] [-8.59566255e-02 9.96298878e-01 -7.00540879e-05 -2.03550156e+01] [-7.73085297e-04 3.61564552e-06 9.99999701e-01 -3.21454745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.06, Y:-20.36, Z:-0.32 [[ 9.95948703e-01 8.99198940e-02 7.69918318e-04 2.04056143e+02] [-8.99198668e-02 9.95949001e-01 -6.99980672e-05 -2.03554781e+01] [-7.73093599e-04 4.83531689e-07 9.99999701e-01 -3.21786849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.08, Y:-20.36, Z:-0.32 [[ 9.95742191e-01 9.21786102e-02 7.69922559e-04 2.04084663e+02] [-9.21785836e-02 9.95742489e-01 -6.99513852e-05 -2.03559115e+01] [-7.73092627e-04 -1.31682550e-06 9.99999701e-01 -3.20830036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:204.11, Y:-20.36, Z:-0.32 [[ 9.95559760e-01 9.41284844e-02 7.69925824e-04 2.04113231e+02] [-9.41284584e-02 9.95560058e-01 -6.99154376e-05 -2.03558969e+01] [-7.73088432e-04 -2.86693465e-06 9.99999701e-01 -3.21772146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.14, Y:-20.36, Z:-0.33 [[ 9.95185199e-01 9.80093253e-02 7.69929167e-04 2.04141508e+02] [-9.80093006e-02 9.95185496e-01 -6.98786054e-05 -2.03551319e+01] [-7.73071095e-04 -5.91806533e-06 9.99999701e-01 -3.27848738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.17, Y:-20.36, Z:-0.33 [[ 9.94993009e-01 9.99415815e-02 7.69933319e-04 2.04169349e+02] [-9.99415574e-02 9.94993307e-01 -6.98328265e-05 -2.03562340e+01] [-7.73057702e-04 -7.46516089e-06 9.99999701e-01 -3.28192967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.20, Y:-20.36, Z:-0.33 [[ 9.94602360e-01 1.03757185e-01 7.69941665e-04 2.04197519e+02] [-1.03757162e-01 9.94602658e-01 -6.97406783e-05 -2.03554456e+01] [-7.73022123e-04 -1.05227188e-05 9.99999701e-01 -3.29703809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.23, Y:-20.36, Z:-0.33 [[ 9.94419152e-01 1.05498615e-01 7.69947826e-04 2.04226210e+02] [-1.05498593e-01 9.94419450e-01 -6.96725978e-05 -2.03567162e+01] [-7.73001456e-04 -1.19446464e-05 9.99999701e-01 -3.29147866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.25, Y:-20.35, Z:-0.33 [[ 9.94106492e-01 1.08405213e-01 7.69951124e-04 2.04254354e+02] [-1.08405192e-01 9.94106790e-01 -6.96361311e-05 -2.03544076e+01] [-7.72962560e-04 -1.42409694e-05 9.99999701e-01 -3.30287267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.28, Y:-20.35, Z:-0.33 [[ 9.93948832e-01 1.09841374e-01 7.69955207e-04 2.04283720e+02] [-1.09841353e-01 9.93949130e-01 -6.95909539e-05 -2.03534745e+01] [-7.72940274e-04 -1.54030747e-05 9.99999701e-01 -3.25634815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.31, Y:-20.35, Z:-0.33 [[ 9.93814579e-01 1.11049494e-01 7.69958582e-04 2.04311475e+02] [-1.11049473e-01 9.93814877e-01 -6.95535977e-05 -2.03529148e+01] [-7.72920185e-04 -1.63801153e-05 9.99999701e-01 -3.26067079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.34, Y:-20.35, Z:-0.33 [[ 9.93628597e-01 1.12701453e-01 7.69964793e-04 2.04340232e+02] [-1.12701433e-01 9.93628896e-01 -6.94847720e-05 -2.03530918e+01] [-7.72890302e-04 -1.77340790e-05 9.99999701e-01 -3.26349410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.37, Y:-20.35, Z:-0.33 [[ 9.93622612e-01 1.12754210e-01 7.69968047e-04 2.04369315e+02] [-1.12754190e-01 9.93622910e-01 -6.94486961e-05 -2.03545028e+01] [-7.72888525e-04 -1.78113286e-05 9.99999701e-01 -3.27575790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.40, Y:-20.35, Z:-0.33 [[ 9.93724726e-01 1.11850689e-01 7.69971283e-04 2.04398205e+02] [-1.11850669e-01 9.93725024e-01 -6.94128005e-05 -2.03520425e+01] [-7.72903601e-04 -1.71445869e-05 9.99999701e-01 -3.29047858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.43, Y:-20.35, Z:-0.33 [[ 9.93795913e-01 1.11216415e-01 7.69974613e-04 2.04426671e+02] [-1.11216395e-01 9.93796211e-01 -6.93758415e-05 -2.03509514e+01] [-7.72913585e-04 -1.66883728e-05 9.99999701e-01 -3.32310782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.46, Y:-20.35, Z:-0.33 [[ 9.93803499e-01 1.11148608e-01 7.69980829e-04 2.04455050e+02] [-1.11148588e-01 9.93803797e-01 -6.93067892e-05 -2.03533652e+01] [-7.72913224e-04 -1.67049522e-05 9.99999701e-01 -3.32332811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.48, Y:-20.35, Z:-0.33 [[ 9.93902018e-01 1.10264160e-01 7.69985554e-04 2.04483405e+02] [-1.10264139e-01 9.93902317e-01 -6.92542532e-05 -2.03522359e+01] [-7.72926688e-04 -1.60698524e-05 9.99999701e-01 -3.31469268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.51, Y:-20.35, Z:-0.33 [[ 9.94010071e-01 1.09285798e-01 7.69990438e-04 2.04511185e+02] [-1.09285777e-01 9.94010369e-01 -6.91999081e-05 -2.03519502e+01] [-7.72941047e-04 -1.53635977e-05 9.99999701e-01 -3.30473838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.54, Y:-20.35, Z:-0.33 [[ 9.94286570e-01 1.06740920e-01 7.69995486e-04 2.04540233e+02] [-1.06740899e-01 9.94286868e-01 -6.91436934e-05 -2.03525586e+01] [-7.72976861e-04 -1.34413643e-05 9.99999701e-01 -3.31740388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.57, Y:-20.35, Z:-0.33 [[ 9.94399841e-01 1.05680480e-01 7.69894684e-04 2.04567983e+02] [-1.05680457e-01 9.94400139e-01 -7.02668639e-05 -2.03548391e+01] [-7.73009216e-04 -1.14894638e-05 9.99999701e-01 -3.29668225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.60, Y:-20.36, Z:-0.33 [[ 9.94682898e-01 1.02982234e-01 7.70010966e-04 2.04595908e+02] [-1.02982211e-01 9.94683196e-01 -6.89686095e-05 -2.03552143e+01] [-7.73019510e-04 -1.06955355e-05 9.99999701e-01 -3.28922141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.62, Y:-20.36, Z:-0.33 [[ 9.94806371e-01 1.01782573e-01 7.70015053e-04 2.04623886e+02] [-1.01782550e-01 9.94806669e-01 -6.89229501e-05 -2.03556506e+01] [-7.73031265e-04 -9.80910601e-06 9.99999701e-01 -3.27581742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.65, Y:-20.36, Z:-0.33 [[ 9.94924698e-01 1.00619340e-01 7.70020093e-04 2.04650936e+02] [-1.00619317e-01 9.94924996e-01 -6.88665926e-05 -2.03558718e+01] [-7.73041550e-04 -8.96182204e-06 9.99999701e-01 -3.28401976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.68, Y:-20.36, Z:-0.33 [[ 9.95103942e-01 9.88309291e-02 7.70025936e-04 2.04679584e+02] [-9.88309055e-02 9.95104239e-01 -6.88012041e-05 -2.03553135e+01] [-7.73055760e-04 -7.63801109e-06 9.99999701e-01 -3.26204168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.71, Y:-20.36, Z:-0.33 [[ 9.95194052e-01 9.79193855e-02 7.70029211e-04 2.04706735e+02] [-9.79193616e-02 9.95194350e-01 -6.87645244e-05 -2.03579007e+01] [-7.73062100e-04 -6.96672318e-06 9.99999701e-01 -3.27499236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.74, Y:-20.36, Z:-0.33 [[ 9.95268198e-01 9.71628591e-02 7.70034902e-04 2.04735451e+02] [-9.71628350e-02 9.95268496e-01 -6.87007357e-05 -2.03602163e+01] [-7.73066639e-04 -6.44311674e-06 9.99999701e-01 -3.26282277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.76, Y:-20.36, Z:-0.33 [[ 9.95301633e-01 9.68197633e-02 7.70038220e-04 2.04762155e+02] [-9.68197391e-02 9.95301931e-01 -6.86635349e-05 -2.03592773e+01] [-7.73068514e-04 -6.21397112e-06 9.99999701e-01 -3.28185396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.79, Y:-20.36, Z:-0.33 [[ 9.95291929e-01 9.69194711e-02 7.70043980e-04 2.04790481e+02] [-9.69194470e-02 9.95292226e-01 -6.85988685e-05 -2.03600954e+01] [-7.73067354e-04 -6.35633666e-06 9.99999701e-01 -3.27466944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.82, Y:-20.36, Z:-0.33 [[ 9.95217637e-01 9.76793811e-02 7.70048881e-04 2.04817064e+02] [-9.76793573e-02 9.95217935e-01 -6.85438113e-05 -2.03608063e+01] [-7.73061775e-04 -7.00186989e-06 9.99999701e-01 -3.27397506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.84, Y:-20.36, Z:-0.33 [[ 9.95116626e-01 9.87031333e-02 7.70054556e-04 2.04844547e+02] [-9.87031098e-02 9.95116923e-01 -6.84799989e-05 -2.03618082e+01] [-7.73053511e-04 -7.86119400e-06 9.99999701e-01 -3.28149465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.87, Y:-20.36, Z:-0.33 [[ 9.94893105e-01 1.00931244e-01 7.70058587e-04 2.04873376e+02] [-1.00931221e-01 9.94893403e-01 -6.84346404e-05 -2.03598747e+01] [-7.73033402e-04 -9.63780138e-06 9.99999701e-01 -3.26688041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.90, Y:-20.36, Z:-0.33 [[ 9.94885061e-01 1.01010511e-01 7.70061871e-04 2.04902206e+02] [-1.01010488e-01 9.94885359e-01 -6.83976667e-05 -2.03601143e+01] [-7.73032164e-04 -9.73650888e-06 9.99999701e-01 -3.32042429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.93, Y:-20.36, Z:-0.33 [[ 9.94786031e-01 1.01981175e-01 7.69860292e-04 2.04929009e+02] [-1.01981151e-01 9.94786329e-01 -7.06652714e-05 -2.03604191e+01] [-7.73053021e-04 -8.21441352e-06 9.99999701e-01 -3.31208985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.96, Y:-20.36, Z:-0.33 [[ 9.94793415e-01 1.01909123e-01 7.70068954e-04 2.04957576e+02] [-1.01909101e-01 9.94793713e-01 -6.83130950e-05 -2.03603318e+01] [-7.73021482e-04 -1.05196178e-05 9.99999701e-01 -3.30467435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.99, Y:-20.36, Z:-0.33 [[ 9.94965667e-01 1.00213418e-01 7.70072213e-04 2.04987063e+02] [-1.00213395e-01 9.94965965e-01 -6.82763438e-05 -2.03587033e+01] [-7.73037848e-04 -9.23893307e-06 9.99999701e-01 -3.30086424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.904203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:205.02, Y:-20.36, Z:-0.33 [[ 9.95127365e-01 9.85947954e-02 7.70075466e-04 2.05015814e+02] [-9.85947721e-02 9.95127663e-01 -6.82396363e-05 -2.03599694e+01] [-7.73051472e-04 -8.01828553e-06 9.99999701e-01 -3.32119761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.04, Y:-20.36, Z:-0.33 [[ 9.95566212e-01 9.40602176e-02 7.70078809e-04 2.05044232e+02] [-9.40601930e-02 9.95566510e-01 -6.82018870e-05 -2.03616904e+01] [-7.73079756e-04 -4.53426705e-06 9.99999701e-01 -3.29589187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.07, Y:-20.36, Z:-0.33 [[ 9.95825408e-01 9.12752068e-02 7.70082155e-04 2.05071590e+02] [-9.12751814e-02 9.95825706e-01 -6.81640803e-05 -2.03633083e+01] [-7.73089296e-04 -2.40986537e-06 9.99999701e-01 -3.29799722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.10, Y:-20.37, Z:-0.33 [[ 9.96073856e-01 8.85227658e-02 7.70086307e-04 2.05099705e+02] [-8.85227395e-02 9.96074154e-01 -6.81171408e-05 -2.03650627e+01] [-7.73092985e-04 -3.20446487e-07 9.99999701e-01 -3.28577479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.13, Y:-20.37, Z:-0.33 [[ 9.96338178e-01 8.54964493e-02 7.70092271e-04 2.05128537e+02] [-8.54964222e-02 9.96338475e-01 -6.80496502e-05 -2.03668555e+01] [-7.73090563e-04 1.96033055e-06 9.99999701e-01 -3.27388464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.16, Y:-20.37, Z:-0.33 [[ 9.96784150e-01 8.01296727e-02 7.70095533e-04 2.05157667e+02] [-8.01296441e-02 9.96784448e-01 -6.80127193e-05 -2.03694937e+01] [-7.73069087e-04 6.08651968e-06 9.99999701e-01 -3.26748796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.18, Y:-20.37, Z:-0.33 [[ 9.96947694e-01 7.80685719e-02 7.70098881e-04 2.05184859e+02] [-7.80685427e-02 9.96947992e-01 -6.79747914e-05 -2.03728332e+01] [-7.73055227e-04 7.64681426e-06 9.99999701e-01 -3.28809777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.21, Y:-20.38, Z:-0.33 [[ 9.97175083e-01 7.51083287e-02 7.70104676e-04 2.05213371e+02] [-7.51082987e-02 9.97175380e-01 -6.79090729e-05 -2.03770196e+01] [-7.73029960e-04 9.87598338e-06 9.99999701e-01 -3.27031815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.24, Y:-20.38, Z:-0.33 [[ 9.97238828e-01 7.42571679e-02 7.70107952e-04 2.05240614e+02] [-7.42571376e-02 9.97239125e-01 -6.78719030e-05 -2.03786124e+01] [-7.73021755e-04 1.04984849e-05 9.99999701e-01 -3.27228141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.27, Y:-20.38, Z:-0.32 [[ 9.97259968e-01 7.39727184e-02 7.70113634e-04 2.05268977e+02] [-7.39726881e-02 9.97260265e-01 -6.78073673e-05 -2.03795837e+01] [-7.73019622e-04 1.06541973e-05 9.99999701e-01 -3.24917382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.30, Y:-20.38, Z:-0.33 [[ 9.97250346e-01 7.41023244e-02 7.70116888e-04 2.05295612e+02] [-7.41022942e-02 9.97250643e-01 -6.77703885e-05 -2.03830811e+01] [-7.73021505e-04 1.05166152e-05 9.99999701e-01 -3.25001808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.32, Y:-20.39, Z:-0.33 [[ 9.97212139e-01 7.46147165e-02 7.70122548e-04 2.05322449e+02] [-7.46146865e-02 9.97212437e-01 -6.77060105e-05 -2.03871602e+01] [-7.73027647e-04 1.00548031e-05 9.99999701e-01 -3.26404390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.35, Y:-20.39, Z:-0.33 [[ 9.97053270e-01 7.67084338e-02 7.70128145e-04 2.05349746e+02] [-7.67084045e-02 9.97053567e-01 -6.76422895e-05 -2.03913329e+01] [-7.73047748e-04 8.36766469e-06 9.99999701e-01 -3.26827736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.38, Y:-20.39, Z:-0.33 [[ 9.96962098e-01 7.78844187e-02 7.70132946e-04 2.05378439e+02] [-7.78843898e-02 9.96962395e-01 -6.75875750e-05 -2.03941884e+01] [-7.73057606e-04 7.40091594e-06 9.99999701e-01 -3.26600966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.41, Y:-20.40, Z:-0.33 [[ 9.96747626e-01 8.05827364e-02 7.70136164e-04 2.05405890e+02] [-8.05827082e-02 9.96747923e-01 -6.75508877e-05 -2.03969981e+01] [-7.73075058e-04 5.27152904e-06 9.99999701e-01 -3.27365690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:205.43, Y:-20.40, Z:-0.33 [[ 9.96647739e-01 8.18088718e-02 7.70140174e-04 2.05433699e+02] [-8.18088441e-02 9.96648036e-01 -6.75051380e-05 -2.03987314e+01] [-7.73081212e-04 4.27456568e-06 9.99999701e-01 -3.27042839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.46, Y:-20.40, Z:-0.33 [[ 9.96553380e-01 8.29503943e-02 7.70144927e-04 2.05460777e+02] [-8.29503670e-02 9.96553677e-01 -6.74508795e-05 -2.04001294e+01] [-7.73085836e-04 3.33459768e-06 9.99999701e-01 -3.27473002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.49, Y:-20.40, Z:-0.33 [[ 9.96402205e-01 8.47469914e-02 7.70150449e-04 2.05489098e+02] [-8.47469646e-02 9.96402503e-01 -6.73877660e-05 -2.04030255e+01] [-7.73090745e-04 1.87740580e-06 9.99999701e-01 -3.28723604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.52, Y:-20.41, Z:-0.33 [[ 9.96380853e-01 8.49976603e-02 7.70153581e-04 2.05517653e+02] [-8.49976337e-02 9.96381151e-01 -6.73519478e-05 -2.04068142e+01] [-7.73091270e-04 1.64695919e-06 9.99999701e-01 -3.29724008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.55, Y:-20.41, Z:-0.33 [[ 9.96373114e-01 8.50883337e-02 7.70156718e-04 2.05546161e+02] [-8.50883071e-02 9.96373412e-01 -6.73160656e-05 -2.04107333e+01] [-7.73091488e-04 1.54058661e-06 9.99999701e-01 -3.28425740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.57, Y:-20.42, Z:-0.33 [[ 9.96379102e-01 8.50181828e-02 7.70160006e-04 2.05573081e+02] [-8.50181562e-02 9.96379400e-01 -6.72784181e-05 -2.04167076e+01] [-7.73091454e-04 1.55722606e-06 9.99999701e-01 -3.27827703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.60, Y:-20.42, Z:-0.33 [[ 9.96415647e-01 8.45887952e-02 7.70167153e-04 2.05599954e+02] [-8.45887685e-02 9.96415945e-01 -6.71965130e-05 -2.04206719e+01] [-7.73090903e-04 1.80816604e-06 9.99999701e-01 -3.27538737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.63, Y:-20.42, Z:-0.33 [[ 9.96475055e-01 8.38860648e-02 7.70172605e-04 2.05628145e+02] [-8.38860380e-02 9.96475353e-01 -6.71339572e-05 -2.04242217e+01] [-7.73089622e-04 2.29058528e-06 9.99999701e-01 -3.27281291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.66, Y:-20.43, Z:-0.33 [[ 9.96599832e-01 8.23904240e-02 7.70177331e-04 2.05656793e+02] [-8.23903967e-02 9.96600129e-01 -6.70796965e-05 -2.04300446e+01] [-7.73085553e-04 3.39639833e-06 9.99999701e-01 -3.25934034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.68, Y:-20.43, Z:-0.33 [[ 9.96653986e-01 8.17327306e-02 7.70180542e-04 2.05683282e+02] [-8.17327032e-02 9.96654283e-01 -6.70428081e-05 -2.04349527e+01] [-7.73083328e-04 3.86954428e-06 9.99999701e-01 -3.26414940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.71, Y:-20.44, Z:-0.33 [[ 9.96730451e-01 8.07948884e-02 7.70186116e-04 2.05710101e+02] [-8.07948607e-02 9.96730749e-01 -6.69787172e-05 -2.04436688e+01] [-7.73079722e-04 4.53264705e-06 9.99999701e-01 -3.29129533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.74, Y:-20.45, Z:-0.33 [[ 9.96717607e-01 8.09531938e-02 7.70190011e-04 2.05737357e+02] [-8.09531662e-02 9.96717904e-01 -6.69339002e-05 -2.04477824e+01] [-7.73080686e-04 4.36487684e-06 9.99999701e-01 -3.29253450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.76, Y:-20.45, Z:-0.33 [[ 9.96637335e-01 8.19355147e-02 7.70194667e-04 2.05764133e+02] [-8.19354875e-02 9.96637633e-01 -6.68802785e-05 -2.04511513e+01] [-7.73084860e-04 3.54910699e-06 9.99999701e-01 -3.29467141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.79, Y:-20.46, Z:-0.33 [[ 9.96301049e-01 8.59280255e-02 7.70200072e-04 2.05792246e+02] [-8.59279995e-02 9.96301347e-01 -6.68179754e-05 -2.04560652e+01] [-7.73092906e-04 3.89067627e-07 9.99999701e-01 -3.29891773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.82, Y:-20.46, Z:-0.33 [[ 9.96064579e-01 8.86270897e-02 7.70204608e-04 2.05821104e+02] [-8.86270645e-02 9.96064877e-01 -6.67656518e-05 -2.04598004e+01] [-7.73091003e-04 -1.75807265e-06 9.99999701e-01 -3.29810074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.85, Y:-20.46, Z:-0.33 [[ 9.95511426e-01 9.46383014e-02 7.70207769e-04 2.05849063e+02] [-9.46382781e-02 9.95511724e-01 -6.67291603e-05 -2.04628871e+01] [-7.73065998e-04 -6.46149556e-06 9.99999701e-01 -3.30650443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.88, Y:-20.47, Z:-0.33 [[ 9.95246168e-01 9.73882539e-02 7.70211708e-04 2.05876346e+02] [-9.73882314e-02 9.95246466e-01 -6.66836699e-05 -2.04653556e+01] [-7.73044686e-04 -8.64288909e-06 9.99999701e-01 -3.31628318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.90, Y:-20.47, Z:-0.33 [[ 9.94735678e-01 1.02471157e-01 7.70217173e-04 2.05903870e+02] [-1.02471136e-01 9.94735976e-01 -6.66204903e-05 -2.04679333e+01] [-7.72989410e-04 -1.26552501e-05 9.99999701e-01 -3.32683998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.894203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:205.93, Y:-20.47, Z:-0.33 [[ 9.94532789e-01 1.04421925e-01 7.70221814e-04 2.05930382e+02] [-1.04421904e-01 9.94533087e-01 -6.65667896e-05 -2.04688335e+01] [-7.72962111e-04 -1.42251736e-05 9.99999701e-01 -3.32693930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.96, Y:-20.47, Z:-0.33 [[ 9.94369136e-01 1.05968997e-01 7.70230261e-04 2.05959285e+02] [-1.05968977e-01 9.94369434e-01 -6.64688996e-05 -2.04699149e+01] [-7.72937072e-04 -1.55258909e-05 9.99999701e-01 -3.31972115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.99, Y:-20.47, Z:-0.33 [[ 9.94214448e-01 1.07410605e-01 7.70233475e-04 2.05988159e+02] [-1.07410586e-01 9.94214746e-01 -6.64316444e-05 -2.04712740e+01] [-7.72912942e-04 -1.66839283e-05 9.99999701e-01 -3.33493392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.02, Y:-20.47, Z:-0.34 [[ 9.94254269e-01 1.07041374e-01 7.70236680e-04 2.06015266e+02] [-1.07041355e-01 9.94254567e-01 -6.63944552e-05 -2.04731403e+01] [-7.72918291e-04 -1.64342071e-05 9.99999701e-01 -3.35708342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.04, Y:-20.48, Z:-0.34 [[ 9.94347265e-01 1.06174022e-01 7.70242258e-04 2.06043207e+02] [-1.06174002e-01 9.94347563e-01 -6.63296900e-05 -2.04753574e+01] [-7.72931002e-04 -1.58249571e-05 9.99999701e-01 -3.35530280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.07, Y:-20.48, Z:-0.34 [[ 9.94596763e-01 1.03810817e-01 7.70247030e-04 2.06071310e+02] [-1.03810796e-01 9.94597061e-01 -6.62742303e-05 -2.04759940e+01] [-7.72965414e-04 -1.40438226e-05 9.99999701e-01 -3.36066528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.10, Y:-20.48, Z:-0.34 [[ 9.94757628e-01 1.02257848e-01 7.70250977e-04 2.06099854e+02] [-1.02257827e-01 9.94757927e-01 -6.62283233e-05 -2.04766166e+01] [-7.72985630e-04 -1.28830614e-05 9.99999701e-01 -3.36432169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.13, Y:-20.48, Z:-0.34 [[ 9.95141143e-01 9.84556397e-02 7.70254115e-04 2.06127788e+02] [-9.84556180e-02 9.95141441e-01 -6.61918092e-05 -2.04777015e+01] [-7.73028746e-04 -9.96565218e-06 9.99999701e-01 -3.35842874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.16, Y:-20.48, Z:-0.34 [[ 9.95388558e-01 9.59219751e-02 7.70258013e-04 2.06155427e+02] [-9.59219527e-02 9.95388856e-01 -6.61464107e-05 -2.04801454e+01] [-7.73051137e-04 -8.04327231e-06 9.99999701e-01 -3.35388955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.18, Y:-20.48, Z:-0.34 [[ 9.95645916e-01 9.32127490e-02 7.70262667e-04 2.06183419e+02] [-9.32127258e-02 9.95646214e-01 -6.60921776e-05 -2.04833982e+01] [-7.73069741e-04 -5.99387604e-06 9.99999701e-01 -3.37671418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.21, Y:-20.49, Z:-0.34 [[ 9.96135464e-01 8.78267869e-02 7.70266521e-04 2.06211927e+02] [-8.78267621e-02 9.96135762e-01 -6.60472239e-05 -2.04871379e+01] [-7.73090743e-04 -1.85803249e-06 9.99999701e-01 -3.36886400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.24, Y:-20.49, Z:-0.34 [[ 9.96141542e-01 8.77578204e-02 7.70269573e-04 2.06240315e+02] [-8.77577956e-02 9.96141840e-01 -6.60116096e-05 -2.04894375e+01] [-7.73090785e-04 -1.84025319e-06 9.99999701e-01 -3.36908425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.27, Y:-20.49, Z:-0.34 [[ 9.96347399e-01 8.53889227e-02 7.70274140e-04 2.06266766e+02] [-8.53888972e-02 9.96347696e-01 -6.59582806e-05 -2.04922961e+01] [-7.73092971e-04 -5.54980778e-08 9.99999701e-01 -3.37693706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.29, Y:-20.49, Z:-0.34 [[ 9.96631327e-01 8.20085675e-02 7.70282153e-04 2.06294428e+02] [-8.20085411e-02 9.96631624e-01 -6.58645731e-05 -2.04948443e+01] [-7.73089012e-04 2.47298129e-06 9.99999701e-01 -3.35910031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.32, Y:-20.50, Z:-0.34 [[ 9.96700580e-01 8.11625605e-02 7.70287500e-04 2.06323435e+02] [-8.11625339e-02 9.96700877e-01 -6.58019796e-05 -2.04975826e+01] [-7.73086884e-04 3.06638589e-06 9.99999701e-01 -3.35196343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.35, Y:-20.50, Z:-0.34 [[ 9.96739585e-01 8.06821325e-02 7.70290470e-04 2.06352216e+02] [-8.06821058e-02 9.96739883e-01 -6.57671938e-05 -2.05007206e+01] [-7.73085470e-04 3.40410828e-06 9.99999701e-01 -3.35054436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.38, Y:-20.50, Z:-0.33 [[ 9.96774810e-01 8.02457750e-02 7.70293440e-04 2.06380216e+02] [-8.02457482e-02 9.96775108e-01 -6.57323893e-05 -2.05043079e+01] [-7.73084073e-04 3.70761644e-06 9.99999701e-01 -3.34861857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.41, Y:-20.51, Z:-0.33 [[ 9.96792763e-01 8.00224611e-02 7.70297876e-04 2.06408067e+02] [-8.00224342e-02 9.96793061e-01 -6.56803604e-05 -2.05079078e+01] [-7.73083481e-04 3.82859683e-06 9.99999701e-01 -3.31256312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.44, Y:-20.51, Z:-0.33 [[ 9.96793642e-01 8.00115119e-02 7.70303127e-04 2.06437213e+02] [-8.00114851e-02 9.96793940e-01 -6.56187171e-05 -2.05110671e+01] [-7.73083741e-04 3.77522281e-06 9.99999701e-01 -3.30281839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.47, Y:-20.52, Z:-0.33 [[ 9.96856128e-01 7.92292003e-02 7.70306045e-04 2.06465980e+02] [-7.92291733e-02 9.96856426e-01 -6.55844444e-05 -2.05156004e+01] [-7.73080734e-04 4.34754420e-06 9.99999701e-01 -3.31181513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.49, Y:-20.52, Z:-0.33 [[ 9.96891918e-01 7.87776052e-02 7.70308943e-04 2.06493031e+02] [-7.87775780e-02 9.96892215e-01 -6.55503853e-05 -2.05186600e+01] [-7.73078891e-04 4.66357640e-06 9.99999701e-01 -3.31327975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.52, Y:-20.52, Z:-0.33 [[ 9.96916360e-01 7.84676808e-02 7.70313982e-04 2.06521176e+02] [-7.84676537e-02 9.96916658e-01 -6.54911238e-05 -2.05224380e+01] [-7.73077777e-04 4.84444207e-06 9.99999701e-01 -3.32203133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.55, Y:-20.53, Z:-0.34 [[ 9.96961446e-01 7.78927534e-02 7.70318292e-04 2.06548767e+02] [-7.78927261e-02 9.96961744e-01 -6.54403860e-05 -2.05290913e+01] [-7.73075200e-04 5.23935021e-06 9.99999701e-01 -3.35998292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.58, Y:-20.53, Z:-0.34 [[ 9.96970278e-01 7.77796369e-02 7.70321870e-04 2.06576577e+02] [-7.77796096e-02 9.96970575e-01 -6.53982365e-05 -2.05338934e+01] [-7.73074889e-04 5.28476369e-06 9.99999701e-01 -3.38078765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.60, Y:-20.54, Z:-0.34 [[ 9.97033008e-01 7.69713470e-02 7.70325417e-04 2.06604220e+02] [-7.69713195e-02 9.97033305e-01 -6.53564338e-05 -2.05414579e+01] [-7.73070669e-04 5.86955798e-06 9.99999701e-01 -3.42383597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.63, Y:-20.55, Z:-0.34 [[ 9.97066633e-01 7.65345437e-02 7.70328932e-04 2.06632849e+02] [-7.65345161e-02 9.97066930e-01 -6.53149746e-05 -2.05459856e+01] [-7.73068356e-04 6.16662972e-06 9.99999701e-01 -3.43196747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.66, Y:-20.55, Z:-0.34 [[ 9.97131812e-01 7.56806194e-02 7.70331039e-04 2.06661924e+02] [-7.56805916e-02 9.97132110e-01 -6.52901163e-05 -2.05497415e+01] [-7.73063011e-04 6.80374320e-06 9.99999701e-01 -3.44021394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.69, Y:-20.56, Z:-0.34 [[ 9.97055191e-01 7.66834533e-02 7.70200374e-04 2.06688649e+02] [-7.66834246e-02 9.97055489e-01 -6.68314518e-05 -2.05568372e+01] [-7.73057377e-04 7.57304366e-06 9.99999701e-01 -3.41176958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.72, Y:-20.56, Z:-0.34 [[ 9.96959504e-01 7.79176100e-02 7.70337136e-04 2.06716322e+02] [-7.79175829e-02 9.96959802e-01 -6.52160106e-05 -2.05610571e+01] [-7.73076634e-04 4.99491397e-06 9.99999701e-01 -3.40621019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.74, Y:-20.57, Z:-0.34 [[ 9.96573998e-01 8.27023206e-02 7.70341310e-04 2.06743717e+02] [-8.27022950e-02 9.96574295e-01 -6.51666656e-05 -2.05657402e+01] [-7.73091783e-04 1.23441023e-06 9.99999701e-01 -3.39039692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.77, Y:-20.57, Z:-0.33 [[ 9.96315166e-01 8.57641868e-02 7.70345883e-04 2.06772197e+02] [-8.57641621e-02 9.96315464e-01 -6.51125568e-05 -2.05695603e+01] [-7.73091842e-04 -1.19544133e-06 9.99999701e-01 -3.34843975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.80, Y:-20.57, Z:-0.34 [[ 9.95997407e-01 8.93788145e-02 7.70348955e-04 2.06800040e+02] [-8.93787909e-02 9.95997705e-01 -6.50762028e-05 -2.05731382e+01] [-7.73082224e-04 -4.03712886e-06 9.99999701e-01 -3.37612264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.83, Y:-20.57, Z:-0.33 [[ 9.95301646e-01 9.68196296e-02 7.70352786e-04 2.06829220e+02] [-9.68196082e-02 9.95301944e-01 -6.50308113e-05 -2.05743466e+01] [-7.73029885e-04 -9.85998146e-06 9.99999701e-01 -3.34615502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.86, Y:-20.58, Z:-0.34 [[ 9.94953008e-01 1.00339021e-01 7.70355121e-04 2.06856128e+02] [-1.00339001e-01 9.94953306e-01 -6.50031491e-05 -2.05751781e+01] [-7.72989726e-04 -1.26215842e-05 9.99999701e-01 -3.35005835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:206.88, Y:-20.58, Z:-0.34 [[ 9.94643338e-01 1.03363612e-01 7.70360564e-04 2.06882831e+02] [-1.03363593e-01 9.94643636e-01 -6.49385744e-05 -2.05762984e+01] [-7.72946518e-04 -1.50365151e-05 9.99999701e-01 -3.35655270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.91, Y:-20.58, Z:-0.34 [[ 9.94172053e-01 1.07802299e-01 7.70365943e-04 2.06912204e+02] [-1.07802281e-01 9.94172351e-01 -6.48746963e-05 -2.05758780e+01] [-7.72870163e-04 -1.85505962e-05 9.99999701e-01 -3.36168464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.94, Y:-20.58, Z:-0.34 [[ 9.94047612e-01 1.08943801e-01 7.70369034e-04 2.06939668e+02] [-1.08943783e-01 9.94047910e-01 -6.48379748e-05 -2.05767794e+01] [-7.72847424e-04 -1.94748828e-05 9.99999701e-01 -3.41423755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.97, Y:-20.58, Z:-0.34 [[ 9.93987468e-01 1.09491188e-01 7.70372885e-04 2.06968596e+02] [-1.09491171e-01 9.93987766e-01 -6.47921857e-05 -2.05773153e+01] [-7.72835396e-04 -1.99464084e-05 9.99999701e-01 -3.39991436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.00, Y:-20.58, Z:-0.35 [[ 9.94050792e-01 1.08914781e-01 7.70375958e-04 2.06996022e+02] [-1.08914764e-01 9.94051090e-01 -6.47556327e-05 -2.05775659e+01] [-7.72845906e-04 -1.95349275e-05 9.99999701e-01 -3.45008231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.03, Y:-20.58, Z:-0.34 [[ 9.94183742e-01 1.07694449e-01 7.70379775e-04 2.07025219e+02] [-1.07694431e-01 9.94184040e-01 -6.47101861e-05 -2.05773653e+01] [-7.72868205e-04 -1.86317968e-05 9.99999701e-01 -3.40464811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.05, Y:-20.58, Z:-0.34 [[ 9.94714426e-01 1.02677249e-01 7.70382795e-04 2.07053389e+02] [-1.02677230e-01 9.94714724e-01 -6.46742072e-05 -2.05763919e+01] [-7.72951679e-04 -1.47684043e-05 9.99999701e-01 -3.43134976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.08, Y:-20.58, Z:-0.34 [[ 9.95088840e-01 9.89828582e-02 7.70386539e-04 2.07081837e+02] [-9.89828378e-02 9.95089139e-01 -6.46295894e-05 -2.05772808e+01] [-7.73000498e-04 -1.19428627e-05 9.99999701e-01 -3.39477897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.11, Y:-20.58, Z:-0.34 [[ 9.95923174e-01 9.02022014e-02 7.70390993e-04 2.07110102e+02] [-9.02021785e-02 9.95923472e-01 -6.45764431e-05 -2.05770597e+01] [-7.73075411e-04 -5.17776965e-06 9.99999701e-01 -3.38523193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.14, Y:-20.58, Z:-0.34 [[ 9.96300896e-01 8.59298045e-02 7.70532487e-04 2.07138448e+02] [-8.59297816e-02 9.96301194e-01 -6.28861666e-05 -2.05797461e+01] [-7.73086232e-04 -3.55814419e-06 9.99999701e-01 -3.37502063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.17, Y:-20.58, Z:-0.34 [[ 9.96628532e-01 8.20425187e-02 7.70396830e-04 2.07166736e+02] [-8.20424934e-02 9.96628830e-01 -6.45063152e-05 -2.05822499e+01] [-7.73091952e-04 1.08355746e-06 9.99999701e-01 -3.36347684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.19, Y:-20.58, Z:-0.34 [[ 9.97073542e-01 7.64444735e-02 7.70399926e-04 2.07193714e+02] [-7.64444465e-02 9.97073840e-01 -6.44693123e-05 -2.05849106e+01] [-7.73073935e-04 5.38784965e-06 9.99999701e-01 -3.36947005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.22, Y:-20.59, Z:-0.34 [[ 9.97192295e-01 7.48794569e-02 7.70405278e-04 2.07222884e+02] [-7.48794295e-02 9.97192593e-01 -6.44052972e-05 -2.05870869e+01] [-7.73065070e-04 6.53695844e-06 9.99999701e-01 -3.38258451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.25, Y:-20.59, Z:-0.34 [[ 9.97230956e-01 7.43628090e-02 7.70408302e-04 2.07250536e+02] [-7.43627815e-02 9.97231253e-01 -6.43691011e-05 -2.05870912e+01] [-7.73061904e-04 6.90115600e-06 9.99999701e-01 -3.42766435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.28, Y:-20.59, Z:-0.34 [[ 9.97154829e-01 7.53767373e-02 7.70413208e-04 2.07279007e+02] [-7.53767101e-02 9.97155127e-01 -6.43103250e-05 -2.05871795e+01] [-7.73068983e-04 6.05613807e-06 9.99999701e-01 -3.40923954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.31, Y:-20.59, Z:-0.34 [[ 9.97039133e-01 7.68919666e-02 7.70416281e-04 2.07306454e+02] [-7.68919399e-02 9.97039430e-01 -6.42734903e-05 -2.05875941e+01] [-7.73077525e-04 4.84438260e-06 9.99999701e-01 -3.40887187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:-20.59, Z:-0.34 [[ 9.96747178e-01 8.05882722e-02 7.70421615e-04 2.07334844e+02] [-8.05882466e-02 9.96747476e-01 -6.42094917e-05 -2.05882611e+01] [-7.73090332e-04 1.91370255e-06 9.99999701e-01 -3.38793863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:-20.59, Z:-0.34 [[ 9.96583554e-01 8.25870851e-02 7.70425408e-04 2.07362919e+02] [-8.25870602e-02 9.96583852e-01 -6.41639476e-05 -2.05902098e+01] [-7.73092634e-04 3.17565384e-07 9.99999701e-01 -3.39221265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:-20.59, Z:-0.34 [[ 9.96199403e-01 8.70985393e-02 7.70429180e-04 2.07391857e+02] [-8.70985158e-02 9.96199701e-01 -6.41186332e-05 -2.05912363e+01] [-7.73085958e-04 -3.22829391e-06 9.99999701e-01 -3.38960541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:-20.59, Z:-0.34 [[ 9.95994505e-01 8.94111440e-02 7.70432195e-04 2.07419921e+02] [-8.94111212e-02 9.95994803e-01 -6.40823834e-05 -2.05917013e+01] [-7.73076141e-04 -5.05950459e-06 9.99999701e-01 -3.38860442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.45, Y:-20.59, Z:-0.34 [[ 9.95624787e-01 9.34381613e-02 7.70436712e-04 2.07448321e+02] [-9.34381397e-02 9.95625085e-01 -6.40280219e-05 -2.05880733e+01] [-7.73048778e-04 -8.24028750e-06 9.99999701e-01 -3.37416721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:-20.59, Z:-0.34 [[ 9.95477160e-01 9.49980507e-02 7.70442272e-04 2.07476603e+02] [-9.49980297e-02 9.95477458e-01 -6.39610551e-05 -2.05879806e+01] [-7.73034090e-04 -9.51872833e-06 9.99999701e-01 -3.36936398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.51, Y:-20.59, Z:-0.34 [[ 9.95345308e-01 9.63697286e-02 7.70446776e-04 2.07505696e+02] [-9.63697080e-02 9.95345606e-01 -6.39067567e-05 -2.05885465e+01] [-7.73019490e-04 -1.06384404e-05 9.99999701e-01 -3.35958221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:-20.59, Z:-0.34 [[ 9.95085775e-01 9.90136657e-02 7.70449858e-04 2.07534215e+02] [-9.90136459e-02 9.95086074e-01 -6.38695809e-05 -2.05868423e+01] [-7.72987885e-04 -1.27293379e-05 9.99999701e-01 -3.36680450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.56, Y:-20.59, Z:-0.34 [[ 9.94934831e-01 1.00519099e-01 7.70453680e-04 2.07561550e+02] [-1.00519080e-01 9.94935129e-01 -6.38234357e-05 -2.05869268e+01] [-7.72966906e-04 -1.39451359e-05 9.99999701e-01 -3.38231938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.59, Y:-20.58, Z:-0.34 [[ 9.94633484e-01 1.03458391e-01 7.70459001e-04 2.07590050e+02] [-1.03458373e-01 9.94633782e-01 -6.37591468e-05 -2.05831075e+01] [-7.72920969e-04 -1.62934524e-05 9.99999701e-01 -3.36342838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:-20.58, Z:-0.34 [[ 9.94498722e-01 1.04745874e-01 7.70463589e-04 2.07618026e+02] [-1.04745856e-01 9.94499020e-01 -6.37036558e-05 -2.05815529e+01] [-7.72897979e-04 -1.73496639e-05 9.99999701e-01 -3.36016876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.65, Y:-20.58, Z:-0.33 [[ 9.94390409e-01 1.05769191e-01 7.70467389e-04 2.07646687e+02] [-1.05769174e-01 9.94390707e-01 -6.36576651e-05 -2.05804952e+01] [-7.72878631e-04 -1.81911275e-05 9.99999701e-01 -3.34448987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.67, Y:-20.58, Z:-0.34 [[ 9.94347808e-01 1.06168934e-01 7.70470405e-04 2.07672543e+02] [-1.06168916e-01 9.94348107e-01 -6.36211383e-05 -2.05751836e+01] [-7.72870377e-04 -1.85384685e-05 9.99999701e-01 -3.35221121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:-20.57, Z:-0.33 [[ 9.94490859e-01 1.04820505e-01 7.70803778e-04 2.07702519e+02] [-1.04820490e-01 9.94491157e-01 -5.95707115e-05 -2.05743963e+01] [-7.72801773e-04 -2.15535017e-05 9.99999701e-01 -3.34997413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:-20.57, Z:-0.33 [[ 9.94668707e-01 1.03119198e-01 7.70486904e-04 2.07731027e+02] [-1.03119180e-01 9.94669006e-01 -6.34203821e-05 -2.05729445e+01] [-7.72919301e-04 -1.63697080e-05 9.99999701e-01 -3.34954307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:-20.57, Z:-0.34 [[ 9.95168433e-01 9.81794077e-02 7.70491351e-04 2.07759783e+02] [-9.81793880e-02 9.95168731e-01 -6.33663118e-05 -2.05705184e+01] [-7.72990167e-04 -1.25862160e-05 9.99999701e-01 -3.36621460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:-20.57, Z:-0.34 [[ 9.95449043e-01 9.52922316e-02 7.70494321e-04 2.07787482e+02] [-9.52922111e-02 9.95449341e-01 -6.33301689e-05 -2.05713081e+01] [-7.73022938e-04 -1.03801515e-05 9.99999701e-01 -3.37980897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:-20.57, Z:-0.34 [[ 9.95923651e-01 9.01969345e-02 7.70497990e-04 2.07815666e+02] [-9.01969125e-02 9.95923949e-01 -6.32855081e-05 -2.05690697e+01] [-7.73065560e-04 -6.46900550e-06 9.99999701e-01 -3.36021470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:-20.57, Z:-0.34 [[ 9.96149859e-01 8.76633580e-02 7.70502470e-04 2.07843122e+02] [-8.76633353e-02 9.96150157e-01 -6.32309118e-05 -2.05685690e+01] [-7.73079191e-04 -4.55735251e-06 9.99999701e-01 -3.36034534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:-20.57, Z:-0.33 [[ 9.96378762e-01 8.50221661e-02 7.70506921e-04 2.07871010e+02] [-8.50221427e-02 9.96379060e-01 -6.31766249e-05 -2.05677788e+01] [-7.73088375e-04 -2.56230211e-06 9.99999701e-01 -3.34304573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:-20.56, Z:-0.33 [[ 9.96773832e-01 8.02579246e-02 7.70511402e-04 2.07897906e+02] [-8.02578998e-02 9.96774130e-01 -6.31219293e-05 -2.05637436e+01] [-7.73091867e-04 1.07866043e-06 9.99999701e-01 -3.34192778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:-20.56, Z:-0.33 [[ 9.96965869e-01 7.78361311e-02 7.70517341e-04 2.07926139e+02] [-7.78361056e-02 9.96966166e-01 -6.30493483e-05 -2.05639197e+01] [-7.73087237e-04 2.88397915e-06 9.99999701e-01 -3.33712156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.054203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.96, Y:-20.56, Z:-0.33 [[ 9.97327167e-01 7.30611312e-02 7.70520905e-04 2.07955151e+02] [-7.30611043e-02 9.97327464e-01 -6.30057669e-05 -2.05648765e+01] [-7.73064933e-04 6.54225479e-06 9.99999701e-01 -3.30590212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:-20.57, Z:-0.33 [[ 9.97485424e-01 7.08677349e-02 7.70523898e-04 2.07983907e+02] [-7.08677074e-02 9.97485721e-01 -6.29691381e-05 -2.05664115e+01] [-7.73049067e-04 8.20553524e-06 9.99999701e-01 -3.30471030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:-20.57, Z:-0.33 [[ 9.97490457e-01 7.07968480e-02 7.70526877e-04 2.08012300e+02] [-7.07968205e-02 9.97490755e-01 -6.29326645e-05 -2.05686039e+01] [-7.73048871e-04 8.22387927e-06 9.99999701e-01 -3.30493054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.04, Y:-20.57, Z:-0.33 [[ 9.97655047e-01 6.84383956e-02 7.70531346e-04 2.08039022e+02] [-6.84383674e-02 9.97655344e-01 -6.28779064e-05 -2.05698869e+01] [-7.73027978e-04 9.99655324e-06 9.99999701e-01 -3.30775285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.07, Y:-20.57, Z:-0.33 [[ 9.97945139e-01 6.40695337e-02 7.70536526e-04 2.08067417e+02] [-6.40695043e-02 9.97945437e-01 -6.28143634e-05 -2.05730607e+01] [-7.72977897e-04 1.33173954e-05 9.99999701e-01 -3.32064340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:-20.58, Z:-0.33 [[ 9.98058986e-01 6.22709107e-02 7.70539460e-04 2.08094628e+02] [-6.22708808e-02 9.98059284e-01 -6.27783475e-05 -2.05758901e+01] [-7.72953326e-04 1.46743229e-05 9.99999701e-01 -3.33174532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.12, Y:-20.58, Z:-0.33 [[ 9.98171023e-01 6.04484534e-02 7.70546843e-04 2.08123655e+02] [-6.04484230e-02 9.98171320e-01 -6.26875976e-05 -2.05791849e+01] [-7.72927128e-04 1.59946019e-05 9.99999701e-01 -3.33597773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.15, Y:-20.58, Z:-0.33 [[ 9.98180543e-01 6.02910487e-02 7.70549755e-04 2.08150387e+02] [-6.02910183e-02 9.98180840e-01 -6.26517829e-05 -2.05819571e+01] [-7.72925343e-04 1.60805613e-05 9.99999701e-01 -3.34116025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:-20.58, Z:-0.33 [[ 9.98177944e-01 6.03340616e-02 7.70557252e-04 2.08177826e+02] [-6.03340313e-02 9.98178241e-01 -6.25594436e-05 -2.05849756e+01] [-7.72927947e-04 1.59546314e-05 9.99999701e-01 -3.34203918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:-20.59, Z:-0.33 [[ 9.98089238e-01 6.17841365e-02 7.70561582e-04 2.08205428e+02] [-6.17841066e-02 9.98089535e-01 -6.25060656e-05 -2.05890077e+01] [-7.72951334e-04 1.47781725e-05 9.99999701e-01 -3.33367409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:-20.59, Z:-0.33 [[ 9.98002930e-01 6.31629553e-02 7.70565989e-04 2.08232243e+02] [-6.31629259e-02 9.98003227e-01 -6.24516799e-05 -2.05921308e+01] [-7.72971977e-04 1.36557570e-05 9.99999701e-01 -3.33872727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.26, Y:-20.60, Z:-0.33 [[ 9.97763307e-01 6.68415287e-02 7.70571087e-04 2.08260763e+02] [-6.68415005e-02 9.97763604e-01 -6.23887182e-05 -2.05951359e+01] [-7.73017942e-04 1.07430461e-05 9.99999701e-01 -3.33890639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:-20.60, Z:-0.33 [[ 9.97616015e-01 6.90050251e-02 7.70574001e-04 2.08289498e+02] [-6.90049975e-02 9.97616312e-01 -6.23527007e-05 -2.05980535e+01] [-7.73039843e-04 9.03059576e-06 9.99999701e-01 -3.32657775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.32, Y:-20.60, Z:-0.33 [[ 9.97455962e-01 7.12812074e-02 7.70576934e-04 2.08317567e+02] [-7.12811805e-02 9.97456259e-01 -6.23164340e-05 -2.06017094e+01] [-7.73058777e-04 7.23026507e-06 9.99999701e-01 -3.32611530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:-20.61, Z:-0.33 [[ 9.97094768e-01 7.61671214e-02 7.70581449e-04 2.08343878e+02] [-7.61670960e-02 9.97095065e-01 -6.22605600e-05 -2.06072847e+01] [-7.73085168e-04 3.38672740e-06 9.99999701e-01 -3.33073932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:-20.61, Z:-0.33 [[ 9.96880353e-01 7.89238157e-02 7.70586698e-04 2.08370839e+02] [-7.89237912e-02 9.96880650e-01 -6.21955272e-05 -2.06100890e+01] [-7.73091677e-04 1.18387542e-06 9.99999701e-01 -3.33859814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:-20.61, Z:-0.33 [[ 9.96384275e-01 8.49575301e-02 7.70591882e-04 2.08398677e+02] [-8.49575074e-02 9.96384573e-01 -6.21312273e-05 -2.06121545e+01] [-7.73084379e-04 -3.56098770e-06 9.99999701e-01 -3.33853664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:-20.61, Z:-0.33 [[ 9.96166209e-01 8.74773665e-02 7.70596283e-04 2.08425758e+02] [-8.74773446e-02 9.96166507e-01 -6.20765939e-05 -2.06140741e+01] [-7.73072505e-04 -5.57111137e-06 9.99999701e-01 -3.34130201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:-20.62, Z:-0.34 [[ 9.95982943e-01 8.95398423e-02 7.70601400e-04 2.08452588e+02] [-8.95398211e-02 9.95983241e-01 -6.20130060e-05 -2.06160945e+01] [-7.73058715e-04 -7.23561526e-06 9.99999701e-01 -3.35330791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:-20.62, Z:-0.34 [[ 9.95772322e-01 9.18525362e-02 7.70609391e-04 2.08480607e+02] [-9.18525158e-02 9.95772620e-01 -6.19135514e-05 -2.06196592e+01] [-7.73038649e-04 -9.13061043e-06 9.99999701e-01 -3.35603057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:-20.62, Z:-0.34 [[ 9.95735064e-01 9.22555594e-02 7.70613731e-04 2.08508825e+02] [-9.22555392e-02 9.95735362e-01 -6.18594839e-05 -2.06241270e+01] [-7.73034224e-04 -9.49772811e-06 9.99999701e-01 -3.36218678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.54, Y:-20.63, Z:-0.34 [[ 9.95770637e-01 9.18708028e-02 7.70616673e-04 2.08536505e+02] [-9.18707824e-02 9.95770935e-01 -6.18228070e-05 -2.06291970e+01] [-7.73037397e-04 -9.23582078e-06 9.99999701e-01 -3.38431333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.56, Y:-20.63, Z:-0.34 [[ 9.95843742e-01 9.10749522e-02 7.70620327e-04 2.08564483e+02] [-9.10749317e-02 9.95844041e-01 -6.17772357e-05 -2.06319062e+01] [-7.73044019e-04 -8.66372004e-06 9.99999701e-01 -3.37408517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.59, Y:-20.63, Z:-0.34 [[ 9.95947522e-01 8.99329703e-02 7.70624708e-04 2.08592484e+02] [-8.99329495e-02 9.95947820e-01 -6.17225357e-05 -2.06349363e+01] [-7.73052889e-04 -7.83214643e-06 9.99999701e-01 -3.38126545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:-20.64, Z:-0.34 [[ 9.96208269e-01 8.69970797e-02 7.70628331e-04 2.08619476e+02] [-8.69970581e-02 9.96208567e-01 -6.16772628e-05 -2.06402959e+01] [-7.73072287e-04 -5.59899846e-06 9.99999701e-01 -3.38918378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.65, Y:-20.64, Z:-0.34 [[ 9.96367549e-01 8.51534727e-02 7.70633309e-04 2.08646392e+02] [-8.51534505e-02 9.96367847e-01 -6.16150008e-05 -2.06437698e+01] [-7.73080982e-04 -4.23089808e-06 9.99999701e-01 -3.39281404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:-20.65, Z:-0.34 [[ 9.96644530e-01 8.18479528e-02 7.70640693e-04 2.08675099e+02] [-8.18479297e-02 9.96644828e-01 -6.15225060e-05 -2.06490186e+01] [-7.73090552e-04 -1.75927629e-06 9.99999701e-01 -3.35948705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.70, Y:-20.65, Z:-0.34 [[ 9.96766138e-01 8.03534192e-02 7.70643566e-04 2.08703198e+02] [-8.03533957e-02 9.96766436e-01 -6.14865050e-05 -2.06534101e+01] [-7.73092291e-04 -6.36161230e-07 9.99999701e-01 -3.35306212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.73, Y:-20.66, Z:-0.34 [[ 9.96884820e-01 7.88673716e-02 7.70646438e-04 2.08731034e+02] [-7.88673476e-02 9.96885118e-01 -6.14504841e-05 -2.06578553e+01] [-7.73092403e-04 4.80214248e-07 9.99999701e-01 -3.36746091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.76, Y:-20.66, Z:-0.34 [[ 9.97054440e-01 7.66932128e-02 7.70650016e-04 2.08759106e+02] [-7.66931883e-02 9.97054738e-01 -6.14055758e-05 -2.06623892e+01] [-7.73089641e-04 2.12109518e-06 9.99999701e-01 -3.37486844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:-20.67, Z:-0.34 [[ 9.97119466e-01 7.58431100e-02 7.70652833e-04 2.08786872e+02] [-7.58430852e-02 9.97119763e-01 -6.13702056e-05 -2.06678348e+01] [-7.73087678e-04 2.74473814e-06 9.99999701e-01 -3.37794842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.82, Y:-20.67, Z:-0.33 [[ 9.97131319e-01 7.56871092e-02 7.70656327e-04 2.08815812e+02] [-7.56870844e-02 9.97131617e-01 -6.13262984e-05 -2.06724797e+01] [-7.73087400e-04 2.82164232e-06 9.99999701e-01 -3.34162381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.84, Y:-20.68, Z:-0.33 [[ 9.97117185e-01 7.58730898e-02 7.70659364e-04 2.08843020e+02] [-7.58730651e-02 9.97117483e-01 -6.12881052e-05 -2.06765810e+01] [-7.73088043e-04 2.63913482e-06 9.99999701e-01 -3.34728766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:-20.68, Z:-0.34 [[ 9.97085280e-01 7.62912150e-02 7.70664641e-04 2.08870207e+02] [-7.62911904e-02 9.97085578e-01 -6.12216820e-05 -2.06801834e+01] [-7.73089276e-04 2.24831506e-06 9.99999701e-01 -3.36173433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:-20.68, Z:-0.34 [[ 9.96987382e-01 7.75600861e-02 7.70668355e-04 2.08897569e+02] [-7.75600619e-02 9.96987679e-01 -6.11748948e-05 -2.06844699e+01] [-7.73091585e-04 1.21751283e-06 9.99999701e-01 -3.37872972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10420382200002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:208.93, Y:-20.69, Z:-0.34 [[ 9.96866008e-01 7.91047974e-02 7.70671970e-04 2.08926592e+02] [-7.91047738e-02 9.96866305e-01 -6.11293204e-05 -2.06884693e+01] [-7.73092542e-04 -2.60903255e-08 9.99999701e-01 -3.39159737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:-20.69, Z:-0.34 [[ 9.96776856e-01 8.02203539e-02 7.70674893e-04 2.08954236e+02] [-8.02203306e-02 9.96777154e-01 -6.10924525e-05 -2.06925385e+01] [-7.73091984e-04 -9.28251912e-07 9.99999701e-01 -3.39142051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.98, Y:-20.70, Z:-0.34 [[ 9.96705972e-01 8.10963097e-02 7.70679342e-04 2.08981282e+02] [-8.10962868e-02 9.96706270e-01 -6.10362724e-05 -2.06958353e+01] [-7.73090749e-04 -1.66401573e-06 9.99999701e-01 -3.41146831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.01, Y:-20.70, Z:-0.34 [[ 9.96580338e-01 8.26258836e-02 7.70684529e-04 2.09009887e+02] [-8.26258612e-02 9.96580636e-01 -6.09707109e-05 -2.06998893e+01] [-7.73087036e-04 -2.91626121e-06 9.99999701e-01 -3.40187177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.04, Y:-20.70, Z:-0.34 [[ 9.96500785e-01 8.35798551e-02 7.70687420e-04 2.09037941e+02] [-8.35798329e-02 9.96501083e-01 -6.09341407e-05 -2.07020075e+01] [-7.73083715e-04 -3.69300677e-06 9.99999701e-01 -3.40511181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.07, Y:-20.70, Z:-0.34 [[ 9.96402272e-01 8.47462014e-02 7.70691033e-04 2.09065942e+02] [-8.47461796e-02 9.96402570e-01 -6.08884157e-05 -2.07033071e+01] [-7.73078587e-04 -4.64376496e-06 9.99999701e-01 -3.40027292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:-20.70, Z:-0.34 [[ 9.96195757e-01 8.71402297e-02 7.70695391e-04 2.09093484e+02] [-8.71402087e-02 9.96196055e-01 -6.08331925e-05 -2.07048172e+01] [-7.73064727e-04 -6.55678905e-06 9.99999701e-01 -3.42520886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.12, Y:-20.71, Z:-0.34 [[ 9.96148280e-01 8.76812973e-02 7.70700811e-04 2.09122571e+02] [-8.76812765e-02 9.96148578e-01 -6.07644522e-05 -2.07073556e+01] [-7.73060423e-04 -7.04562633e-06 9.99999701e-01 -3.42436639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.15, Y:-20.71, Z:-0.34 [[ 9.96159713e-01 8.75513066e-02 7.70703641e-04 2.09151620e+02] [-8.75512858e-02 9.96160012e-01 -6.07285347e-05 -2.07096337e+01] [-7.73061011e-04 -6.98077502e-06 9.99999701e-01 -3.39518327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:-20.71, Z:-0.34 [[ 9.96232369e-01 8.67206590e-02 7.70706593e-04 2.09178844e+02] [-8.67206380e-02 9.96232667e-01 -6.06910463e-05 -2.07124467e+01] [-7.73066253e-04 -6.37378266e-06 9.99999701e-01 -3.40267902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.21, Y:-20.72, Z:-0.34 [[ 9.96369435e-01 8.51313964e-02 7.70710261e-04 2.09206578e+02] [-8.51313750e-02 9.96369733e-01 -6.06444327e-05 -2.07151794e+01] [-7.73075123e-04 -5.18736512e-06 9.99999701e-01 -3.40253353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.24, Y:-20.72, Z:-0.34 [[ 9.96709252e-01 8.10559923e-02 7.70715527e-04 2.09235434e+02] [-8.10559697e-02 9.96709550e-01 -6.05774421e-05 -2.07184070e+01] [-7.73089690e-04 -2.09299741e-06 9.99999701e-01 -3.37185812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:-20.72, Z:-0.34 [[ 9.96899829e-01 7.86774199e-02 7.70718444e-04 2.09262229e+02] [-7.86773966e-02 9.96900127e-01 -6.05403007e-05 -2.07211902e+01] [-7.73092470e-04 -2.85505299e-07 9.99999701e-01 -3.39271821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.29, Y:-20.73, Z:-0.34 [[ 9.97280261e-01 7.36986217e-02 7.70723498e-04 2.09290145e+02] [-7.36985969e-02 9.97280559e-01 -6.04758906e-05 -2.07276832e+01] [-7.73084551e-04 3.51017152e-06 9.99999701e-01 -3.37568206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.524203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.32, Y:-20.73, Z:-0.34 [[ 9.97451213e-01 7.13476321e-02 7.70727091e-04 2.09317664e+02] [-7.13476067e-02 9.97451510e-01 -6.04300644e-05 -2.07319881e+01] [-7.73074443e-04 5.28650766e-06 9.99999701e-01 -3.38428127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.35, Y:-20.74, Z:-0.34 [[ 9.97576253e-01 6.95774831e-02 7.70730638e-04 2.09345369e+02] [-6.95774572e-02 9.97576550e-01 -6.03847886e-05 -2.07373065e+01] [-7.73064233e-04 6.61295308e-06 9.99999701e-01 -3.37990224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.37, Y:-20.74, Z:-0.34 [[ 9.97753593e-01 6.69863656e-02 7.70734054e-04 2.09373919e+02] [-6.69863390e-02 9.97753891e-01 -6.03411574e-05 -2.07449729e+01] [-7.73044936e-04 8.57695399e-06 9.99999701e-01 -3.37616881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.40, Y:-20.75, Z:-0.34 [[ 9.97765986e-01 6.68015196e-02 7.70736861e-04 2.09401971e+02] [-6.68014929e-02 9.97766284e-01 -6.03052923e-05 -2.07515961e+01] [-7.73043738e-04 8.68419655e-06 9.99999701e-01 -3.36533761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:-20.76, Z:-0.34 [[ 9.97702566e-01 6.77421274e-02 7.70739685e-04 2.09430551e+02] [-6.77421010e-02 9.97702864e-01 -6.02691703e-05 -2.07557282e+01] [-7.73051953e-04 7.91918024e-06 9.99999701e-01 -3.35816599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:-20.76, Z:-0.34 [[ 9.97584088e-01 6.94650524e-02 7.70742515e-04 2.09459528e+02] [-6.94650266e-02 9.97584386e-01 -6.02329585e-05 -2.07605700e+01] [-7.73064784e-04 6.54779171e-06 9.99999701e-01 -3.35363191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.704203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.49, Y:-20.76, Z:-0.34 [[ 9.97408034e-01 7.19487250e-02 7.70745421e-04 2.09486202e+02] [-7.19487000e-02 9.97408332e-01 -6.01957473e-05 -2.07648654e+01] [-7.73078912e-04 4.58559092e-06 9.99999701e-01 -3.35962680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.51, Y:-20.77, Z:-0.33 [[ 9.96866125e-01 7.91033215e-02 7.70750481e-04 2.09514008e+02] [-7.91032986e-02 9.96866423e-01 -6.01308983e-05 -2.07718418e+01] [-7.73091828e-04 -1.02644989e-06 9.99999701e-01 -3.34353697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:-20.77, Z:-0.33 [[ 9.96537296e-01 8.31433932e-02 7.70755535e-04 2.09542402e+02] [-8.31433716e-02 9.96537594e-01 -6.00660359e-05 -2.07739437e+01] [-7.73080961e-04 -4.22516889e-06 9.99999701e-01 -3.33377575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:-20.78, Z:-0.33 [[ 9.95883343e-01 9.06409031e-02 7.70759786e-04 2.09569561e+02] [-9.06408838e-02 9.95883641e-01 -6.00114403e-05 -2.07758994e+01] [-7.73026554e-04 -1.00979545e-05 9.99999701e-01 -3.33982523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82420382200002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.60, Y:-20.78, Z:-0.33 [[ 9.95574495e-01 9.39725044e-02 7.70766961e-04 2.09598295e+02] [-9.39724861e-02 9.95574793e-01 -5.99191514e-05 -2.07786261e+01] [-7.72986910e-04 -1.27769087e-05 9.99999701e-01 -3.33756921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:-20.78, Z:-0.33 [[ 9.95240482e-01 9.74463412e-02 7.70769756e-04 2.09626824e+02] [-9.74463240e-02 9.95240780e-01 -5.98831767e-05 -2.07813532e+01] [-7.72936889e-04 -1.55105178e-05 9.99999701e-01 -3.32238005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:-20.78, Z:-0.33 [[ 9.94636998e-01 1.03424597e-01 7.70771914e-04 2.09654263e+02] [-1.03424582e-01 9.94637297e-01 -5.98553881e-05 -2.07837444e+01] [-7.72829012e-04 -2.01823792e-05 9.99999701e-01 -3.34456568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:-20.79, Z:-0.33 [[ 9.94166770e-01 1.07851007e-01 7.70775509e-04 2.09683052e+02] [-1.07850993e-01 9.94167068e-01 -5.98090539e-05 -2.07864414e+01] [-7.72730095e-04 -2.36687301e-05 9.99999701e-01 -3.33815204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:-20.79, Z:-0.33 [[ 9.94004198e-01 1.09339201e-01 7.70778346e-04 2.09710909e+02] [-1.09339187e-01 9.94004496e-01 -5.97724692e-05 -2.07873256e+01] [-7.72692616e-04 -2.48621926e-05 9.99999701e-01 -3.34759422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:-20.79, Z:-0.33 [[ 9.93882362e-01 1.10441192e-01 7.70781884e-04 2.09739438e+02] [-1.10441179e-01 9.93882660e-01 -5.97268185e-05 -2.07872600e+01] [-7.72663050e-04 -2.57646282e-05 9.99999701e-01 -3.31760177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:-20.79, Z:-0.33 [[ 9.93838307e-01 1.10836931e-01 7.70784773e-04 2.09766892e+02] [-1.10836918e-01 9.93838606e-01 -5.96895128e-05 -2.07870175e+01] [-7.72651466e-04 -2.61096845e-05 9.99999701e-01 -3.32423227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:-20.79, Z:-0.33 [[ 9.93846307e-01 1.10765175e-01 7.70792649e-04 2.09795299e+02] [-1.10765162e-01 9.93846606e-01 -5.95876270e-05 -2.07890768e+01] [-7.72649892e-04 -2.61560294e-05 9.99999701e-01 -3.32445261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:-20.79, Z:-0.33 [[ 9.93944513e-01 1.09880441e-01 7.70796947e-04 2.09823243e+02] [-1.09880428e-01 9.93944811e-01 -5.95319746e-05 -2.07896733e+01] [-7.72671026e-04 -2.55240187e-05 9.99999701e-01 -3.34124870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:-20.79, Z:-0.33 [[ 9.94271292e-01 1.06883134e-01 7.70800507e-04 2.09852392e+02] [-1.06883120e-01 9.94271590e-01 -5.94858508e-05 -2.07910445e+01] [-7.72743080e-04 -2.32404896e-05 9.99999701e-01 -3.32873508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.124203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.88, Y:-20.79, Z:-0.33 [[ 9.94467675e-01 1.05040228e-01 7.70803346e-04 2.09881742e+02] [-1.05040213e-01 9.94467973e-01 -5.94490416e-05 -2.07915431e+01] [-7.72783782e-04 -2.18451977e-05 9.99999701e-01 -3.33543909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:-20.79, Z:-0.33 [[ 9.94730357e-01 1.02522794e-01 7.70805517e-04 2.09910776e+02] [-1.02522778e-01 9.94730655e-01 -5.94208737e-05 -2.07933986e+01] [-7.72835871e-04 -1.99173762e-05 9.99999701e-01 -3.34145537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:-20.79, Z:-0.33 [[ 9.95263854e-01 9.72073405e-02 7.70808398e-04 2.09939033e+02] [-9.72073237e-02 9.95264152e-01 -5.93834845e-05 -2.07935581e+01] [-7.72930477e-04 -1.58259858e-05 9.99999701e-01 -3.33797006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:-20.79, Z:-0.33 [[ 9.95556161e-01 9.41665332e-02 7.70811974e-04 2.09966946e+02] [-9.41665155e-02 9.95556459e-01 -5.93370333e-05 -2.07945220e+01] [-7.72974402e-04 -1.35113285e-05 9.99999701e-01 -3.33016445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:-20.79, Z:-0.33 [[ 9.96172719e-01 8.74031997e-02 7.70816240e-04 2.09995673e+02] [-8.74031800e-02 9.96173017e-01 -5.92815521e-05 -2.07936448e+01] [-7.73047737e-04 -8.31712563e-06 9.99999701e-01 -3.32014505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:-20.80, Z:-0.33 [[ 9.96494878e-01 8.36502428e-02 7.70819075e-04 2.10023458e+02] [-8.36502220e-02 9.96495177e-01 -5.92446669e-05 -2.07952254e+01] [-7.73073321e-04 -5.44217963e-06 9.99999701e-01 -3.32974563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.05, Y:-20.80, Z:-0.33 [[ 9.97020033e-01 7.71392234e-02 7.70822576e-04 2.10050781e+02] [-7.71392006e-02 9.97020331e-01 -5.91990836e-05 -2.07973714e+01] [-7.73092351e-04 -4.37965091e-07 9.99999701e-01 -3.34021993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.08, Y:-20.80, Z:-0.33 [[ 9.97218610e-01 7.45281848e-02 7.70827063e-04 2.10078722e+02] [-7.45281613e-02 9.97218908e-01 -5.91406070e-05 -2.07990129e+01] [-7.73090964e-04 1.52779024e-06 9.99999701e-01 -3.32439203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.11, Y:-20.80, Z:-0.33 [[ 9.97368185e-01 7.24990277e-02 7.70831303e-04 2.10105848e+02] [-7.24990036e-02 9.97368483e-01 -5.90852924e-05 -2.08005360e+01] [-7.73086473e-04 3.04528948e-06 9.99999701e-01 -3.33539658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.394203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.13, Y:-20.80, Z:-0.33 [[ 9.97547103e-01 6.99941714e-02 7.70836206e-04 2.10134769e+02] [-6.99941467e-02 9.97547400e-01 -5.90212594e-05 -2.08019831e+01] [-7.73076797e-04 4.92246390e-06 9.99999701e-01 -3.31528338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:-20.80, Z:-0.33 [[ 9.97616915e-01 6.89920103e-02 7.70838969e-04 2.10163281e+02] [-6.89919854e-02 9.97617212e-01 -5.89851404e-05 -2.08049414e+01] [-7.73071727e-04 5.66286284e-06 9.99999701e-01 -3.29546973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:-20.81, Z:-0.33 [[ 9.97668135e-01 6.82473260e-02 7.70841772e-04 2.10191377e+02] [-6.82473008e-02 9.97668433e-01 -5.89484862e-05 -2.08067086e+01] [-7.73067580e-04 6.20315594e-06 9.99999701e-01 -3.28256854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.22, Y:-20.81, Z:-0.33 [[ 9.97654873e-01 6.84409315e-02 7.70846106e-04 2.10219415e+02] [-6.84409064e-02 9.97655170e-01 -5.88917674e-05 -2.08090025e+01] [-7.73069210e-04 5.99625250e-06 9.99999701e-01 -3.30059286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.25, Y:-20.81, Z:-0.33 [[ 9.97631972e-01 6.87739411e-02 7.70851054e-04 2.10248338e+02] [-6.87739161e-02 9.97632269e-01 -5.88269212e-05 -2.08119811e+01] [-7.73071646e-04 5.67317166e-06 9.99999701e-01 -3.30980510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:-20.82, Z:-0.33 [[ 9.97531087e-01 7.02220514e-02 7.70853838e-04 2.10276547e+02] [-7.02220269e-02 9.97531385e-01 -5.87904220e-05 -2.08151485e+01] [-7.73079281e-04 4.51435455e-06 9.99999701e-01 -3.31344860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57420382200002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:210.30, Y:-20.82, Z:-0.33 [[ 9.97450560e-01 7.13567468e-02 7.70856641e-04 2.10303054e+02] [-7.13567227e-02 9.97450858e-01 -5.87536462e-05 -2.08163688e+01] [-7.73084087e-04 3.59805376e-06 9.99999701e-01 -3.33332912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:-20.82, Z:-0.33 [[ 9.97272939e-01 7.37976295e-02 7.70861516e-04 2.10331025e+02] [-7.37976061e-02 9.97273237e-01 -5.86896154e-05 -2.08185598e+01] [-7.73090714e-04 1.64183071e-06 9.99999701e-01 -3.31971912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:-20.82, Z:-0.33 [[ 9.97157727e-01 7.53383889e-02 7.70865594e-04 2.10358710e+02] [-7.53383661e-02 9.97158025e-01 -5.86359980e-05 -2.08196931e+01] [-7.73092355e-04 3.93584119e-07 9.99999701e-01 -3.31843099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:-20.82, Z:-0.33 [[ 9.96897433e-01 7.87077788e-02 7.70870192e-04 2.10387994e+02] [-7.87077570e-02 9.96897731e-01 -5.85754944e-05 -2.08201272e+01] [-7.73089092e-04 -2.27970378e-06 9.99999701e-01 -3.29926497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:-20.82, Z:-0.33 [[ 9.96716130e-01 8.09713689e-02 7.70872960e-04 2.10416883e+02] [-8.09713478e-02 9.96716428e-01 -5.85390398e-05 -2.08227138e+01] [-7.73081729e-04 -4.07181741e-06 9.99999701e-01 -3.29178959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:-20.83, Z:-0.33 [[ 9.96536191e-01 8.31566382e-02 7.70875826e-04 2.10444938e+02] [-8.31566178e-02 9.96536489e-01 -5.85012758e-05 -2.08252986e+01] [-7.73070658e-04 -5.80478788e-06 9.99999701e-01 -3.31560211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.47, Y:-20.83, Z:-0.33 [[ 9.96125975e-01 8.79343416e-02 7.70879397e-04 2.10473548e+02] [-8.79343226e-02 9.96126273e-01 -5.84541868e-05 -2.08264565e+01] [-7.73033351e-04 -9.55902383e-06 9.99999701e-01 -3.28862542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:-20.83, Z:-0.33 [[ 9.95911621e-01 9.03296651e-02 7.70882152e-04 2.10500642e+02] [-9.03296469e-02 9.95911920e-01 -5.84178278e-05 -2.08267440e+01] [-7.73007587e-04 -1.14545190e-05 9.99999701e-01 -3.29423150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:-20.82, Z:-0.33 [[ 9.95491231e-01 9.48504846e-02 7.70889500e-04 2.10529354e+02] [-9.48504679e-02 9.95491530e-01 -5.83207062e-05 -2.08234864e+01] [-7.72945714e-04 -1.50614781e-05 9.99999701e-01 -3.27728821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.56, Y:-20.82, Z:-0.33 [[ 9.95320217e-01 9.66285240e-02 7.70892274e-04 2.10557353e+02] [-9.66285078e-02 9.95320515e-01 -5.82840163e-05 -2.08229772e+01] [-7.72916793e-04 -1.64789103e-05 9.99999701e-01 -3.28089729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.58, Y:-20.82, Z:-0.33 [[ 9.95180381e-01 9.80582215e-02 7.70895717e-04 2.10584870e+02] [-9.80582058e-02 9.95180680e-01 -5.82384413e-05 -2.08229821e+01] [-7.72891281e-04 -1.76348966e-05 9.99999701e-01 -3.29937972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.61, Y:-20.82, Z:-0.33 [[ 9.95057090e-01 9.93015321e-02 7.70899127e-04 2.10613964e+02] [-9.93015168e-02 9.95057388e-01 -5.81932617e-05 -2.08218595e+01] [-7.72867552e-04 -1.86458350e-05 9.99999701e-01 -3.33027740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.64, Y:-20.82, Z:-0.33 [[ 9.95083926e-01 9.90322508e-02 7.70901900e-04 2.10641947e+02] [-9.90322354e-02 9.95084224e-01 -5.81565045e-05 -2.08217520e+01] [-7.72871689e-04 -1.84735356e-05 9.99999701e-01 -3.33111450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.67, Y:-20.82, Z:-0.33 [[ 9.95321431e-01 9.66160139e-02 7.70906099e-04 2.10670573e+02] [-9.66159978e-02 9.95321730e-01 -5.81007930e-05 -2.08194655e+01] [-7.72913059e-04 -1.66528975e-05 9.99999701e-01 -3.31127877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:-20.82, Z:-0.33 [[ 9.95558215e-01 9.41448150e-02 7.70909602e-04 2.10698856e+02] [-9.41447983e-02 9.95558513e-01 -5.80542799e-05 -2.08197893e+01] [-7.72951126e-04 -1.47807136e-05 9.99999701e-01 -3.31287670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.024203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.73, Y:-20.82, Z:-0.33 [[ 9.95828098e-01 9.12458485e-02 7.70914760e-04 2.10727588e+02] [-9.12458309e-02 9.95828396e-01 -5.79856945e-05 -2.08195455e+01] [-7.72989763e-04 -1.25989740e-05 9.99999701e-01 -3.30605875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.76, Y:-20.82, Z:-0.33 [[ 9.96601009e-01 8.23761725e-02 7.70917433e-04 2.10755719e+02] [-8.23761523e-02 9.96601308e-01 -5.79501348e-05 -2.08180077e+01] [-7.73071032e-04 -5.75204910e-06 9.99999701e-01 -3.29096829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:-20.82, Z:-0.33 [[ 9.97356765e-01 7.26559583e-02 7.70920743e-04 2.10784307e+02] [-7.26559352e-02 9.97357063e-01 -5.79060710e-05 -2.08204425e+01] [-7.73090470e-04 1.74104404e-06 9.99999701e-01 -3.27670283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:-20.82, Z:-0.33 [[ 9.97660886e-01 6.83532129e-02 7.70923470e-04 2.10812428e+02] [-6.83531885e-02 9.97661184e-01 -5.78697452e-05 -2.08240831e+01] [-7.73076005e-04 5.03930400e-06 9.99999701e-01 -3.28220825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:-20.83, Z:-0.33 [[ 9.97912133e-01 6.45815763e-02 7.70927560e-04 2.10841241e+02] [-6.45815509e-02 9.97912431e-01 -5.78152021e-05 -2.08271115e+01] [-7.73051993e-04 7.90679416e-06 9.99999701e-01 -3.28934676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:-20.83, Z:-0.33 [[ 9.98137163e-01 6.10049883e-02 7.70930310e-04 2.10868933e+02] [-6.10049619e-02 9.98137461e-01 -5.77785103e-05 -2.08291521e+01] [-7.73019200e-04 1.06403042e-05 9.99999701e-01 -3.30204599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:-20.83, Z:-0.33 [[ 9.98455394e-01 5.55538613e-02 7.70933718e-04 2.10897494e+02] [-5.55538333e-02 9.98455692e-01 -5.77330027e-05 -2.08323156e+01] [-7.72950450e-04 1.48155047e-05 9.99999701e-01 -3.31558799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:-20.84, Z:-0.33 [[ 9.98657346e-01 5.17968264e-02 7.70936415e-04 2.10926329e+02] [-5.17967973e-02 9.98657643e-01 -5.76969758e-05 -2.08376069e+01] [-7.72890063e-04 1.76874715e-05 9.99999701e-01 -3.33331750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:-20.84, Z:-0.33 [[ 9.98702019e-01 5.09282144e-02 7.70939107e-04 2.10955115e+02] [-5.09281850e-02 9.98702316e-01 -5.76609832e-05 -2.08411514e+01] [-7.72875242e-04 1.83236109e-05 9.99999701e-01 -3.33186572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:-20.84, Z:-0.33 [[ 9.98723629e-01 5.05026551e-02 7.70941836e-04 2.10983088e+02] [-5.05026256e-02 9.98723927e-01 -5.76244696e-05 -2.08446640e+01] [-7.72868246e-04 1.86163325e-05 9.99999701e-01 -3.34031482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32420382200002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.01, Y:-20.85, Z:-0.33 [[ 9.98705950e-01 5.08510724e-02 7.70945229e-04 2.11011973e+02] [-5.08510431e-02 9.98706247e-01 -5.75790432e-05 -2.08484407e+01] [-7.72875772e-04 1.83011639e-05 9.99999701e-01 -3.33562740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:-20.86, Z:-0.34 [[ 9.98660038e-01 5.17448966e-02 7.70947948e-04 2.11040489e+02] [-5.17448676e-02 9.98660335e-01 -5.75426054e-05 -2.08555133e+01] [-7.72892673e-04 1.75729009e-05 9.99999701e-01 -3.35277847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:-20.86, Z:-0.34 [[ 9.98499752e-01 5.47508112e-02 7.70950651e-04 2.11069369e+02] [-5.47507831e-02 9.98500049e-01 -5.75063762e-05 -2.08616067e+01] [-7.72942783e-04 1.52099505e-05 9.99999701e-01 -3.35167721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41420382200002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:211.10, Y:-20.87, Z:-0.34 [[ 9.98371924e-01 5.70342533e-02 7.70953384e-04 2.11097436e+02] [-5.70342259e-02 9.98372222e-01 -5.74697064e-05 -2.08654407e+01] [-7.72976185e-04 1.34054119e-05 9.99999701e-01 -3.35835564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.13, Y:-20.87, Z:-0.33 [[ 9.98292331e-01 5.84108572e-02 7.70957294e-04 2.11126093e+02] [-5.84108303e-02 9.98292628e-01 -5.74172066e-05 -2.08693280e+01] [-7.72994772e-04 1.22869014e-05 9.99999701e-01 -3.34777826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.47420382200002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.15, Y:-20.88, Z:-0.33 [[ 9.98069066e-01 6.21091325e-02 7.70959955e-04 2.11154279e+02] [-6.21091067e-02 9.98069364e-01 -5.73814583e-05 -2.08751019e+01] [-7.73035424e-04 9.38702443e-06 9.99999701e-01 -3.32871348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:-20.88, Z:-0.33 [[ 9.98011444e-01 6.30282692e-02 7.70961962e-04 2.11181768e+02] [-6.30282437e-02 9.98011742e-01 -5.73544728e-05 -2.08792543e+01] [-7.73044044e-04 8.64804183e-06 9.99999701e-01 -3.32060116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:-20.89, Z:-0.33 [[ 9.97826463e-01 6.58919981e-02 7.70966031e-04 2.11210409e+02] [-6.58919735e-02 9.97826761e-01 -5.72997297e-05 -2.08864244e+01] [-7.73066131e-04 6.37471334e-06 9.99999701e-01 -3.32430147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:-20.89, Z:-0.33 [[ 9.97716921e-01 6.75303787e-02 7.70968760e-04 2.11237382e+02] [-6.75303546e-02 9.97717218e-01 -5.72629924e-05 -2.08925494e+01] [-7.73075798e-04 5.06846270e-06 9.99999701e-01 -3.33788055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:-20.90, Z:-0.34 [[ 9.97627424e-01 6.88398715e-02 7.70973514e-04 2.11265005e+02] [-6.88398478e-02 9.97627722e-01 -5.71989121e-05 -2.08982887e+01] [-7.73082116e-04 3.98950402e-06 9.99999701e-01 -3.36770288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:-20.91, Z:-0.33 [[ 9.97448763e-01 7.13818633e-02 7.70976872e-04 2.11292073e+02] [-7.13818404e-02 9.97449061e-01 -5.71536062e-05 -2.09061597e+01] [-7.73089888e-04 1.97404576e-06 9.99999701e-01 -3.34940586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.32, Y:-20.91, Z:-0.33 [[ 9.97358612e-01 7.26306096e-02 7.70980888e-04 2.11319520e+02] [-7.26305871e-02 9.97358910e-01 -5.70993861e-05 -2.09109079e+01] [-7.73091821e-04 9.51769949e-07 9.99999701e-01 -3.34992342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:-20.92, Z:-0.33 [[ 9.97191622e-01 7.48884086e-02 7.70984217e-04 2.11347827e+02] [-7.48883869e-02 9.97191920e-01 -5.70544030e-05 -2.09201098e+01] [-7.73091945e-04 -8.43591667e-07 9.99999701e-01 -3.32355931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:-20.93, Z:-0.33 [[ 9.97097625e-01 7.61296978e-02 7.70986983e-04 2.11375734e+02] [-7.61296765e-02 9.97097924e-01 -5.70169969e-05 -2.09252848e+01] [-7.73090207e-04 -1.84347734e-06 9.99999701e-01 -3.31643294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.744203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.40, Y:-20.93, Z:-0.33 [[ 9.96896335e-01 7.87216795e-02 7.70991191e-04 2.11403269e+02] [-7.87216590e-02 9.96896633e-01 -5.69600415e-05 -2.09321860e+01] [-7.73082512e-04 -3.91044896e-06 9.99999701e-01 -3.33095407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.43, Y:-20.94, Z:-0.33 [[ 9.96857417e-01 7.92129808e-02 7.70994672e-04 2.11431062e+02] [-7.92129605e-02 9.96857715e-01 -5.69128878e-05 -2.09376762e+01] [-7.73080226e-04 -4.33873614e-06 9.99999701e-01 -3.32757692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.46, Y:-20.94, Z:-0.33 [[ 9.96819721e-01 7.96859427e-02 7.70998621e-04 2.11459003e+02] [-7.96859226e-02 9.96820019e-01 -5.68593378e-05 -2.09432926e+01] [-7.73077750e-04 -4.75922713e-06 9.99999701e-01 -3.30715503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.49, Y:-20.95, Z:-0.33 [[ 9.96771338e-01 8.02888856e-02 7.71002762e-04 2.11487466e+02] [-8.02888657e-02 9.96771636e-01 -5.68031341e-05 -2.09507540e+01] [-7.73074344e-04 -5.28320119e-06 9.99999701e-01 -3.30724296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.52, Y:-20.96, Z:-0.33 [[ 9.96780561e-01 8.01743076e-02 7.71005573e-04 2.11515376e+02] [-8.01742877e-02 9.96780859e-01 -5.67649461e-05 -2.09558528e+01] [-7.73074687e-04 -5.23262790e-06 9.99999701e-01 -3.32291173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:-20.97, Z:-0.33 [[ 9.96851272e-01 7.92902691e-02 7.71009059e-04 2.11543147e+02] [-7.92902490e-02 9.96851570e-01 -5.67175531e-05 -2.09651510e+01] [-7.73078742e-04 -4.59453533e-06 9.99999701e-01 -3.33832833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:-20.97, Z:-0.33 [[ 9.96855096e-01 7.92421826e-02 7.71011783e-04 2.11572397e+02] [-7.92421624e-02 9.96855394e-01 -5.66804998e-05 -2.09672125e+01] [-7.73078742e-04 -4.59439588e-06 9.99999701e-01 -3.33855505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:-20.97, Z:-0.33 [[ 9.96910785e-01 7.85384769e-02 7.71014516e-04 2.11600214e+02] [-7.85384566e-02 9.96911083e-01 -5.66433074e-05 -2.09725799e+01] [-7.73081595e-04 -4.08596602e-06 9.99999701e-01 -3.34078020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.63, Y:-20.98, Z:-0.33 [[ 9.97010962e-01 7.72563686e-02 7.71018183e-04 2.11627621e+02] [-7.72563479e-02 9.97011260e-01 -5.65933437e-05 -2.09803276e+01] [-7.73086007e-04 -3.14186491e-06 9.99999701e-01 -3.33131711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:-20.98, Z:-0.33 [[ 9.97030582e-01 7.70027504e-02 7.71021523e-04 2.11654744e+02] [-7.70027297e-02 9.97030880e-01 -5.65478025e-05 -2.09847743e+01] [-7.73086604e-04 -2.99087354e-06 9.99999701e-01 -3.32841718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:-20.99, Z:-0.33 [[ 9.96961191e-01 7.78960092e-02 7.71024833e-04 2.11681999e+02] [-7.78959888e-02 9.96961490e-01 -5.65026435e-05 -2.09917186e+01] [-7.73083396e-04 -3.72879899e-06 9.99999701e-01 -3.33381351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:-21.00, Z:-0.33 [[ 9.96890980e-01 7.87894669e-02 7.71028318e-04 2.11710846e+02] [-7.87894468e-02 9.96891278e-01 -5.64550422e-05 -2.09961718e+01] [-7.73079468e-04 -4.46937227e-06 9.99999701e-01 -3.31862487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.74, Y:-21.00, Z:-0.33 [[ 9.96825352e-01 7.96154691e-02 7.71030965e-04 2.11739396e+02] [-7.96154493e-02 9.96825650e-01 -5.64188718e-05 -2.09996191e+01] [-7.73075258e-04 -5.14621492e-06 9.99999701e-01 -3.30609426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.77, Y:-21.01, Z:-0.33 [[ 9.96723005e-01 8.08866943e-02 7.71033694e-04 2.11767016e+02] [-8.08866749e-02 9.96723303e-01 -5.63815540e-05 -2.10053104e+01] [-7.73067767e-04 -6.16955975e-06 9.99999701e-01 -3.31433225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.80, Y:-21.01, Z:-0.33 [[ 9.96666167e-01 8.15840480e-02 7.71037078e-04 2.11795478e+02] [-8.15840288e-02 9.96666465e-01 -5.63352336e-05 -2.10096107e+01] [-7.73062855e-04 -6.75688989e-06 9.99999701e-01 -3.29435207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.82, Y:-21.01, Z:-0.33 [[ 9.96540721e-01 8.31023237e-02 7.71039700e-04 2.11823575e+02] [-8.31023050e-02 9.96541020e-01 -5.62993202e-05 -2.10143249e+01] [-7.73051293e-04 -7.97061123e-06 9.99999701e-01 -3.29191338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.85, Y:-21.02, Z:-0.33 [[ 9.96457447e-01 8.40949578e-02 7.71042316e-04 2.11852718e+02] [-8.40949394e-02 9.96457745e-01 -5.62634704e-05 -2.10172587e+01] [-7.73042562e-04 -8.77660281e-06 9.99999701e-01 -3.30124075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.88, Y:-21.02, Z:-0.33 [[ 9.96348989e-01 8.53703522e-02 7.71044978e-04 2.11880428e+02] [-8.53703342e-02 9.96349288e-01 -5.62269723e-05 -2.10203075e+01] [-7.73030231e-04 -9.80268048e-06 9.99999701e-01 -3.33167320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.91, Y:-21.02, Z:-0.33 [[ 9.96063585e-01 8.86382511e-02 7.71048295e-04 2.11909337e+02] [-8.86382341e-02 9.96063884e-01 -5.61814452e-05 -2.10234790e+01] [-7.72993184e-04 -1.23840676e-05 9.99999701e-01 -3.32310838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.94, Y:-21.03, Z:-0.33 [[ 9.95886853e-01 9.06023288e-02 7.71050914e-04 2.11938460e+02] [-9.06023124e-02 9.95887151e-01 -5.61454795e-05 -2.10251788e+01] [-7.72966609e-04 -1.39444510e-05 9.99999701e-01 -3.31984334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.97, Y:-21.03, Z:-0.33 [[ 9.95536685e-01 9.43722091e-02 7.71053554e-04 2.11967829e+02] [-9.43721939e-02 9.95536984e-01 -5.61092004e-05 -2.10258243e+01] [-7.72907478e-04 -1.69072481e-05 9.99999701e-01 -3.31795702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.00, Y:-21.03, Z:-0.33 [[ 9.95413053e-01 9.56674400e-02 7.71055581e-04 2.11995850e+02] [-9.56674253e-02 9.95413352e-01 -5.60813327e-05 -2.10268780e+01] [-7.72884178e-04 -1.79408115e-05 9.99999701e-01 -3.34906849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.02, Y:-21.03, Z:-0.33 [[ 9.95350625e-01 9.63147888e-02 7.71058951e-04 2.12023744e+02] [-9.63147743e-02 9.95350924e-01 -5.60349552e-05 -2.10279125e+01] [-7.72871234e-04 -1.84899412e-05 9.99999701e-01 -3.32707741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.05, Y:-21.03, Z:-0.33 [[ 9.95387929e-01 9.59284980e-02 7.71062932e-04 2.12052782e+02] [-9.59284834e-02 9.95388227e-01 -5.59801250e-05 -2.10295282e+01] [-7.72877054e-04 -1.82449569e-05 9.99999701e-01 -3.32894969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.08, Y:-21.03, Z:-0.33 [[ 9.95515877e-01 9.45914582e-02 7.71065643e-04 2.12081673e+02] [-9.45914432e-02 9.95516176e-01 -5.59427605e-05 -2.10321835e+01] [-7.72900027e-04 -1.72443056e-05 9.99999701e-01 -3.33255140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.11, Y:-21.03, Z:-0.33 [[ 9.95729408e-01 9.23165864e-02 7.71068349e-04 2.12109427e+02] [-9.23165708e-02 9.95729706e-01 -5.59054304e-05 -2.10336718e+01] [-7.72936659e-04 -1.55157048e-05 9.99999701e-01 -3.33620761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.14, Y:-21.03, Z:-0.33 [[ 9.95789861e-01 9.16622006e-02 7.71071725e-04 2.12136799e+02] [-9.16621848e-02 9.95790159e-01 -5.58588349e-05 -2.10340043e+01] [-7.72945779e-04 -1.50544576e-05 9.99999701e-01 -3.34029102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.554203822 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:212.17, Y:-21.03, Z:-0.33 [[ 9.95789666e-01 9.16643106e-02 7.71073834e-04 2.12165451e+02] [-9.16642949e-02 9.95789965e-01 -5.58297099e-05 -2.10332700e+01] [-7.72945178e-04 -1.50852911e-05 9.99999701e-01 -3.30394826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.19, Y:-21.03, Z:-0.33 [[ 9.95808576e-01 9.14586507e-02 7.71076488e-04 2.12194653e+02] [-9.14586349e-02 9.95808875e-01 -5.57930239e-05 -2.10338701e+01] [-7.72947565e-04 -1.49624313e-05 9.99999701e-01 -3.29925413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.22, Y:-21.03, Z:-0.33 [[ 9.95783093e-01 9.17356897e-02 7.71079169e-04 2.12222539e+02] [-9.17356740e-02 9.95783392e-01 -5.57559544e-05 -2.10345579e+01] [-7.72942641e-04 -1.52146305e-05 9.99999701e-01 -3.31406519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.25, Y:-21.03, Z:-0.33 [[ 9.95780937e-01 9.17590878e-02 7.71082504e-04 2.12251868e+02] [-9.17590722e-02 9.95781236e-01 -5.57097877e-05 -2.10332427e+01] [-7.72941368e-04 -1.52790706e-05 9.99999701e-01 -3.31658064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.28, Y:-21.03, Z:-0.33 [[ 9.95827216e-01 9.12554683e-02 7.71085218e-04 2.12280634e+02] [-9.12554526e-02 9.95827515e-01 -5.56722002e-05 -2.10337565e+01] [-7.72948269e-04 -1.49258384e-05 9.99999701e-01 -3.31361082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.31, Y:-21.03, Z:-0.33 [[ 9.95968630e-01 8.96988991e-02 7.71088005e-04 2.12308929e+02] [-8.96988829e-02 9.95968929e-01 -5.56335695e-05 -2.10329428e+01] [-7.72969965e-04 -1.37564427e-05 9.99999701e-01 -3.34229719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.34, Y:-21.03, Z:-0.34 [[ 9.96071146e-01 8.85532513e-02 7.71091466e-04 2.12336675e+02] [-8.85532348e-02 9.96071444e-01 -5.55855574e-05 -2.10325403e+01] [-7.72984472e-04 -1.29154739e-05 9.99999701e-01 -3.37620327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.37, Y:-21.03, Z:-0.34 [[ 9.96200383e-01 8.70873249e-02 7.71094871e-04 2.12365345e+02] [-8.70873080e-02 9.96200681e-01 -5.55382786e-05 -2.10320902e+01] [-7.73001917e-04 -1.18253221e-05 9.99999701e-01 -3.36561895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.39, Y:-21.03, Z:-0.33 [[ 9.96517381e-01 8.33817435e-02 7.71097453e-04 2.12394151e+02] [-8.33817255e-02 9.96517679e-01 -5.55024165e-05 -2.10310204e+01] [-7.73040132e-04 -8.98631347e-06 9.99999701e-01 -3.34666444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.42, Y:-21.03, Z:-0.34 [[ 9.96721951e-01 8.08996775e-02 7.71100184e-04 2.12421522e+02] [-8.08996588e-02 9.96722249e-01 -5.54644503e-05 -2.10325399e+01] [-7.73059766e-04 -7.09910665e-06 9.99999701e-01 -3.37258788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.45, Y:-21.03, Z:-0.33 [[ 9.97155481e-01 7.53681160e-02 7.71103891e-04 2.12450150e+02] [-7.53680957e-02 9.97155779e-01 -5.54128622e-05 -2.10339926e+01] [-7.73087064e-04 -2.86139260e-06 9.99999701e-01 -3.32867995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.48, Y:-21.04, Z:-0.33 [[ 9.97335429e-01 7.29482452e-02 7.71106532e-04 2.12478664e+02] [-7.29482242e-02 9.97335728e-01 -5.53760849e-05 -2.10355440e+01] [-7.73091682e-04 -1.02232078e-06 9.99999701e-01 -3.30657647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.51, Y:-21.04, Z:-0.33 [[ 9.97669747e-01 6.82237659e-02 7.71109245e-04 2.12505921e+02] [-6.82237435e-02 9.97670045e-01 -5.53382741e-05 -2.10374953e+01] [-7.73087981e-04 2.60136256e-06 9.99999701e-01 -3.33262032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.53, Y:-21.04, Z:-0.33 [[ 9.97818267e-01 6.60159930e-02 7.71111543e-04 2.12534155e+02] [-6.60159700e-02 9.97818565e-01 -5.53062411e-05 -2.10397213e+01] [-7.73080510e-04 4.27990123e-06 9.99999701e-01 -3.29592879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:-21.04, Z:-0.33 [[ 9.97987382e-01 6.34081307e-02 7.71114839e-04 2.12561946e+02] [-6.34081069e-02 9.97987680e-01 -5.52602537e-05 -2.10417288e+01] [-7.73067058e-04 6.25410381e-06 9.99999701e-01 -3.29198822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:-21.04, Z:-0.33 [[ 9.98026971e-01 6.27819291e-02 7.71118127e-04 2.12590692e+02] [-6.27819052e-02 9.98027269e-01 -5.52143338e-05 -2.10435316e+01] [-7.73063380e-04 6.69312917e-06 9.99999701e-01 -3.27206298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:-21.05, Z:-0.33 [[ 9.98035183e-01 6.26512404e-02 7.71120778e-04 2.12619783e+02] [-6.26512165e-02 9.98035481e-01 -5.51772728e-05 -2.10457552e+01] [-7.73062822e-04 6.75720470e-06 9.99999701e-01 -3.26808092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.65, Y:-21.05, Z:-0.33 [[ 9.97993521e-01 6.33114354e-02 7.71123442e-04 2.12646974e+02] [-6.33114117e-02 9.97993819e-01 -5.51400195e-05 -2.10493747e+01] [-7.73067423e-04 6.20846849e-06 9.99999701e-01 -3.29298166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.68, Y:-21.05, Z:-0.33 [[ 9.97925104e-01 6.43808436e-02 7.71126735e-04 2.12676069e+02] [-6.43808202e-02 9.97925402e-01 -5.50939344e-05 -2.10523001e+01] [-7.73073950e-04 5.33384855e-06 9.99999701e-01 -3.29484101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.70, Y:-21.05, Z:-0.33 [[ 9.97683536e-01 6.80218104e-02 7.71129389e-04 2.12703505e+02] [-6.80217881e-02 9.97683834e-01 -5.50567601e-05 -2.10529111e+01] [-7.73088386e-04 2.47562322e-06 9.99999701e-01 -3.31885839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.73, Y:-21.05, Z:-0.33 [[ 9.97526899e-01 7.02815152e-02 7.71132695e-04 2.12732226e+02] [-7.02814937e-02 9.97527197e-01 -5.50104176e-05 -2.10542640e+01] [-7.73092051e-04 6.78013653e-07 9.99999701e-01 -3.32447743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.76, Y:-21.06, Z:-0.33 [[ 9.97149861e-01 7.54424277e-02 7.71135285e-04 2.12760782e+02] [-7.54424077e-02 9.97150159e-01 -5.49740920e-05 -2.10567228e+01] [-7.73085051e-04 -3.35889433e-06 9.99999701e-01 -3.31333619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.214203822 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:212.79, Y:-21.06, Z:-0.33 [[ 9.96944366e-01 7.81110530e-02 7.71137932e-04 2.12788731e+02] [-7.81110338e-02 9.96944664e-01 -5.49369304e-05 -2.10582783e+01] [-7.73073028e-04 -5.46531791e-06 9.99999701e-01 -3.32905482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.82, Y:-21.06, Z:-0.33 [[ 9.96694025e-01 8.12430025e-02 7.71141238e-04 2.12817017e+02] [-8.12429844e-02 9.96694324e-01 -5.48904889e-05 -2.10575141e+01] [-7.73051562e-04 -7.94079320e-06 9.99999701e-01 -3.34384400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.84, Y:-21.06, Z:-0.33 [[ 9.96594136e-01 8.24592783e-02 7.71144480e-04 2.12844412e+02] [-8.24592605e-02 9.96594435e-01 -5.48448992e-05 -2.10581739e+01] [-7.73040768e-04 -8.92989860e-06 9.99999701e-01 -3.34692903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.87, Y:-21.06, Z:-0.33 [[ 9.96549690e-01 8.29946979e-02 7.71148013e-04 2.12873464e+02] [-8.29946804e-02 9.96549989e-01 -5.47951809e-05 -2.10597270e+01] [-7.73035253e-04 -9.39506233e-06 9.99999701e-01 -3.33875013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.90, Y:-21.06, Z:-0.33 [[ 9.96609567e-01 8.22725676e-02 7.71150594e-04 2.12901531e+02] [-8.22725499e-02 9.96609866e-01 -5.47588319e-05 -2.10616912e+01] [-7.73041440e-04 -8.87134992e-06 9.99999701e-01 -3.34358464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.93, Y:-21.06, Z:-0.33 [[ 9.96704353e-01 8.11162027e-02 7.71153804e-04 2.12929216e+02] [-8.11161846e-02 9.96704651e-01 -5.47135969e-05 -2.10636814e+01] [-7.73050742e-04 -8.01977412e-06 9.99999701e-01 -3.33415858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.96, Y:-21.07, Z:-0.33 [[ 9.96977846e-01 7.76825551e-02 7.71157633e-04 2.12958430e+02] [-7.76825360e-02 9.96978145e-01 -5.46595728e-05 -2.10657955e+01] [-7.73073401e-04 -5.41109740e-06 9.99999701e-01 -3.33462645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.99, Y:-21.07, Z:-0.33 [[ 9.97142696e-01 7.55370742e-02 7.71160197e-04 2.12986754e+02] [-7.55370545e-02 9.97142994e-01 -5.46233739e-05 -2.10678640e+01] [-7.73083077e-04 -3.78387155e-06 9.99999701e-01 -3.33661992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.02, Y:-21.07, Z:-0.34 [[ 9.97495234e-01 7.07295095e-02 7.71162789e-04 2.13015697e+02] [-7.07294884e-02 9.97495532e-01 -5.45867480e-05 -2.10712059e+01] [-7.73092331e-04 -9.39286499e-08 9.99999701e-01 -3.35285615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.484203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:213.04, Y:-21.07, Z:-0.34 [[ 9.97669783e-01 6.82232367e-02 7.71165394e-04 2.13043716e+02] [-6.82232149e-02 9.97670081e-01 -5.45499239e-05 -2.10746096e+01] [-7.73090213e-04 1.81142836e-06 9.99999701e-01 -3.37035604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.514203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:213.07, Y:-21.08, Z:-0.34 [[ 9.97826487e-01 6.58916247e-02 7.71168625e-04 2.13072242e+02] [-6.58916022e-02 9.97826785e-01 -5.45042090e-05 -2.10785623e+01] [-7.73084081e-04 3.57220709e-06 9.99999701e-01 -3.36245576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.10, Y:-21.09, Z:-0.33 [[ 9.98126244e-01 6.11833753e-02 7.71171166e-04 2.13100343e+02] [-6.11833515e-02 9.98126542e-01 -5.44682377e-05 -2.10850319e+01] [-7.73058960e-04 7.18334098e-06 9.99999701e-01 -3.31525571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57420382200002 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:213.13, Y:-21.09, Z:-0.33 [[ 9.98213859e-01 5.97368913e-02 7.71173814e-04 2.13128576e+02] [-5.97368670e-02 9.98214157e-01 -5.44307183e-05 -2.10881480e+01] [-7.73048141e-04 8.26598978e-06 9.99999701e-01 -3.31047061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60420382200002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:213.16, Y:-21.09, Z:-0.33 [[ 9.98331167e-01 5.77432832e-02 7.71176450e-04 2.13157350e+02] [-5.77432584e-02 9.98331465e-01 -5.43933459e-05 -2.10913770e+01] [-7.73030565e-04 9.77233141e-06 9.99999701e-01 -3.31459901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.19, Y:-21.10, Z:-0.33 [[ 9.98359365e-01 5.72536820e-02 7.71179076e-04 2.13186036e+02] [-5.72536571e-02 9.98359663e-01 -5.43560899e-05 -2.10955927e+01] [-7.73026168e-04 1.01140891e-05 9.99999701e-01 -3.32354090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.21, Y:-21.10, Z:-0.33 [[ 9.98349157e-01 5.74314035e-02 7.71181689e-04 2.13212912e+02] [-5.74313787e-02 9.98349455e-01 -5.43189920e-05 -2.11039711e+01] [-7.73028435e-04 9.93929223e-06 9.99999701e-01 -3.33596824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.24, Y:-21.11, Z:-0.33 [[ 9.98310585e-01 5.80980336e-02 7.71184940e-04 2.13241632e+02] [-5.80980090e-02 9.98310883e-01 -5.42728029e-05 -2.11088555e+01] [-7.73035461e-04 9.37680402e-06 9.99999701e-01 -3.33311888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.27, Y:-21.11, Z:-0.33 [[ 9.98206325e-01 5.98626515e-02 7.71169605e-04 2.13268968e+02] [-5.98626272e-02 9.98206623e-01 -5.44909097e-05 -2.11129900e+01] [-7.73048578e-04 8.22893212e-06 9.99999701e-01 -3.31861527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.30, Y:-21.12, Z:-0.33 [[ 9.97888389e-01 6.49474329e-02 7.71190249e-04 2.13296779e+02] [-6.49474104e-02 9.97888687e-01 -5.41971611e-05 -2.11166161e+01] [-7.73081991e-04 3.99590817e-06 9.99999701e-01 -3.31390141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.33, Y:-21.12, Z:-0.33 [[ 9.97674280e-01 6.81574377e-02 7.71193436e-04 2.13325736e+02] [-6.81574162e-02 9.97674578e-01 -5.41517736e-05 -2.11190953e+01] [-7.73090932e-04 1.46327972e-06 9.99999701e-01 -3.31097404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.35, Y:-21.12, Z:-0.33 [[ 9.97238877e-01 7.42565006e-02 7.71196015e-04 2.13354453e+02] [-7.42564809e-02 9.97239175e-01 -5.41150254e-05 -2.11224716e+01] [-7.73085270e-04 -3.30069494e-06 9.99999701e-01 -3.34764764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.38, Y:-21.12, Z:-0.33 [[ 9.97243432e-01 7.41952944e-02 7.71128239e-04 2.13383711e+02] [-7.41952740e-02 9.97243731e-01 -5.50809147e-05 -2.11244128e+01] [-7.73089546e-04 -2.28499053e-06 9.99999701e-01 -3.34787375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.41, Y:-21.13, Z:-0.34 [[ 9.97011914e-01 7.72440899e-02 7.71130859e-04 2.13410149e+02] [-7.72440705e-02 9.97012212e-01 -5.50435473e-05 -2.11272454e+01] [-7.73078672e-04 -4.68621402e-06 9.99999701e-01 -3.37178031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.44, Y:-21.13, Z:-0.34 [[ 9.96694016e-01 8.12431089e-02 7.71203597e-04 2.13437898e+02] [-8.12430915e-02 9.96694315e-01 -5.40048245e-05 -2.11322461e+01] [-7.73041761e-04 -8.82867898e-06 9.99999701e-01 -3.40898737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.47, Y:-21.14, Z:-0.34 [[ 9.96570901e-01 8.27396129e-02 7.71206763e-04 2.13466673e+02] [-8.27395960e-02 9.96571200e-01 -5.39595738e-05 -2.11352795e+01] [-7.73027044e-04 -1.00347949e-05 9.99999701e-01 -3.42233565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.49, Y:-21.14, Z:-0.34 [[ 9.96461640e-01 8.40452569e-02 7.71209283e-04 2.13494069e+02] [-8.40452403e-02 9.96461938e-01 -5.39235341e-05 -2.11370902e+01] [-7.73012715e-04 -1.10837363e-05 9.99999701e-01 -3.44475111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.52, Y:-21.14, Z:-0.34 [[ 9.96245114e-01 8.65741143e-02 7.71212418e-04 2.13522712e+02] [-8.65740986e-02 9.96245413e-01 -5.38786700e-05 -2.11375959e+01] [-7.72981331e-04 -1.30906581e-05 9.99999701e-01 -3.37075041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.55, Y:-21.14, Z:-0.34 [[ 9.96091934e-01 8.83191098e-02 7.71215059e-04 2.13550659e+02] [-8.83190945e-02 9.96092232e-01 -5.38408295e-05 -2.11392751e+01] [-7.72956504e-04 -1.44825998e-05 9.99999701e-01 -3.39002807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.58, Y:-21.14, Z:-0.34 [[ 9.96073762e-01 8.85238141e-02 7.71218340e-04 2.13579058e+02] [-8.85237990e-02 9.96074061e-01 -5.37937940e-05 -2.11415681e+01] [-7.72952615e-04 -1.46885906e-05 9.99999701e-01 -3.37759523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.61, Y:-21.14, Z:-0.34 [[ 9.96198623e-01 8.71074579e-02 7.71220953e-04 2.13607007e+02] [-8.71074424e-02 9.96198921e-01 -5.37563046e-05 -2.11432221e+01] [-7.72972057e-04 -1.36271282e-05 9.99999701e-01 -3.41069002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.64, Y:-21.14, Z:-0.34 [[ 9.96343030e-01 8.54398714e-02 7.71224457e-04 2.13635316e+02] [-8.54398554e-02 9.96343328e-01 -5.37059965e-05 -2.11444279e+01] [-7.72992976e-04 -1.23837108e-05 9.99999701e-01 -3.39659992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.66, Y:-21.15, Z:-0.34 [[ 9.96734190e-01 8.07487415e-02 7.71227518e-04 2.13664154e+02] [-8.07487242e-02 9.96734489e-01 -5.36619920e-05 -2.11463654e+01] [-7.73042204e-04 -8.78889605e-06 9.99999701e-01 -3.35614146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.69, Y:-21.15, Z:-0.34 [[ 9.96949027e-01 7.80515396e-02 7.71230098e-04 2.13692298e+02] [-7.80515215e-02 9.96949325e-01 -5.36248916e-05 -2.11486224e+01] [-7.73062831e-04 -6.73439901e-06 9.99999701e-01 -3.36166020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.72, Y:-21.15, Z:-0.34 [[ 9.97166603e-01 7.52208189e-02 7.71233295e-04 2.13721475e+02] [-7.52208000e-02 9.97166901e-01 -5.35788811e-05 -2.11507677e+01] [-7.73078562e-04 -4.58571453e-06 9.99999701e-01 -3.36055151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.75, Y:-21.15, Z:-0.34 [[ 9.97600133e-01 6.92342428e-02 7.71235837e-04 2.13750153e+02] [-6.92342221e-02 9.97600431e-01 -5.35422517e-05 -2.11540951e+01] [-7.73092161e-04 1.78441749e-08 9.99999701e-01 -3.37714840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.78, Y:-21.16, Z:-0.34 [[ 9.97797740e-01 6.63255313e-02 7.71238367e-04 2.13777586e+02] [-6.63255097e-02 9.97798038e-01 -5.35057900e-05 -2.11568266e+01] [-7.73088929e-04 2.23517851e-06 9.99999701e-01 -3.38839787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.81, Y:-21.16, Z:-0.34 [[ 9.98106851e-01 6.14989402e-02 7.71241499e-04 2.13807037e+02] [-6.14989172e-02 9.98107149e-01 -5.34606028e-05 -2.11621647e+01] [-7.73069424e-04 5.92887680e-06 9.99999701e-01 -3.37889703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.84, Y:-21.17, Z:-0.34 [[ 9.98225411e-01 5.95435540e-02 7.71242798e-04 2.13835879e+02] [-5.95435305e-02 9.98225709e-01 -5.34418581e-05 -2.11664877e+01] [-7.73056507e-04 7.42450172e-06 9.99999701e-01 -3.40902193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.87, Y:-21.17, Z:-0.34 [[ 9.98296885e-01 5.83329711e-02 7.71244729e-04 2.13865233e+02] [-5.83329472e-02 9.98297182e-01 -5.34139743e-05 -2.11711937e+01] [-7.73047236e-04 8.33402603e-06 9.99999701e-01 -3.41140652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:213.89, Y:-21.18, Z:-0.34 [[ 9.98328039e-01 5.77973342e-02 7.71245958e-04 2.13894112e+02] [-5.77973102e-02 9.98328337e-01 -5.33962354e-05 -2.11756815e+01] [-7.73042854e-04 8.73101709e-06 9.99999701e-01 -3.37431660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.92, Y:-21.18, Z:-0.34 [[ 9.98288096e-01 5.84831775e-02 7.71248562e-04 2.13921941e+02] [-5.84831537e-02 9.98288394e-01 -5.33585940e-05 -2.11782569e+01] [-7.73049068e-04 8.16220107e-06 9.99999701e-01 -3.38334567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.95, Y:-21.18, Z:-0.33 [[ 9.98029561e-01 6.27407443e-02 7.71251800e-04 2.13950765e+02] [-6.27407218e-02 9.98029859e-01 -5.33117446e-05 -2.11819439e+01] [-7.73077144e-04 4.81780237e-06 9.99999701e-01 -3.34392091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.98, Y:-21.18, Z:-0.33 [[ 9.97815326e-01 6.60604286e-02 7.71254374e-04 2.13978814e+02] [-6.60604072e-02 9.97815624e-01 -5.32744850e-05 -2.11848901e+01] [-7.73089000e-04 2.20871966e-06 9.99999701e-01 -3.34870665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.01, Y:-21.19, Z:-0.33 [[ 9.97217176e-01 7.45473663e-02 7.71257865e-04 2.14007305e+02] [-7.45473474e-02 9.97217474e-01 -5.32238971e-05 -2.11893987e+01] [-7.73079521e-04 -4.41944366e-06 9.99999701e-01 -3.34328904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.04, Y:-21.19, Z:-0.33 [[ 9.96896843e-01 7.87152452e-02 7.71260433e-04 2.14035921e+02] [-7.87152276e-02 9.96897141e-01 -5.31866585e-05 -2.11917458e+01] [-7.73053921e-04 -7.68832859e-06 9.99999701e-01 -3.34216283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.06, Y:-21.19, Z:-0.33 [[ 9.96252706e-01 8.64867101e-02 7.71263017e-04 2.14064060e+02] [-8.64866949e-02 9.96253004e-01 -5.31491563e-05 -2.11909660e+01] [-7.72969794e-04 -1.37539985e-05 9.99999701e-01 -3.33123362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.09, Y:-21.19, Z:-0.33 [[ 9.95969883e-01 8.96849903e-02 7.71266240e-04 2.14091749e+02] [-8.96849760e-02 9.95970181e-01 -5.31023494e-05 -2.11900597e+01] [-7.72920661e-04 -1.62826535e-05 9.99999701e-01 -3.34106192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.12, Y:-21.19, Z:-0.33 [[ 9.95722454e-01 9.23915617e-02 7.71269424e-04 2.14120464e+02] [-9.23915483e-02 9.95722752e-01 -5.30560574e-05 -2.11901281e+01] [-7.72872446e-04 -1.84296686e-05 9.99999701e-01 -3.33258329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.15, Y:-21.19, Z:-0.33 [[ 9.95441904e-01 9.53667673e-02 7.71271962e-04 2.14148750e+02] [-9.53667548e-02 9.95442203e-01 -5.30191377e-05 -2.11931297e+01] [-7.72812925e-04 -2.07762327e-05 9.99999701e-01 -3.32669373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.18, Y:-21.20, Z:-0.33 [[ 9.95419866e-01 9.55965207e-02 7.71274495e-04 2.14176585e+02] [-9.55965083e-02 9.95420165e-01 -5.29822724e-05 -2.11959284e+01] [-7.72807106e-04 -2.09915421e-05 9.99999701e-01 -3.33690630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.20, Y:-21.20, Z:-0.34 [[ 9.95569900e-01 9.40211624e-02 7.71277657e-04 2.14204815e+02] [-9.40211496e-02 9.95570199e-01 -5.29361915e-05 -2.11969629e+01] [-7.72838173e-04 -1.98147331e-05 9.99999701e-01 -3.35635212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.23, Y:-21.20, Z:-0.33 [[ 9.95727510e-01 9.23370537e-02 7.71280773e-04 2.14233244e+02] [-9.23370405e-02 9.95727808e-01 -5.28907610e-05 -2.11974845e+01] [-7.72869491e-04 -1.85529982e-05 9.99999701e-01 -3.33806182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.26, Y:-21.20, Z:-0.33 [[ 9.95865598e-01 9.08356508e-02 7.71283252e-04 2.14260665e+02] [-9.08356371e-02 9.95865897e-01 -5.28545911e-05 -2.11980488e+01] [-7.72895768e-04 -1.74239365e-05 9.99999701e-01 -3.34188969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.29, Y:-21.20, Z:-0.34 [[ 9.96126020e-01 8.79338203e-02 7.71286334e-04 2.14288644e+02] [-8.79338057e-02 9.96126319e-01 -5.28095779e-05 -2.11972906e+01] [-7.72942364e-04 -1.52171479e-05 9.99999701e-01 -3.36125321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.32, Y:-21.20, Z:-0.33 [[ 9.96231026e-01 8.67360838e-02 7.71289365e-04 2.14317263e+02] [-8.67360689e-02 9.96231324e-01 -5.27652637e-05 -2.11984284e+01] [-7.72959278e-04 -1.43322148e-05 9.99999701e-01 -3.33532883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.35, Y:-21.20, Z:-0.33 [[ 9.96463108e-01 8.40278445e-02 7.71291860e-04 2.14346226e+02] [-8.40278288e-02 9.96463407e-01 -5.27287767e-05 -2.11999014e+01] [-7.72994800e-04 -1.22676997e-05 9.99999701e-01 -3.32880370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.37, Y:-21.20, Z:-0.33 [[ 9.96555615e-01 8.29235289e-02 7.71294434e-04 2.14373858e+02] [-8.29235130e-02 9.96555913e-01 -5.26910980e-05 -2.12008209e+01] [-7.73007360e-04 -1.14488344e-05 9.99999701e-01 -3.34421796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.40, Y:-21.20, Z:-0.33 [[ 9.96720182e-01 8.09214732e-02 7.71297630e-04 2.14402405e+02] [-8.09214567e-02 9.96720480e-01 -5.26442726e-05 -2.11992017e+01] [-7.73028196e-04 -9.94291880e-06 9.99999701e-01 -3.34204148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.43, Y:-21.20, Z:-0.34 [[ 9.96801762e-01 7.99102756e-02 7.71300171e-04 2.14429941e+02] [-7.99102588e-02 9.96802060e-01 -5.26070108e-05 -2.11994706e+01] [-7.73037441e-04 -9.19603520e-06 9.99999701e-01 -3.36692569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.46, Y:-21.20, Z:-0.33 [[ 9.96894435e-01 7.87457349e-02 7.71303325e-04 2.14459268e+02] [-7.87457178e-02 9.96894733e-01 -5.25607299e-05 -2.11995513e+01] [-7.73047156e-04 -8.33933483e-06 9.99999701e-01 -3.34555703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.49, Y:-21.20, Z:-0.34 [[ 9.97063774e-01 7.65717648e-02 7.71305921e-04 2.14486990e+02] [-7.65717471e-02 9.97064073e-01 -5.25226103e-05 -2.11972748e+01] [-7.73063171e-04 -6.69184986e-06 9.99999701e-01 -3.36406538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.52, Y:-21.20, Z:-0.34 [[ 9.97162567e-01 7.52742955e-02 7.71309139e-04 2.14515013e+02] [-7.52742775e-02 9.97162866e-01 -5.24753014e-05 -2.11982586e+01] [-7.73070873e-04 -5.73333188e-06 9.99999701e-01 -3.37259398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.54, Y:-21.20, Z:-0.33 [[ 9.97414591e-01 7.18577642e-02 7.71312233e-04 2.14544048e+02] [-7.18577451e-02 9.97414889e-01 -5.24297841e-05 -2.11991447e+01] [-7.73085793e-04 -3.13052623e-06 9.99999701e-01 -3.34893446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.57, Y:-21.20, Z:-0.34 [[ 9.97567229e-01 6.97067363e-02 7.71314787e-04 2.14571395e+02] [-6.97067166e-02 9.97567527e-01 -5.23921854e-05 -2.11994746e+01] [-7.73090673e-04 -1.50109410e-06 9.99999701e-01 -3.36654655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.60, Y:-21.20, Z:-0.33 [[ 9.97911279e-01 6.45947727e-02 7.71318591e-04 2.14599889e+02] [-6.45947515e-02 9.97911577e-01 -5.23361315e-05 -2.11998007e+01] [-7.73088392e-04 2.40368314e-06 9.99999701e-01 -3.34058818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.63, Y:-21.20, Z:-0.33 [[ 9.98068881e-01 6.21121110e-02 7.71321015e-04 2.14628871e+02] [-6.21120891e-02 9.98069179e-01 -5.23003738e-05 -2.12021490e+01] [-7.73080219e-04 4.29101589e-06 9.99999701e-01 -3.34139574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.66, Y:-21.20, Z:-0.33 [[ 9.98222628e-01 5.95901915e-02 7.71323447e-04 2.14657391e+02] [-5.95901690e-02 9.98222926e-01 -5.22644890e-05 -2.12043299e+01] [-7.73067199e-04 6.20830098e-06 9.99999701e-01 -3.32871442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.69, Y:-21.21, Z:-0.33 [[ 9.98446803e-01 5.57080470e-02 7.71325966e-04 2.14686298e+02] [-5.57080233e-02 9.98447101e-01 -5.22272840e-05 -2.12068456e+01] [-7.73037655e-04 9.17711987e-06 9.99999701e-01 -3.33616356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.71, Y:-21.21, Z:-0.33 [[ 9.98519680e-01 5.43861600e-02 7.71327141e-04 2.14713687e+02] [-5.43861359e-02 9.98519978e-01 -5.22099273e-05 -2.12096165e+01] [-7.73025057e-04 1.01831372e-05 9.99999701e-01 -3.34237744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.74, Y:-21.21, Z:-0.34 [[ 9.98570454e-01 5.34457915e-02 7.71330449e-04 2.14742607e+02] [-5.34457671e-02 9.98570752e-01 -5.21610132e-05 -2.12120654e+01] [-7.73015813e-04 1.08620991e-05 9.99999701e-01 -3.36558315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.77, Y:-21.21, Z:-0.34 [[ 9.98542446e-01 5.39665564e-02 7.71331667e-04 2.14771800e+02] [-5.39665322e-02 9.98542744e-01 -5.21429896e-05 -2.12137701e+01] [-7.73021617e-04 1.04408931e-05 9.99999701e-01 -3.36308037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.80, Y:-21.22, Z:-0.34 [[ 9.98471858e-01 5.52571637e-02 7.71334113e-04 2.14800879e+02] [-5.52571399e-02 9.98472156e-01 -5.21067825e-05 -2.12160620e+01] [-7.73034908e-04 9.40543892e-06 9.99999701e-01 -3.36592067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.83, Y:-21.22, Z:-0.34 [[ 9.98218327e-01 5.96621808e-02 7.71336559e-04 2.14828525e+02] [-5.96621583e-02 9.98218625e-01 -5.20705428e-05 -2.12188002e+01] [-7.73069162e-04 5.95816620e-06 9.99999701e-01 -3.37750273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.86, Y:-21.22, Z:-0.34 [[ 9.97885276e-01 6.49952395e-02 7.71339604e-04 2.14857046e+02] [-6.49952187e-02 9.97885574e-01 -5.20254057e-05 -2.12190993e+01] [-7.73090067e-04 1.78200014e-06 9.99999701e-01 -3.35700436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.89, Y:-21.22, Z:-0.34 [[ 9.97706240e-01 6.76879919e-02 7.71342156e-04 2.14885089e+02] [-6.76879719e-02 9.97706538e-01 -5.19875345e-05 -2.12205560e+01] [-7.73092044e-04 -3.42298662e-07 9.99999701e-01 -3.37205015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.91, Y:-21.22, Z:-0.34 [[ 9.97537396e-01 7.01323610e-02 7.71345331e-04 2.14913554e+02] [-7.01323418e-02 9.97537695e-01 -5.19403866e-05 -2.12228522e+01] [-7.73088745e-04 -2.28377641e-06 9.99999701e-01 -3.35660874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.94, Y:-21.23, Z:-0.33 [[ 9.97294693e-01 7.35030673e-02 7.71347838e-04 2.14941871e+02] [-7.35030491e-02 9.97294991e-01 -5.19031357e-05 -2.12257706e+01] [-7.73076375e-04 -4.93369629e-06 9.99999701e-01 -3.33236210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.97, Y:-21.23, Z:-0.33 [[ 9.97249437e-01 7.41145403e-02 7.71350359e-04 2.14970310e+02] [-7.41145224e-02 9.97249735e-01 -5.18656425e-05 -2.12279018e+01] [-7.73072939e-04 -5.44528061e-06 9.99999701e-01 -3.33090365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.00, Y:-21.23, Z:-0.33 [[ 9.97228489e-01 7.43958728e-02 7.71352895e-04 2.14997935e+02] [-7.43958549e-02 9.97228787e-01 -5.18278905e-05 -2.12300849e+01] [-7.73071094e-04 -5.70120915e-06 9.99999701e-01 -3.34755008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.03, Y:-21.23, Z:-0.34 [[ 9.97215900e-01 7.45644299e-02 7.71356055e-04 2.15025754e+02] [-7.45644122e-02 9.97216198e-01 -5.17808163e-05 -2.12312013e+01] [-7.73069760e-04 -5.87905755e-06 9.99999701e-01 -3.36630407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.614203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:215.05, Y:-21.23, Z:-0.33 [[ 9.97171720e-01 7.51529478e-02 7.71359118e-04 2.15054468e+02] [-7.51529303e-02 9.97172018e-01 -5.17351600e-05 -2.12319678e+01] [-7.73065778e-04 -6.38105953e-06 9.99999701e-01 -3.34886812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.08, Y:-21.23, Z:-0.33 [[ 9.96926261e-01 7.83417891e-02 7.71361629e-04 2.15082276e+02] [-7.83417725e-02 9.96926559e-01 -5.16976878e-05 -2.12344656e+01] [-7.73040984e-04 -8.89105473e-06 9.99999701e-01 -3.34970172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.11, Y:-21.24, Z:-0.33 [[ 9.96750342e-01 8.05491185e-02 7.71364753e-04 2.15111191e+02] [-8.05491027e-02 9.96750641e-01 -5.16510346e-05 -2.12366099e+01] [-7.73018757e-04 -1.06495522e-05 9.99999701e-01 -3.34202588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.704203822 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:215.14, Y:-21.24, Z:-0.33 [[ 9.96337473e-01 8.55046483e-02 7.71367180e-04 2.15140509e+02] [-8.55046340e-02 9.96337772e-01 -5.16147609e-05 -2.12361045e+01] [-7.72955559e-04 -1.45297479e-05 9.99999701e-01 -3.31355382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.734203822 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:215.17, Y:-21.24, Z:-0.33 [[ 9.96341535e-01 8.54573012e-02 7.71369625e-04 2.15169773e+02] [-8.54572869e-02 9.96341834e-01 -5.15781915e-05 -2.12379693e+01] [-7.72955560e-04 -1.45296609e-05 9.99999701e-01 -3.31378054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:-21.24, Z:-0.33 [[ 9.96133016e-01 8.78545363e-02 7.71372075e-04 2.15198593e+02] [-8.78545227e-02 9.96133314e-01 -5.15415351e-05 -2.12381101e+01] [-7.72917579e-04 -1.64263006e-05 9.99999701e-01 -3.30519362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.23, Y:-21.23, Z:-0.33 [[ 9.95804748e-01 9.15003217e-02 7.71374513e-04 2.15226666e+02] [-9.15003093e-02 9.95805047e-01 -5.15050112e-05 -2.12343330e+01] [-7.72851358e-04 -1.92920719e-05 9.99999701e-01 -3.30552376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.26, Y:-21.23, Z:-0.33 [[ 9.95726308e-01 9.23500152e-02 7.71377794e-04 2.15255305e+02] [-9.23500031e-02 9.95726606e-01 -5.14558263e-05 -2.12336322e+01] [-7.72833340e-04 -2.00008218e-05 9.99999701e-01 -3.28420906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.28, Y:-21.23, Z:-0.33 [[ 9.95708959e-01 9.25368787e-02 7.71380305e-04 2.15282871e+02] [-9.25368666e-02 9.95709258e-01 -5.14181568e-05 -2.12336662e+01] [-7.72828587e-04 -2.01835970e-05 9.99999701e-01 -3.29107752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.31, Y:-21.23, Z:-0.33 [[ 9.95871072e-01 9.07756175e-02 7.71383418e-04 2.15311569e+02] [-9.07756050e-02 9.95871371e-01 -5.13714129e-05 -2.12317055e+01] [-7.72861934e-04 -1.88634924e-05 9.99999701e-01 -3.28933921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.34, Y:-21.23, Z:-0.33 [[ 9.96241278e-01 8.66182439e-02 7.71385915e-04 2.15339230e+02] [-8.66182301e-02 9.96241577e-01 -5.13338940e-05 -2.12297120e+01] [-7.72933172e-04 -1.56751385e-05 9.99999701e-01 -3.30711772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.37, Y:-21.23, Z:-0.33 [[ 9.96462367e-01 8.40366326e-02 7.71389017e-04 2.15367626e+02] [-8.40366181e-02 9.96462666e-01 -5.12872394e-05 -2.12303748e+01] [-7.72970363e-04 -1.37191203e-05 9.99999701e-01 -3.30146913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.40, Y:-21.23, Z:-0.33 [[ 9.96681597e-01 8.13953310e-02 7.71392742e-04 2.15396599e+02] [-8.13953157e-02 9.96681895e-01 -5.12311474e-05 -2.12308250e+01] [-7.73003156e-04 -1.17266140e-05 9.99999701e-01 -3.30143768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.43, Y:-21.23, Z:-0.33 [[ 9.97070163e-01 7.64885348e-02 7.71395215e-04 2.15425042e+02] [-7.64885181e-02 9.97070461e-01 -5.11938942e-05 -2.12300078e+01] [-7.73051128e-04 -7.95897244e-06 9.99999701e-01 -3.32283936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.45, Y:-21.23, Z:-0.33 [[ 9.97254632e-01 7.40446008e-02 7.71397676e-04 2.15454013e+02] [-7.40445833e-02 9.97254931e-01 -5.11567753e-05 -2.12299750e+01] [-7.73068019e-04 -6.10148842e-06 9.99999701e-01 -3.32991505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.48, Y:-21.23, Z:-0.34 [[ 9.97563685e-01 6.97574348e-02 7.71400079e-04 2.15482778e+02] [-6.97574161e-02 9.97563983e-01 -5.11205125e-05 -2.12286388e+01] [-7.73086972e-04 -2.81490954e-06 9.99999701e-01 -3.36442660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.51, Y:-21.23, Z:-0.34 [[ 9.97709517e-01 6.76396729e-02 7.71402466e-04 2.15511933e+02] [-6.76396536e-02 9.97709815e-01 -5.10844761e-05 -2.12299124e+01] [-7.73091149e-04 -1.20992765e-06 9.99999701e-01 -3.35353945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.54, Y:-21.23, Z:-0.34 [[ 9.97957071e-01 6.38833994e-02 7.71404947e-04 2.15539978e+02] [-6.38833790e-02 9.97957369e-01 -5.10469803e-05 -2.12312307e+01] [-7.73090306e-04 1.66274037e-06 9.99999701e-01 -3.38607790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.154203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:215.57, Y:-21.23, Z:-0.34 [[ 9.98044817e-01 6.24975848e-02 7.71408170e-04 2.15568540e+02] [-6.24975641e-02 9.98045115e-01 -5.09982322e-05 -2.12313062e+01] [-7.73087422e-04 2.68738983e-06 9.99999701e-01 -3.39053989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.60, Y:-21.23, Z:-0.34 [[ 9.98123254e-01 6.12321393e-02 7.71410583e-04 2.15596301e+02] [-6.12321182e-02 9.98123552e-01 -5.09616964e-05 -2.12319492e+01] [-7.73083565e-04 3.63095018e-06 9.99999701e-01 -3.39978341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.214203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.62, Y:-21.23, Z:-0.34 [[ 9.98279192e-01 5.86349655e-02 7.71413569e-04 2.15624696e+02] [-5.86349436e-02 9.98279490e-01 -5.09164616e-05 -2.12334367e+01] [-7.73071830e-04 5.59705305e-06 9.99999701e-01 -3.37198986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.65, Y:-21.24, Z:-0.34 [[ 9.98353652e-01 5.73532101e-02 7.71416031e-04 2.15652865e+02] [-5.73531879e-02 9.98353950e-01 -5.08791360e-05 -2.12365569e+01] [-7.73064323e-04 6.55220268e-06 9.99999701e-01 -3.36756906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.274203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:215.68, Y:-21.24, Z:-0.34 [[ 9.98454175e-01 5.55757548e-02 7.71419374e-04 2.15681305e+02] [-5.55757321e-02 9.98454473e-01 -5.08283979e-05 -2.12391168e+01] [-7.73051951e-04 7.87762963e-06 9.99999701e-01 -3.35282538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.71, Y:-21.24, Z:-0.34 [[ 9.98489242e-01 5.49421358e-02 7.71421851e-04 2.15709102e+02] [-5.49421130e-02 9.98489540e-01 -5.07907724e-05 -2.12413554e+01] [-7.73047203e-04 8.33049332e-06 9.99999701e-01 -3.36108679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.74, Y:-21.24, Z:-0.34 [[ 9.98482844e-01 5.50582904e-02 7.71424926e-04 2.15738069e+02] [-5.50582676e-02 9.98483142e-01 -5.07440292e-05 -2.12430119e+01] [-7.73048663e-04 8.19372252e-06 9.99999701e-01 -3.35707154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.77, Y:-21.24, Z:-0.33 [[ 9.98349263e-01 5.74295531e-02 7.71427271e-04 2.15766917e+02] [-5.74295311e-02 9.98349561e-01 -5.07083614e-05 -2.12435821e+01] [-7.73066236e-04 6.32194880e-06 9.99999701e-01 -3.33608565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.394203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.80, Y:-21.24, Z:-0.33 [[ 9.98234146e-01 5.93969243e-02 7.71431284e-04 2.15795848e+02] [-5.93969029e-02 9.98234444e-01 -5.06472319e-05 -2.12443545e+01] [-7.73077569e-04 4.73716717e-06 9.99999701e-01 -3.32289018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.82, Y:-21.25, Z:-0.33 [[ 9.97978390e-01 6.35494919e-02 7.71433730e-04 2.15823380e+02] [-6.35494718e-02 9.97978688e-01 -5.06099505e-05 -2.12469252e+01] [-7.73090658e-04 1.48343088e-06 9.99999701e-01 -3.32491591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.85, Y:-21.25, Z:-0.33 [[ 9.97858869e-01 6.53994052e-02 7.71437151e-04 2.15851906e+02] [-6.53993856e-02 9.97859167e-01 -5.05577458e-05 -2.12489142e+01] [-7.73092080e-04 -2.02070858e-09 9.99999701e-01 -3.32682147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.88, Y:-21.25, Z:-0.34 [[ 9.97750234e-01 6.70363711e-02 7.71439589e-04 2.15879782e+02] [-6.70363521e-02 9.97750532e-01 -5.05205222e-05 -2.12501166e+01] [-7.73090973e-04 -1.30763302e-06 9.99999701e-01 -3.35520819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.91, Y:-21.25, Z:-0.34 [[ 9.97600344e-01 6.92311971e-02 7.71442613e-04 2.15908481e+02] [-6.92311788e-02 9.97600642e-01 -5.04743047e-05 -2.12479159e+01] [-7.73086043e-04 -3.05469773e-06 9.99999701e-01 -3.37604954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.94, Y:-21.25, Z:-0.34 [[ 9.97562472e-01 6.97747821e-02 7.71445036e-04 2.15936240e+02] [-6.97747639e-02 9.97562770e-01 -5.04372411e-05 -2.12463160e+01] [-7.73084095e-04 -3.51309638e-06 9.99999701e-01 -3.38866278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.96, Y:-21.25, Z:-0.34 [[ 9.97593490e-01 6.93298840e-02 7.71447450e-04 2.15964562e+02] [-6.93298657e-02 9.97593789e-01 -5.04002896e-05 -2.12478848e+01] [-7.73085431e-04 -3.20534732e-06 9.99999701e-01 -3.38003189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.99, Y:-21.25, Z:-0.34 [[ 9.97641101e-01 6.86413766e-02 7.71449856e-04 2.15992483e+02] [-6.86413581e-02 9.97641399e-01 -5.03634392e-05 -2.12500791e+01] [-7.73087330e-04 -2.70872896e-06 9.99999701e-01 -3.38633658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.02, Y:-21.25, Z:-0.34 [[ 9.97800422e-01 6.62851545e-02 7.71452838e-04 2.16020901e+02] [-6.62851354e-02 9.97800721e-01 -5.03177232e-05 -2.12517520e+01] [-7.73091516e-04 -9.28810384e-07 9.99999701e-01 -3.37036159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.05, Y:-21.25, Z:-0.34 [[ 9.97895711e-01 6.48348333e-02 7.71455234e-04 2.16048742e+02] [-6.48348138e-02 9.97896009e-01 -5.02809627e-05 -2.12521701e+01] [-7.73092057e-04 1.58000618e-07 9.99999701e-01 -3.36806876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.08, Y:-21.25, Z:-0.34 [[ 9.98105779e-01 6.15163319e-02 7.71458205e-04 2.16078120e+02] [-6.15163115e-02 9.98106077e-01 -5.02353291e-05 -2.12523950e+01] [-7.73087416e-04 2.68290901e-06 9.99999701e-01 -3.36781537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.11, Y:-21.25, Z:-0.34 [[ 9.98215319e-01 5.97124942e-02 7.71459970e-04 2.16107241e+02] [-5.97124732e-02 9.98215617e-01 -5.02082128e-05 -2.12534850e+01] [-7.73081448e-04 4.05282433e-06 9.99999701e-01 -3.35575268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.14, Y:-21.25, Z:-0.34 [[ 9.98307508e-01 5.81508712e-02 7.71462415e-04 2.16135485e+02] [-5.81508498e-02 9.98307806e-01 -5.01706177e-05 -2.12549816e+01] [-7.73074416e-04 5.22450934e-06 9.99999701e-01 -3.35532136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.16, Y:-21.26, Z:-0.34 [[ 9.98479955e-01 5.51106540e-02 7.71465458e-04 2.16162632e+02] [-5.51106317e-02 9.98480253e-01 -5.01237853e-05 -2.12587310e+01] [-7.73055380e-04 7.53164620e-06 9.99999701e-01 -3.37217854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.19, Y:-21.26, Z:-0.34 [[ 9.98557057e-01 5.36955112e-02 7.71467450e-04 2.16191504e+02] [-5.36954885e-02 9.98557355e-01 -5.00930982e-05 -2.12621989e+01] [-7.73044272e-04 8.59649510e-06 9.99999701e-01 -3.36420677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.22, Y:-21.27, Z:-0.34 [[ 9.98646254e-01 5.20102238e-02 7.71469848e-04 2.16219633e+02] [-5.20102007e-02 9.98646552e-01 -5.00561481e-05 -2.12652364e+01] [-7.73029135e-04 9.86408323e-06 9.99999701e-01 -3.36792232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.25, Y:-21.27, Z:-0.34 [[ 9.98665658e-01 5.16363124e-02 7.71472823e-04 2.16247290e+02] [-5.16362892e-02 9.98665956e-01 -5.00102519e-05 -2.12673518e+01] [-7.73025989e-04 1.01075273e-05 9.99999701e-01 -3.36862060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.28, Y:-21.27, Z:-0.34 [[ 9.98654547e-01 5.18507503e-02 7.71475961e-04 2.16275682e+02] [-5.18507272e-02 9.98654845e-01 -4.99617939e-05 -2.12697845e+01] [-7.73028763e-04 9.89298309e-06 9.99999701e-01 -3.35117027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.30, Y:-21.27, Z:-0.33 [[ 9.98504955e-01 5.46558297e-02 7.71478286e-04 2.16304095e+02] [-5.46558074e-02 9.98505253e-01 -4.99258699e-05 -2.12731653e+01] [-7.73053861e-04 7.68545989e-06 9.99999701e-01 -3.34277160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.33, Y:-21.28, Z:-0.34 [[ 9.98375327e-01 5.69746608e-02 7.71480618e-04 2.16331406e+02] [-5.69746392e-02 9.98375625e-01 -4.98898100e-05 -2.12753762e+01] [-7.73069899e-04 5.85392550e-06 9.99999701e-01 -3.35936701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.36, Y:-21.28, Z:-0.34 [[ 9.98033074e-01 6.26848322e-02 7.71483526e-04 2.16359748e+02] [-6.26848124e-02 9.98033372e-01 -4.98447977e-05 -2.12781483e+01] [-7.73090818e-04 1.38645655e-06 9.99999701e-01 -3.35345232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.39, Y:-21.28, Z:-0.34 [[ 9.97823489e-01 6.59370105e-02 7.71485826e-04 2.16388165e+02] [-6.59369917e-02 9.97823787e-01 -4.98091707e-05 -2.12797903e+01] [-7.73091177e-04 -1.16869404e-06 9.99999701e-01 -3.35758439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.42, Y:-21.28, Z:-0.34 [[ 9.97464898e-01 7.11560464e-02 7.71488150e-04 2.16416021e+02] [-7.11560292e-02 9.97465196e-01 -4.97731501e-05 -2.12791610e+01] [-7.73074239e-04 -5.24906327e-06 9.99999701e-01 -3.37874638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.44, Y:-21.28, Z:-0.34 [[ 9.97284766e-01 7.36376223e-02 7.71491039e-04 2.16444744e+02] [-7.36376059e-02 9.97285065e-01 -4.97283371e-05 -2.12793910e+01] [-7.73058367e-04 -7.21743996e-06 9.99999701e-01 -3.38063160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.47, Y:-21.28, Z:-0.34 [[ 9.97139490e-01 7.55793729e-02 7.71493368e-04 2.16472176e+02] [-7.55793571e-02 9.97139789e-01 -4.96921674e-05 -2.12797012e+01] [-7.73042437e-04 -8.75895035e-06 9.99999701e-01 -3.39256677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.50, Y:-21.28, Z:-0.34 [[ 9.96916868e-01 7.84612249e-02 7.71496267e-04 2.16501490e+02] [-7.84612100e-02 9.96917166e-01 -4.96471295e-05 -2.12801159e+01] [-7.73013246e-04 -1.10384697e-05 9.99999701e-01 -3.38223911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.53, Y:-21.28, Z:-0.34 [[ 9.96825939e-01 7.96081141e-02 7.71498569e-04 2.16529034e+02] [-7.96080996e-02 9.96826238e-01 -4.96113320e-05 -2.12808148e+01] [-7.72999480e-04 -1.19636723e-05 9.99999701e-01 -3.37287152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.56, Y:-21.28, Z:-0.34 [[ 9.96624899e-01 8.20866398e-02 7.71502045e-04 2.16557193e+02] [-8.20866260e-02 9.96625197e-01 -4.95572206e-05 -2.12795246e+01] [-7.72966363e-04 -1.39400398e-05 9.99999701e-01 -3.39585222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.59, Y:-21.28, Z:-0.33 [[ 9.96574673e-01 8.26941673e-02 7.71505407e-04 2.16586491e+02] [-8.26941538e-02 9.96574972e-01 -4.95048204e-05 -2.12799583e+01] [-7.72956739e-04 -1.44637366e-05 9.99999701e-01 -3.34304396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.61, Y:-21.28, Z:-0.34 [[ 9.96577599e-01 8.26589019e-02 7.71507804e-04 2.16613922e+02] [-8.26588883e-02 9.96577897e-01 -4.94674344e-05 -2.12789208e+01] [-7.72956549e-04 -1.44738404e-05 9.99999701e-01 -3.35322788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.64, Y:-21.28, Z:-0.34 [[ 9.96626722e-01 8.20644946e-02 7.71511971e-04 2.16642821e+02] [-8.20644809e-02 9.96627021e-01 -4.94023649e-05 -2.12782601e+01] [-7.72963857e-04 -1.40780123e-05 9.99999701e-01 -3.35609553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.67, Y:-21.28, Z:-0.34 [[ 9.96821237e-01 7.96669683e-02 7.71514356e-04 2.16671069e+02] [-7.96669539e-02 9.96821536e-01 -4.93650797e-05 -2.12765957e+01] [-7.72994892e-04 -1.22560389e-05 9.99999701e-01 -3.35712159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.70, Y:-21.28, Z:-0.33 [[ 9.96985578e-01 7.75832533e-02 7.71517322e-04 2.16700100e+02] [-7.75832383e-02 9.96985877e-01 -4.93186878e-05 -2.12774547e+01] [-7.73018178e-04 -1.06867918e-05 9.99999701e-01 -3.33506869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.73, Y:-21.28, Z:-0.33 [[ 9.97169614e-01 7.51808913e-02 7.71519632e-04 2.16728669e+02] [-7.51808756e-02 9.97169912e-01 -4.92825168e-05 -2.12782850e+01] [-7.73041267e-04 -8.86049328e-06 9.99999701e-01 -3.33209214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.76, Y:-21.28, Z:-0.33 [[ 9.97549794e-01 6.99557912e-02 7.71521924e-04 2.16757519e+02] [-6.99557740e-02 9.97550093e-01 -4.92466129e-05 -2.12785626e+01] [-7.73076853e-04 -4.84646486e-06 9.99999701e-01 -3.33412353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.79, Y:-21.28, Z:-0.33 [[ 9.97729678e-01 6.73416171e-02 7.71524211e-04 2.16786546e+02] [-6.73415992e-02 9.97729977e-01 -4.92107529e-05 -2.12799179e+01] [-7.73086765e-04 -2.85664556e-06 9.99999701e-01 -3.33997079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.81, Y:-21.28, Z:-0.33 [[ 9.98069458e-01 6.21028393e-02 7.71526502e-04 2.16814370e+02] [-6.21028198e-02 9.98069756e-01 -4.91748191e-05 -2.12820954e+01] [-7.73091163e-04 1.16591374e-06 9.99999701e-01 -3.34397502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.84, Y:-21.28, Z:-0.33 [[ 9.98229908e-01 5.94681086e-02 7.71529345e-04 2.16843198e+02] [-5.94680884e-02 9.98230206e-01 -4.91301746e-05 -2.12848199e+01] [-7.73085575e-04 3.16183445e-06 9.99999701e-01 -3.34100057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.87, Y:-21.29, Z:-0.33 [[ 9.98507727e-01 5.46051701e-02 7.71531600e-04 2.16871627e+02] [-5.46051485e-02 9.98508025e-01 -4.90947235e-05 -2.12892164e+01] [-7.73061320e-04 6.89186310e-06 9.99999701e-01 -3.34005680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.90, Y:-21.29, Z:-0.33 [[ 9.98635324e-01 5.22196665e-02 7.71533842e-04 2.16900496e+02] [-5.22196442e-02 9.98635622e-01 -4.90594674e-05 -2.12924225e+01] [-7.73043048e-04 8.70329438e-06 9.99999701e-01 -3.32881491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.93, Y:-21.30, Z:-0.33 [[ 9.98822641e-01 4.85050221e-02 7.71536118e-04 2.16927689e+02] [-4.85049987e-02 9.98822939e-01 -4.90236583e-05 -2.12977733e+01] [-7.73005866e-04 1.15425814e-05 9.99999701e-01 -3.34058446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.96, Y:-21.30, Z:-0.33 [[ 9.98824824e-01 4.84600322e-02 7.71538949e-04 2.16956957e+02] [-4.84600089e-02 9.98825122e-01 -4.89790526e-05 -2.12995413e+01] [-7.73006012e-04 1.15327093e-05 9.99999701e-01 -3.34081120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.654203822 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:216.99, Y:-21.30, Z:-0.33 [[ 9.98888155e-01 4.71365940e-02 7.71541154e-04 2.16986064e+02] [-4.71365702e-02 9.98888453e-01 -4.89443003e-05 -2.13026299e+01] [-7.72990617e-04 1.25220780e-05 9.99999701e-01 -3.30963553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.01, Y:-21.31, Z:-0.33 [[ 9.98942718e-01 4.59657511e-02 7.71543519e-04 2.17013829e+02] [-4.59657270e-02 9.98943016e-01 -4.89069817e-05 -2.13067572e+01] [-7.72976057e-04 1.33907144e-05 9.99999701e-01 -3.32785005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.04, Y:-21.31, Z:-0.33 [[ 9.98941131e-01 4.60002411e-02 7.71499419e-04 2.17042175e+02] [-4.60002165e-02 9.98941429e-01 -4.96027674e-05 -2.13139457e+01] [-7.72964471e-04 1.40611043e-05 9.99999701e-01 -3.30216970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.07, Y:-21.32, Z:-0.33 [[ 9.98875499e-01 4.74040251e-02 7.71548197e-04 2.17070723e+02] [-4.74040015e-02 9.98875797e-01 -4.88320675e-05 -2.13204506e+01] [-7.72995657e-04 1.22026839e-05 9.99999701e-01 -3.30519646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.10, Y:-21.32, Z:-0.33 [[ 9.98817129e-01 4.86183937e-02 7.71550555e-04 2.17098536e+02] [-4.86183706e-02 9.98817427e-01 -4.87947805e-05 -2.13240248e+01] [-7.73010464e-04 1.12255317e-05 9.99999701e-01 -3.31218446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.804203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.13, Y:-21.33, Z:-0.33 [[ 9.98736968e-01 5.02381638e-02 7.71553847e-04 2.17126452e+02] [-5.02381411e-02 9.98737266e-01 -4.87426856e-05 -2.13281878e+01] [-7.73028322e-04 9.91969104e-06 9.99999701e-01 -3.33690777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.16, Y:-21.33, Z:-0.33 [[ 9.98508618e-01 5.45888757e-02 7.71556155e-04 2.17155337e+02] [-5.45888543e-02 9.98508916e-01 -4.87061200e-05 -2.13349007e+01] [-7.73064512e-04 6.51511404e-06 9.99999701e-01 -3.34535087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.18, Y:-21.34, Z:-0.33 [[ 9.98387554e-01 5.67599966e-02 7.71558437e-04 2.17183608e+02] [-5.67599759e-02 9.98387852e-01 -4.86699349e-05 -2.13384852e+01] [-7.73077076e-04 4.79781886e-06 9.99999701e-01 -3.33912927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.21, Y:-21.34, Z:-0.34 [[ 9.98121040e-01 6.12682229e-02 7.71560773e-04 2.17211211e+02] [-6.12682036e-02 9.98121338e-01 -4.86328867e-05 -2.13425684e+01] [-7.73090921e-04 1.26936498e-06 9.99999701e-01 -3.35557732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.24, Y:-21.35, Z:-0.34 [[ 9.97998350e-01 6.32352532e-02 7.71563855e-04 2.17238998e+02] [-6.32352346e-02 9.97998649e-01 -4.85839304e-05 -2.13450975e+01] [-7.73091902e-04 -3.03338960e-07 9.99999701e-01 -3.36885064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.27, Y:-21.35, Z:-0.34 [[ 9.97875905e-01 6.51389441e-02 7.71566949e-04 2.17267805e+02] [-6.51389260e-02 9.97876204e-01 -4.85347456e-05 -2.13480841e+01] [-7.73089800e-04 -1.82738927e-06 9.99999701e-01 -3.37177873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.30, Y:-21.35, Z:-0.34 [[ 9.97655073e-01 6.84380082e-02 7.71569222e-04 2.17296093e+02] [-6.84379912e-02 9.97655371e-01 -4.84985823e-05 -2.13541645e+01] [-7.73079325e-04 -4.41979102e-06 9.99999701e-01 -3.38131606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.32, Y:-21.36, Z:-0.34 [[ 9.97533423e-01 7.01888443e-02 7.71571502e-04 2.17324408e+02] [-7.01888278e-02 9.97533722e-01 -4.84622889e-05 -2.13584478e+01] [-7.73070104e-04 -5.81294631e-06 9.99999701e-01 -3.37990383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.35, Y:-21.36, Z:-0.34 [[ 9.97276399e-01 7.37508579e-02 7.71573796e-04 2.17352820e+02] [-7.37508425e-02 9.97276697e-01 -4.84257327e-05 -2.13627369e+01] [-7.73044007e-04 -8.61037725e-06 9.99999701e-01 -3.36465589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.38, Y:-21.36, Z:-0.34 [[ 9.97151313e-01 7.54232282e-02 7.71576104e-04 2.17381947e+02] [-7.54232133e-02 9.97151612e-01 -4.83889330e-05 -2.13648354e+01] [-7.73028005e-04 -9.94366101e-06 9.99999701e-01 -3.35613691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.41, Y:-21.37, Z:-0.33 [[ 9.97033751e-01 7.69617054e-02 7.71578431e-04 2.17411109e+02] [-7.69616910e-02 9.97034049e-01 -4.83518079e-05 -2.13667073e+01] [-7.73011205e-04 -1.11735964e-05 9.99999701e-01 -3.33545588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.44, Y:-21.37, Z:-0.33 [[ 9.96793485e-01 8.00134578e-02 7.71580832e-04 2.17439222e+02] [-8.00134444e-02 9.96793783e-01 -4.83134601e-05 -2.13687807e+01] [-7.72972703e-04 -1.35782977e-05 9.99999701e-01 -3.33129176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.47, Y:-21.37, Z:-0.33 [[ 9.96663514e-01 8.16164458e-02 7.71583811e-04 2.17468174e+02] [-8.16164329e-02 9.96663813e-01 -4.82658391e-05 -2.13707506e+01] [-7.72948949e-04 -1.48691175e-05 9.99999701e-01 -3.32337714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.50, Y:-21.37, Z:-0.33 [[ 9.96474340e-01 8.38945377e-02 7.71586136e-04 2.17496116e+02] [-8.38945255e-02 9.96474639e-01 -4.82286453e-05 -2.13729975e+01] [-7.72912136e-04 -1.66732453e-05 9.99999701e-01 -3.33423532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.53, Y:-21.38, Z:-0.33 [[ 9.96429317e-01 8.44276101e-02 7.71589027e-04 2.17525063e+02] [-8.44275981e-02 9.96429615e-01 -4.81823473e-05 -2.13755074e+01] [-7.72902077e-04 -1.71331048e-05 9.99999701e-01 -3.33668828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.55, Y:-21.38, Z:-0.34 [[ 9.96434466e-01 8.43668188e-02 7.71591329e-04 2.17552318e+02] [-8.43668068e-02 9.96434764e-01 -4.81454460e-05 -2.13778753e+01] [-7.72902302e-04 -1.71229149e-05 9.99999701e-01 -3.35372244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.58, Y:-21.38, Z:-0.33 [[ 9.96543892e-01 8.30642912e-02 7.71594190e-04 2.17581439e+02] [-8.30642789e-02 9.96544190e-01 -4.80995554e-05 -2.13795313e+01] [-7.72923063e-04 -1.61585968e-05 9.99999701e-01 -3.34752047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.61, Y:-21.38, Z:-0.33 [[ 9.96641745e-01 8.18818503e-02 7.71596465e-04 2.17610180e+02] [-8.18818376e-02 9.96642043e-01 -4.80630336e-05 -2.13806949e+01] [-7.72940967e-04 -1.52781107e-05 9.99999701e-01 -3.34320858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.64, Y:-21.38, Z:-0.34 [[ 9.96911680e-01 7.85271155e-02 7.71598737e-04 2.17638143e+02] [-7.85271018e-02 9.96911978e-01 -4.80265219e-05 -2.13841368e+01] [-7.72987408e-04 -1.27132120e-05 9.99999701e-01 -3.35872983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.67, Y:-21.39, Z:-0.33 [[ 9.97085726e-01 7.62853813e-02 7.71601560e-04 2.17667156e+02] [-7.62853670e-02 9.97086025e-01 -4.79811386e-05 -2.13876418e+01] [-7.73013391e-04 -1.10205998e-05 9.99999701e-01 -3.34048211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.70, Y:-21.39, Z:-0.33 [[ 9.97273282e-01 7.37929853e-02 7.71603854e-04 2.17695061e+02] [-7.37929703e-02 9.97273581e-01 -4.79442134e-05 -2.13903798e+01] [-7.73038085e-04 -9.12545722e-06 9.99999701e-01 -3.33509924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.72, Y:-21.39, Z:-0.33 [[ 9.97586184e-01 6.94349298e-02 7.71606701e-04 2.17723440e+02] [-6.94349135e-02 9.97586483e-01 -4.78983478e-05 -2.13929119e+01] [-7.73070233e-04 -5.79371455e-06 9.99999701e-01 -3.32424642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.75, Y:-21.39, Z:-0.33 [[ 9.97816058e-01 6.60493659e-02 7.71609027e-04 2.17751057e+02] [-6.60493487e-02 9.97816356e-01 -4.78608503e-05 -2.13947447e+01] [-7.73085287e-04 -3.20794870e-06 9.99999701e-01 -3.34309373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.78, Y:-21.40, Z:-0.33 [[ 9.97875987e-01 6.51376863e-02 7.71611913e-04 2.17779611e+02] [-6.51376688e-02 9.97876286e-01 -4.78142815e-05 -2.13963015e+01] [-7.73087741e-04 -2.54827782e-06 9.99999701e-01 -3.32298860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.81, Y:-21.40, Z:-0.33 [[ 9.97901708e-01 6.47424628e-02 7.71614224e-04 2.17808524e+02] [-6.47424452e-02 9.97902006e-01 -4.77769570e-05 -2.13987025e+01] [-7.73088580e-04 -2.27948468e-06 9.99999701e-01 -3.31961631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.84, Y:-21.40, Z:-0.33 [[ 9.97920407e-01 6.44535991e-02 7.71616551e-04 2.17836530e+02] [-6.44535814e-02 9.97920705e-01 -4.77393461e-05 -2.14035011e+01] [-7.73089105e-04 -2.09338244e-06 9.99999701e-01 -3.33368254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.86, Y:-21.41, Z:-0.34 [[ 9.97904306e-01 6.47023959e-02 7.71619576e-04 2.17864767e+02] [-6.47023784e-02 9.97904605e-01 -4.76903960e-05 -2.14059065e+01] [-7.73088411e-04 -2.33517020e-06 9.99999701e-01 -3.35008741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.89, Y:-21.41, Z:-0.34 [[ 9.97868358e-01 6.52544587e-02 7.71621873e-04 2.17894010e+02] [-6.52544414e-02 9.97868657e-01 -4.76532005e-05 -2.14072338e+01] [-7.73086866e-04 -2.80013334e-06 9.99999701e-01 -3.35122444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.92, Y:-21.41, Z:-0.33 [[ 9.97762792e-01 6.68492018e-02 7.71624126e-04 2.17923225e+02] [-6.68491850e-02 9.97763090e-01 -4.76166876e-05 -2.14068056e+01] [-7.73081210e-04 -4.07228482e-06 9.99999701e-01 -3.33844226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.95, Y:-21.41, Z:-0.34 [[ 9.97666209e-01 6.82754787e-02 7.71626507e-04 2.17950777e+02] [-6.82754623e-02 9.97666507e-01 -4.75780810e-05 -2.14080413e+01] [-7.73074338e-04 -5.21611281e-06 9.99999701e-01 -3.36884773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.98, Y:-21.41, Z:-0.34 [[ 9.97624220e-01 6.88862885e-02 7.71629469e-04 2.17978665e+02] [-6.88862723e-02 9.97624518e-01 -4.75299862e-05 -2.14089098e+01] [-7.73070642e-04 -5.73761233e-06 9.99999701e-01 -3.36079891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.01, Y:-21.41, Z:-0.33 [[ 9.97586283e-01 6.94335182e-02 7.71632249e-04 2.18007135e+02] [-6.94335022e-02 9.97586581e-01 -4.74848166e-05 -2.14100716e+01] [-7.73067015e-04 -6.20692780e-06 9.99999701e-01 -3.34791760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.04, Y:-21.41, Z:-0.33 [[ 9.97479596e-01 7.09496986e-02 7.71634478e-04 2.18035896e+02] [-7.09496831e-02 9.97479895e-01 -4.74485629e-05 -2.14121134e+01] [-7.73056339e-04 -7.41824834e-06 9.99999701e-01 -3.33176508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.06, Y:-21.41, Z:-0.33 [[ 9.97354696e-01 7.26843488e-02 7.71636728e-04 2.18064067e+02] [-7.26843338e-02 9.97354995e-01 -4.74119477e-05 -2.14128406e+01] [-7.73041851e-04 -8.79937287e-06 9.99999701e-01 -3.31925716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.09, Y:-21.41, Z:-0.33 [[ 9.97288998e-01 7.35802844e-02 7.71639524e-04 2.18092628e+02] [-7.35802697e-02 9.97289297e-01 -4.73663984e-05 -2.14130446e+01] [-7.73033071e-04 -9.53945635e-06 9.99999701e-01 -3.30879409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.12, Y:-21.41, Z:-0.33 [[ 9.97229951e-01 7.43762698e-02 7.71641806e-04 2.18120441e+02] [-7.43762554e-02 9.97230249e-01 -4.73291888e-05 -2.14129035e+01] [-7.73024720e-04 -1.01937435e-05 9.99999701e-01 -3.34374206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.15, Y:-21.41, Z:-0.34 [[ 9.97107956e-01 7.59942638e-02 7.71644819e-04 2.18148283e+02] [-7.59942499e-02 9.97108255e-01 -4.72800164e-05 -2.14092562e+01] [-7.73006429e-04 -1.14972887e-05 9.99999701e-01 -3.36967334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.18, Y:-21.41, Z:-0.34 [[ 9.97048070e-01 7.67759777e-02 7.71647480e-04 2.18177617e+02] [-7.67759641e-02 9.97048368e-01 -4.72365563e-05 -2.14081641e+01] [-7.72996493e-04 -1.21468619e-05 9.99999701e-01 -3.36914498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.21, Y:-21.41, Z:-0.33 [[ 9.97003559e-01 7.73518474e-02 7.71649610e-04 2.18207068e+02] [-7.73518341e-02 9.97003857e-01 -4.72017321e-05 -2.14060223e+01] [-7.72988779e-04 -1.26282177e-05 9.99999701e-01 -3.34732034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.24, Y:-21.41, Z:-0.33 [[ 9.97036694e-01 7.69235640e-02 7.71651852e-04 2.18236133e+02] [-7.69235505e-02 9.97036993e-01 -4.71650521e-05 -2.14054813e+01] [-7.72993546e-04 -1.23329126e-05 9.99999701e-01 -3.33544884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.27, Y:-21.40, Z:-0.33 [[ 9.97255585e-01 7.40317690e-02 7.71654153e-04 2.18265685e+02] [-7.40317547e-02 9.97255883e-01 -4.71273667e-05 -2.14027902e+01] [-7.73025567e-04 -1.01288814e-05 9.99999701e-01 -3.33460222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.29, Y:-21.40, Z:-0.34 [[ 9.97460956e-01 7.12112723e-02 7.71655915e-04 2.18293731e+02] [-7.12112571e-02 9.97461255e-01 -4.70984960e-05 -2.14031289e+01] [-7.73050821e-04 -7.97167691e-06 9.99999701e-01 -3.37164242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06420382200002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:218.32, Y:-21.40, Z:-0.34 [[ 9.97688420e-01 6.79501397e-02 7.71659009e-04 2.18321887e+02] [-6.79501237e-02 9.97688718e-01 -4.70477581e-05 -2.14029599e+01] [-7.73072389e-04 -5.49532170e-06 9.99999701e-01 -3.38840725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.35, Y:-21.40, Z:-0.34 [[ 9.98155861e-01 6.06982915e-02 7.71661768e-04 2.18350850e+02] [-6.06982733e-02 9.98156159e-01 -4.70024681e-05 -2.14015737e+01] [-7.73091915e-04 7.72521444e-08 9.99999701e-01 -3.35114785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.38, Y:-21.40, Z:-0.34 [[ 9.98371276e-01 5.70455947e-02 7.71664085e-04 2.18378960e+02] [-5.70455754e-02 9.98371574e-01 -4.69643942e-05 -2.14017986e+01] [-7.73086599e-04 2.86788041e-06 9.99999701e-01 -3.37555044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.41, Y:-21.40, Z:-0.34 [[ 9.98731332e-01 5.03500831e-02 7.71666931e-04 2.18408047e+02] [-5.03500619e-02 9.98731630e-01 -4.69175764e-05 -2.14037304e+01] [-7.73050476e-04 8.00457585e-06 9.99999701e-01 -3.37587982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.44, Y:-21.41, Z:-0.34 [[ 9.98893245e-01 4.70285938e-02 7.71669188e-04 2.18435776e+02] [-4.70285716e-02 9.98893544e-01 -4.68804339e-05 -2.14061151e+01] [-7.73020090e-04 1.05380491e-05 9.99999701e-01 -3.38885860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.46, Y:-21.41, Z:-0.34 [[ 9.99042748e-01 4.37377565e-02 7.71671980e-04 2.18464276e+02] [-4.37377334e-02 9.99043046e-01 -4.68344262e-05 -2.14083666e+01] [-7.72981959e-04 1.30384105e-05 9.99999701e-01 -3.37056222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.49, Y:-21.41, Z:-0.34 [[ 9.99321402e-01 3.68258043e-02 7.71674259e-04 2.18492485e+02] [-3.68257791e-02 9.99321700e-01 -4.67968475e-05 -2.14110455e+01] [-7.72874164e-04 1.83475855e-05 9.99999701e-01 -3.39051388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.52, Y:-21.41, Z:-0.34 [[ 9.99533457e-01 3.05331365e-02 7.71676517e-04 2.18521786e+02] [-3.05331095e-02 9.99533755e-01 -4.67595914e-05 -2.14149052e+01] [-7.72744443e-04 2.31760924e-05 9.99999701e-01 -3.37536812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.55, Y:-21.42, Z:-0.34 [[ 9.99607674e-01 2.79982428e-02 7.71677630e-04 2.18550282e+02] [-2.79982150e-02 9.99607972e-01 -4.67412128e-05 -2.14182445e+01] [-7.72683782e-04 2.51172788e-05 9.99999701e-01 -3.38165628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.58, Y:-21.42, Z:-0.34 [[ 9.99667011e-01 2.57928529e-02 7.71679287e-04 2.18578554e+02] [-2.57928245e-02 9.99667309e-01 -4.67138406e-05 -2.14220618e+01] [-7.72627439e-04 2.67944970e-05 9.99999701e-01 -3.37263462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.61, Y:-21.43, Z:-0.34 [[ 9.99703886e-01 2.43217145e-02 7.71680490e-04 2.18608080e+02] [-2.43216857e-02 9.99704183e-01 -4.66939509e-05 -2.14277094e+01] [-7.72587891e-04 2.79115539e-05 9.99999701e-01 -3.35030070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.64, Y:-21.44, Z:-0.34 [[ 9.99736252e-01 2.29528170e-02 7.71681603e-04 2.18637112e+02] [-2.29527878e-02 9.99736549e-01 -4.66755543e-05 -2.14387592e+01] [-7.72549638e-04 2.89509996e-05 9.99999701e-01 -3.37025668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.67, Y:-21.45, Z:-0.34 [[ 9.99706099e-01 2.42305554e-02 7.71682156e-04 2.18666351e+02] [-2.42305265e-02 9.99706397e-01 -4.66664142e-05 -2.14459548e+01] [-7.72586340e-04 2.79544340e-05 9.99999701e-01 -3.35724000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.70, Y:-21.45, Z:-0.33 [[ 9.99659599e-01 2.60785399e-02 7.71683275e-04 2.18695852e+02] [-2.60785117e-02 9.99659897e-01 -4.66478995e-05 -2.14507475e+01] [-7.72637332e-04 2.65076692e-05 9.99999701e-01 -3.34130208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.73, Y:-21.46, Z:-0.33 [[ 9.99591694e-01 2.85630744e-02 7.71684415e-04 2.18725022e+02] [-2.85630469e-02 9.99591992e-01 -4.66290403e-05 -2.14564124e+01] [-7.72701430e-04 2.45683433e-05 9.99999701e-01 -3.33456578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.514203822 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:218.75, Y:-21.47, Z:-0.33 [[ 9.99354208e-01 3.59245305e-02 7.71685556e-04 2.18752753e+02] [-3.59245053e-02 9.99354506e-01 -4.66101391e-05 -2.14653774e+01] [-7.72861885e-04 1.88576168e-05 9.99999701e-01 -3.34329203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54420382200001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:218.78, Y:-21.47, Z:-0.33 [[ 9.99355090e-01 3.58999911e-02 7.71686696e-04 2.18782859e+02] [-3.58999658e-02 9.99355387e-01 -4.65912663e-05 -2.14671524e+01] [-7.72861883e-04 1.88576932e-05 9.99999701e-01 -3.34352519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.81, Y:-21.47, Z:-0.33 [[ 9.99180892e-01 4.04592427e-02 7.71687839e-04 2.18811124e+02] [-4.04592188e-02 9.99181190e-01 -4.65723173e-05 -2.14729192e+01] [-7.72940254e-04 1.53122824e-05 9.99999701e-01 -3.34673045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.84, Y:-21.48, Z:-0.34 [[ 9.98683378e-01 5.12924451e-02 7.71689544e-04 2.18838913e+02] [-5.12924245e-02 9.98683676e-01 -4.65440511e-05 -2.14830545e+01] [-7.73061109e-04 6.90094254e-06 9.99999701e-01 -3.36624733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.87, Y:-21.49, Z:-0.34 [[ 9.98366857e-01 5.71228864e-02 7.71690690e-04 2.18867604e+02] [-5.71228675e-02 9.98367155e-01 -4.65250399e-05 -2.14865607e+01] [-7.73088283e-04 2.36787281e-06 9.99999701e-01 -3.35429770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.90, Y:-21.49, Z:-0.33 [[ 9.98012347e-01 6.30139607e-02 7.71692949e-04 2.18896364e+02] [-6.30139436e-02 9.98012646e-01 -4.64875384e-05 -2.14876735e+01] [-7.73088686e-04 -2.23227872e-06 9.99999701e-01 -3.33791773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.69420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.92, Y:-21.49, Z:-0.34 [[ 9.97206193e-01 7.46941354e-02 7.71695219e-04 2.18924157e+02] [-7.46941218e-02 9.97206491e-01 -4.64498266e-05 -2.14883248e+01] [-7.73009012e-04 -1.13210419e-05 9.99999701e-01 -3.38755088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.95, Y:-21.49, Z:-0.34 [[ 9.96801915e-01 7.99083679e-02 7.71697478e-04 2.18952534e+02] [-7.99083559e-02 9.96802213e-01 -4.64122792e-05 -2.14922530e+01] [-7.72938483e-04 -1.54012279e-05 9.99999701e-01 -3.35987576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.98, Y:-21.50, Z:-0.34 [[ 9.96045837e-01 8.88374658e-02 7.71699726e-04 2.18979951e+02] [-8.88374565e-02 9.96046136e-01 -4.63748600e-05 -2.14972298e+01] [-7.72768355e-04 -2.23643546e-05 9.99999701e-01 -3.36432869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.01, Y:-21.50, Z:-0.34 [[ 9.95731694e-01 9.22919212e-02 7.71702515e-04 2.19007272e+02] [-9.22919130e-02 9.95731992e-01 -4.63284143e-05 -2.14985729e+01] [-7.72684621e-04 -2.50912309e-05 9.99999701e-01 -3.37125679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.04, Y:-21.50, Z:-0.34 [[ 9.95502668e-01 9.47303641e-02 7.71705260e-04 2.19035393e+02] [-9.47303567e-02 9.95502967e-01 -4.62826291e-05 -2.14990819e+01] [-7.72619247e-04 -2.70294338e-05 9.99999701e-01 -3.39639333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.06, Y:-21.50, Z:-0.34 [[ 9.95321316e-01 9.66171906e-02 7.71707957e-04 2.19064748e+02] [-9.66171838e-02 9.95321615e-01 -4.62376190e-05 -2.14987150e+01] [-7.72564959e-04 -2.85389617e-05 9.99999701e-01 -3.39529296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.09, Y:-21.50, Z:-0.34 [[ 9.95347614e-01 9.63458970e-02 7.71709577e-04 2.19093863e+02] [-9.63458901e-02 9.95347913e-01 -4.62105741e-05 -2.14999977e+01] [-7.72571716e-04 -2.83554615e-05 9.99999701e-01 -3.39142368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.12, Y:-21.50, Z:-0.34 [[ 9.95636186e-01 9.33166073e-02 7.71711738e-04 2.19121499e+02] [-9.33165995e-02 9.95636485e-01 -4.61744488e-05 -2.15020162e+01] [-7.72653205e-04 -2.60405631e-05 9.99999701e-01 -3.39743715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.15, Y:-21.50, Z:-0.34 [[ 9.95884292e-01 9.06304692e-02 7.71714430e-04 2.19149957e+02] [-9.06304606e-02 9.95884590e-01 -4.61294106e-05 -2.15040713e+01] [-7.72719240e-04 -2.40012789e-05 9.99999701e-01 -3.39233340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.18, Y:-21.51, Z:-0.34 [[ 9.96169810e-01 8.74363397e-02 7.71716572e-04 2.19178413e+02] [-8.74363302e-02 9.96170109e-01 -4.60935637e-05 -2.15054822e+01] [-7.72791234e-04 -2.15590484e-05 9.99999701e-01 -3.38666559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.21, Y:-21.50, Z:-0.33 [[ 9.96697379e-01 8.12018432e-02 7.71718168e-04 2.19207518e+02] [-8.12018319e-02 9.96697678e-01 -4.60668141e-05 -2.15048113e+01] [-7.72910416e-04 -1.67502561e-05 9.99999701e-01 -3.34080265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.24, Y:-21.50, Z:-0.33 [[ 9.96935404e-01 7.82253510e-02 7.71720310e-04 2.19236166e+02] [-7.82253388e-02 9.96935702e-01 -4.60309009e-05 -2.15049221e+01] [-7.72956313e-04 -1.44782480e-05 9.99999701e-01 -3.32468486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.26, Y:-21.51, Z:-0.33 [[ 9.97111092e-01 7.59531020e-02 7.71722470e-04 2.19263917e+02] [-7.59530891e-02 9.97111391e-01 -4.59946655e-05 -2.15056270e+01] [-7.72986703e-04 -1.27529144e-05 9.99999701e-01 -3.33797371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.29, Y:-21.51, Z:-0.33 [[ 9.97357385e-01 7.26474367e-02 7.71725155e-04 2.19292699e+02] [-7.26474229e-02 9.97357684e-01 -4.59495741e-05 -2.15057959e+01] [-7.73024132e-04 -1.02356966e-05 9.99999701e-01 -3.30614274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.114203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.32, Y:-21.51, Z:-0.33 [[ 9.97444851e-01 7.14365018e-02 7.71727399e-04 2.19320610e+02] [-7.14364877e-02 9.97445149e-01 -4.59118525e-05 -2.15058110e+01] [-7.73035533e-04 -9.33495395e-06 9.99999701e-01 -3.34376054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.35, Y:-21.51, Z:-0.34 [[ 9.97599857e-01 6.92382050e-02 7.71730177e-04 2.19348964e+02] [-6.92381903e-02 9.97600156e-01 -4.58651042e-05 -2.15058869e+01] [-7.73053763e-04 -7.67817946e-06 9.99999701e-01 -3.35981829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.38, Y:-21.51, Z:-0.34 [[ 9.97685790e-01 6.79887379e-02 7.71732255e-04 2.19377503e+02] [-6.79887228e-02 9.97686089e-01 -4.58301255e-05 -2.15065764e+01] [-7.73062467e-04 -6.74502536e-06 9.99999701e-01 -3.36656320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.41, Y:-21.51, Z:-0.34 [[ 9.97856861e-01 6.54300337e-02 7.71734313e-04 2.19406851e+02] [-6.54300178e-02 9.97857159e-01 -4.57954447e-05 -2.15057754e+01] [-7.73077007e-04 -4.79729114e-06 9.99999701e-01 -3.36201465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.44, Y:-21.51, Z:-0.33 [[ 9.97930818e-01 6.42921990e-02 7.71736361e-04 2.19436125e+02] [-6.42921828e-02 9.97931116e-01 -4.57609029e-05 -2.15061207e+01] [-7.73081797e-04 -3.95039992e-06 9.99999701e-01 -3.32626888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.47, Y:-21.51, Z:-0.33 [[ 9.98060844e-01 6.22411086e-02 7.71738568e-04 2.19465304e+02] [-6.22410919e-02 9.98061143e-01 -4.57236412e-05 -2.15058372e+01] [-7.73088168e-04 -2.39887523e-06 9.99999701e-01 -3.31977957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.49, Y:-21.51, Z:-0.33 [[ 9.98118570e-01 6.13084392e-02 7.71740795e-04 2.19494361e+02] [-6.13084222e-02 9.98118868e-01 -4.56860325e-05 -2.15071232e+01] [-7.73089988e-04 -1.71413304e-06 9.99999701e-01 -3.34798395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.52, Y:-21.51, Z:-0.33 [[ 9.98209910e-01 5.98028387e-02 7.71742448e-04 2.19523671e+02] [-5.98028213e-02 9.98210209e-01 -4.56580872e-05 -2.15097269e+01] [-7.73091673e-04 -5.76020593e-07 9.99999701e-01 -3.33035596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.55, Y:-21.51, Z:-0.33 [[ 9.98231187e-01 5.94466222e-02 7.71743572e-04 2.19551249e+02] [-5.94466047e-02 9.98231486e-01 -4.56390833e-05 -2.15116794e+01] [-7.73091822e-04 -3.19178733e-07 9.99999701e-01 -3.34890714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.58, Y:-21.51, Z:-0.33 [[ 9.98221463e-01 5.96096986e-02 7.71746358e-04 2.19580779e+02] [-5.96096812e-02 9.98221761e-01 -4.55919277e-05 -2.15130482e+01] [-7.73091729e-04 -4.92713584e-07 9.99999701e-01 -3.33960336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.61, Y:-21.51, Z:-0.34 [[ 9.98164401e-01 6.05576761e-02 7.71747471e-04 2.19610061e+02] [-6.05576589e-02 9.98164700e-01 -4.55730778e-05 -2.15137724e+01] [-7.73090882e-04 -1.24579616e-06 9.99999701e-01 -3.35510690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.64, Y:-21.52, Z:-0.34 [[ 9.98064756e-01 6.21783558e-02 7.71749693e-04 2.19638497e+02] [-6.21783392e-02 9.98065054e-01 -4.55354229e-05 -2.15153088e+01] [-7.73087716e-04 -2.53881344e-06 9.99999701e-01 -3.35182062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.67, Y:-21.52, Z:-0.34 [[ 9.97983514e-01 6.34689756e-02 7.71751913e-04 2.19666965e+02] [-6.34689594e-02 9.97983812e-01 -4.54977570e-05 -2.15164068e+01] [-7.73083612e-04 -3.57627946e-06 9.99999701e-01 -3.35585294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.70, Y:-21.52, Z:-0.34 [[ 9.97885683e-01 6.49889843e-02 7.71754133e-04 2.19695031e+02] [-6.49889685e-02 9.97885981e-01 -4.54600775e-05 -2.15178634e+01] [-7.73077034e-04 -4.79154452e-06 9.99999701e-01 -3.38184707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.72, Y:-21.52, Z:-0.34 [[ 9.97692025e-01 6.78971894e-02 7.71756900e-04 2.19722848e+02] [-6.78971746e-02 9.97692323e-01 -4.54130530e-05 -2.15205235e+01] [-7.73059353e-04 -7.09187216e-06 9.99999701e-01 -3.40378743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.75, Y:-21.52, Z:-0.34 [[ 9.97629914e-01 6.88037733e-02 7.71759725e-04 2.19752000e+02] [-6.88037588e-02 9.97630212e-01 -4.53649882e-05 -2.15219466e+01] [-7.73052101e-04 -7.84250078e-06 9.99999701e-01 -3.38365342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.78, Y:-21.52, Z:-0.34 [[ 9.97611995e-01 6.90631019e-02 7.71761918e-04 2.19780859e+02] [-6.90630875e-02 9.97612293e-01 -4.53276484e-05 -2.15214629e+01] [-7.73049645e-04 -8.08085519e-06 9.99999701e-01 -3.36188822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.81, Y:-21.52, Z:-0.34 [[ 9.97642504e-01 6.86209785e-02 7.71764131e-04 2.19808792e+02] [-6.86209640e-02 9.97642802e-01 -4.52899333e-05 -2.15226119e+01] [-7.73052770e-04 -7.77603626e-06 9.99999701e-01 -3.36474695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.84, Y:-21.53, Z:-0.34 [[ 9.97805409e-01 6.62100382e-02 7.71767110e-04 2.19836336e+02] [-6.62100230e-02 9.97805708e-01 -4.52391206e-05 -2.15260416e+01] [-7.73068911e-04 -5.95887881e-06 9.99999701e-01 -3.38566635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.87, Y:-21.53, Z:-0.34 [[ 9.97919805e-01 6.44629179e-02 7.71769983e-04 2.19865170e+02] [-6.44629022e-02 9.97920103e-01 -4.51900459e-05 -2.15289807e+01] [-7.73077864e-04 -4.65449123e-06 9.99999701e-01 -3.36425248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.89, Y:-21.53, Z:-0.34 [[ 9.98046322e-01 6.24735430e-02 7.71772207e-04 2.19894607e+02] [-6.24735268e-02 9.98046620e-01 -4.51520382e-05 -2.15313768e+01] [-7.73085451e-04 -3.15150595e-06 9.99999701e-01 -3.36628324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.744203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.92, Y:-21.53, Z:-0.34 [[ 9.98287608e-01 5.84915120e-02 7.71773315e-04 2.19922667e+02] [-5.84914946e-02 9.98287906e-01 -4.51330884e-05 -2.15345297e+01] [-7.73091869e-04 -8.63718273e-08 9.99999701e-01 -3.35794854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.95, Y:-21.54, Z:-0.33 [[ 9.98529805e-01 5.41999306e-02 7.71775527e-04 2.19951992e+02] [-5.41999119e-02 9.98530103e-01 -4.50952428e-05 -2.15409412e+01] [-7.73085255e-04 3.19877846e-06 9.99999701e-01 -3.33337750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.98, Y:-21.55, Z:-0.33 [[ 9.98633877e-01 5.22473276e-02 7.71776597e-04 2.19980902e+02] [-5.22473084e-02 9.98634176e-01 -4.50769119e-05 -2.15455790e+01] [-7.73077634e-04 4.69208139e-06 9.99999701e-01 -3.33199972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.834203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:220.01, Y:-21.55, Z:-0.33 [[ 9.98740746e-01 5.01629960e-02 7.71778734e-04 2.20010330e+02] [-5.01629761e-02 9.98741044e-01 -4.50402899e-05 -2.15494034e+01] [-7.73066455e-04 6.26885452e-06 9.99999701e-01 -3.34831470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.04, Y:-21.55, Z:-0.33 [[ 9.98838178e-01 4.81840093e-02 7.71779801e-04 2.20039267e+02] [-4.81839889e-02 9.98838476e-01 -4.50220087e-05 -2.15546686e+01] [-7.73052701e-04 7.78227173e-06 9.99999701e-01 -3.32634283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.07, Y:-21.56, Z:-0.33 [[ 9.98974487e-01 4.52700741e-02 7.71780904e-04 2.20068472e+02] [-4.52700529e-02 9.98974785e-01 -4.50030928e-05 -2.15629182e+01] [-7.73026956e-04 1.00183792e-05 9.99999701e-01 -3.33275438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.924203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:220.10, Y:-21.57, Z:-0.34 [[ 9.99051258e-01 4.35429493e-02 7.71781452e-04 2.20097553e+02] [-4.35429275e-02 9.99051556e-01 -4.49936993e-05 -2.15704845e+01] [-7.73008618e-04 1.13453880e-05 9.99999701e-01 -3.35270858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.13, Y:-21.58, Z:-0.33 [[ 9.99062438e-01 4.32856638e-02 7.71781991e-04 2.20127031e+02] [-4.32856420e-02 9.99062736e-01 -4.49844408e-05 -2.15755030e+01] [-7.73005809e-04 1.15351861e-05 9.99999701e-01 -3.34048067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.16, Y:-21.58, Z:-0.33 [[ 9.99063821e-01 4.32537419e-02 7.71783046e-04 2.20156920e+02] [-4.32537201e-02 9.99064119e-01 -4.49663284e-05 -2.15804464e+01] [-7.73005711e-04 1.15417440e-05 9.99999701e-01 -3.34553858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.19, Y:-21.59, Z:-0.33 [[ 9.99023609e-01 4.41727722e-02 7.71784096e-04 2.20185808e+02] [-4.41727507e-02 9.99023907e-01 -4.49483079e-05 -2.15905725e+01] [-7.73016254e-04 1.08125944e-05 9.99999701e-01 -3.33819194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.22, Y:-21.60, Z:-0.33 [[ 9.98999874e-01 4.47063238e-02 7.71784620e-04 2.20215150e+02] [-4.47063025e-02 9.99000172e-01 -4.49393157e-05 -2.15965526e+01] [-7.73022040e-04 1.03907341e-05 9.99999701e-01 -3.33802967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:220.25, Y:-21.60, Z:-0.33 [[ 9.98940162e-01 4.60212647e-02 7.71785136e-04 2.20245609e+02] [-4.60212437e-02 9.98940460e-01 -4.49304365e-05 -2.16041939e+01] [-7.73035155e-04 9.36430570e-06 9.99999701e-01 -3.34167586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.28, Y:-21.61, Z:-0.34 [[ 9.98894995e-01 4.69914072e-02 7.71785136e-04 2.20275409e+02] [-4.69913865e-02 9.98895294e-01 -4.49304365e-05 -2.16090715e+01] [-7.73043885e-04 8.61353456e-06 9.99999701e-01 -3.35522248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.31, Y:-21.61, Z:-0.33 [[ 9.98853260e-01 4.78703480e-02 7.71784597e-04 2.20305824e+02] [-4.78703275e-02 9.98853558e-01 -4.49396946e-05 -2.16143546e+01] [-7.73051070e-04 7.94257896e-06 9.99999701e-01 -3.33667084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.34, Y:-21.63, Z:-0.34 [[ 9.98774365e-01 4.94891154e-02 7.71784597e-04 2.20336085e+02] [-4.94890954e-02 9.98774663e-01 -4.49396946e-05 -2.16251664e+01] [-7.73062927e-04 6.68969333e-06 9.99999701e-01 -3.35289810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.37, Y:-21.63, Z:-0.34 [[ 9.98728378e-01 5.04086477e-02 7.71783505e-04 2.20366033e+02] [-5.04086280e-02 9.98728676e-01 -4.49584412e-05 -2.16306526e+01] [-7.73068613e-04 5.99672344e-06 9.99999701e-01 -3.37160220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.40, Y:-21.64, Z:-0.34 [[ 9.98644542e-01 5.20430792e-02 7.71782970e-04 2.20396120e+02] [-5.20430600e-02 9.98644841e-01 -4.49676235e-05 -2.16403203e+01] [-7.73077335e-04 4.74072437e-06 9.99999701e-01 -3.39715084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.43, Y:-21.65, Z:-0.34 [[ 9.98602708e-01 5.28397111e-02 7.71782449e-04 2.20425814e+02] [-5.28396922e-02 9.98603007e-01 -4.49765669e-05 -2.16464281e+01] [-7.73080823e-04 4.13297448e-06 9.99999701e-01 -3.38514328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.46, Y:-21.66, Z:-0.33 [[ 9.98556774e-01 5.37007842e-02 7.71780179e-04 2.20456771e+02] [-5.37007655e-02 9.98557072e-01 -4.50154954e-05 -2.16550463e+01] [-7.73083923e-04 3.50534146e-06 9.99999701e-01 -3.33006860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.49, Y:-21.66, Z:-0.33 [[ 9.98532717e-01 5.41462547e-02 7.71779126e-04 2.20488721e+02] [-5.41462361e-02 9.98533016e-01 -4.50335399e-05 -2.16610298e+01] [-7.73085335e-04 3.17852825e-06 9.99999701e-01 -3.30995481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.52, Y:-21.67, Z:-0.33 [[ 9.98514521e-01 5.44807863e-02 7.71771468e-04 2.20520925e+02] [-5.44807676e-02 9.98514819e-01 -4.51643948e-05 -2.16682502e+01] [-7.73085839e-04 3.05060198e-06 9.99999701e-01 -3.31222699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.55, Y:-21.68, Z:-0.33 [[ 9.98499148e-01 5.47618125e-02 7.71763769e-04 2.20551238e+02] [-5.47617939e-02 9.98499446e-01 -4.52955722e-05 -2.16788045e+01] [-7.73086164e-04 2.96442178e-06 9.99999701e-01 -3.31573561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.58, Y:-21.69, Z:-0.33 [[ 9.98415534e-01 5.62656774e-02 7.71756630e-04 2.20582596e+02] [-5.62656591e-02 9.98415832e-01 -4.54168786e-05 -2.16861903e+01] [-7.73089450e-04 1.92152160e-06 9.99999701e-01 -3.32470705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.62, Y:-21.69, Z:-0.33 [[ 9.98405914e-01 5.64361155e-02 7.71748850e-04 2.20615198e+02] [-5.64360972e-02 9.98406212e-01 -4.55487054e-05 -2.16882615e+01] [-7.73089438e-04 1.92160378e-06 9.99999701e-01 -3.32495968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.65, Y:-21.69, Z:-0.33 [[ 9.98336156e-01 5.76569590e-02 7.71741052e-04 2.20645784e+02] [-5.76569409e-02 9.98336454e-01 -4.56804488e-05 -2.16931951e+01] [-7.73091021e-04 1.10821543e-06 9.99999701e-01 -3.34684619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.68, Y:-21.70, Z:-0.33 [[ 9.98255284e-01 5.90405957e-02 7.71733830e-04 2.20678521e+02] [-5.90405779e-02 9.98255583e-01 -4.58021237e-05 -2.16980489e+01] [-7.73091789e-04 1.58600657e-07 9.99999701e-01 -3.33587175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.71, Y:-21.70, Z:-0.33 [[ 9.98090431e-01 6.17648362e-02 7.71725069e-04 2.20710576e+02] [-6.17648191e-02 9.98090730e-01 -4.59492816e-05 -2.17048024e+01] [-7.73089687e-04 -1.80392091e-06 9.99999701e-01 -3.31671148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.74, Y:-21.71, Z:-0.33 [[ 9.98021466e-01 6.28693764e-02 7.71717308e-04 2.20742707e+02] [-6.28693595e-02 9.98021764e-01 -4.60792457e-05 -2.17096344e+01] [-7.73087643e-04 -2.52929662e-06 9.99999701e-01 -3.31340169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.78, Y:-21.72, Z:-0.33 [[ 9.97943727e-01 6.40915105e-02 7.71709018e-04 2.20775161e+02] [-6.40914939e-02 9.97944026e-01 -4.62176777e-05 -2.17171172e+01] [-7.73084564e-04 -3.33734226e-06 9.99999701e-01 -3.31365248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.81, Y:-21.72, Z:-0.33 [[ 9.97952449e-01 6.39555649e-02 7.71700226e-04 2.20806673e+02] [-6.39555481e-02 9.97952747e-01 -4.63640071e-05 -2.17214209e+01] [-7.73085597e-04 -3.08543658e-06 9.99999701e-01 -3.32742747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.84, Y:-21.73, Z:-0.33 [[ 9.98051529e-01 6.23902985e-02 7.71692552e-04 2.20838857e+02] [-6.23902812e-02 9.98051828e-01 -4.64913914e-05 -2.17285438e+01] [-7.73089773e-04 -1.74531101e-06 9.99999701e-01 -3.34705279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.87, Y:-21.73, Z:-0.33 [[ 9.98132228e-01 6.10856743e-02 7.71684875e-04 2.20872075e+02] [-6.10856565e-02 9.98132526e-01 -4.66184690e-05 -2.17334896e+01] [-7.73091494e-04 -6.07480896e-07 9.99999701e-01 -3.33514337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.90, Y:-21.74, Z:-0.34 [[ 9.98204431e-01 5.98942350e-02 7.71675669e-04 2.20903962e+02] [-5.98942167e-02 9.98204729e-01 -4.67703565e-05 -2.17387132e+01] [-7.73091577e-04 4.67467260e-07 9.99999701e-01 -3.35279845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.94, Y:-21.75, Z:-0.33 [[ 9.98346220e-01 5.74824311e-02 7.71667015e-04 2.20935376e+02] [-5.74824121e-02 9.98346518e-01 -4.69127055e-05 -2.17453123e+01] [-7.73087734e-04 2.47784082e-06 9.99999701e-01 -3.33466837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.97, Y:-21.75, Z:-0.33 [[ 9.98391073e-01 5.66980574e-02 7.71659172e-04 2.20968315e+02] [-5.66980380e-02 9.98391371e-01 -4.70413591e-05 -2.17518633e+01] [-7.73085013e-04 3.21411192e-06 9.99999701e-01 -3.32752512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.00, Y:-21.76, Z:-0.33 [[ 9.98379977e-01 5.68931148e-02 7.71650136e-04 2.20999769e+02] [-5.68930953e-02 9.98380275e-01 -4.71891261e-05 -2.17556076e+01] [-7.73085011e-04 3.21111394e-06 9.99999701e-01 -3.33316603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.03, Y:-21.76, Z:-0.33 [[ 9.98352871e-01 5.73667934e-02 7.71644482e-04 2.21032242e+02] [-5.73667740e-02 9.98353169e-01 -4.72813900e-05 -2.17590325e+01] [-7.73086097e-04 2.93675680e-06 9.99999701e-01 -3.32975379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.06, Y:-21.76, Z:-0.33 [[ 9.98235843e-01 5.93683920e-02 7.71635199e-04 2.21064168e+02] [-5.93683730e-02 9.98236141e-01 -4.74324178e-05 -2.17643944e+01] [-7.73090130e-04 1.53801328e-06 9.99999701e-01 -3.34730724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.10, Y:-21.77, Z:-0.33 [[ 9.98132820e-01 6.10760044e-02 7.71626537e-04 2.21095695e+02] [-6.10759858e-02 9.98133118e-01 -4.75729113e-05 -2.17674511e+01] [-7.73091565e-04 3.56232687e-07 9.99999701e-01 -3.32902600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.13, Y:-21.77, Z:-0.33 [[ 9.98101894e-01 6.15793217e-02 7.71619061e-04 2.21127551e+02] [-6.15793032e-02 9.98102193e-01 -4.76938609e-05 -2.17701594e+01] [-7.73091632e-04 8.75688308e-08 9.99999701e-01 -3.33505746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.16, Y:-21.77, Z:-0.33 [[ 9.98075413e-01 6.20070537e-02 7.71610454e-04 2.21160554e+02] [-6.20070352e-02 9.98075711e-01 -4.78327003e-05 -2.17728030e+01] [-7.73091618e-04 -1.04634547e-07 9.99999701e-01 -3.32677333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.19, Y:-21.78, Z:-0.34 [[ 9.98094354e-01 6.17014132e-02 7.71601290e-04 2.21191263e+02] [-6.17013945e-02 9.98094653e-01 -4.79800784e-05 -2.17753265e+01] [-7.73091560e-04 2.79769751e-07 9.99999701e-01 -3.36613680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.22, Y:-21.78, Z:-0.34 [[ 9.98146579e-01 6.08507241e-02 7.71593887e-04 2.21223559e+02] [-6.08507051e-02 9.98146878e-01 -4.80988361e-05 -2.17787133e+01] [-7.73090878e-04 1.05765666e-06 9.99999701e-01 -3.36264147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.25, Y:-21.78, Z:-0.34 [[ 9.98290804e-01 5.84369388e-02 7.71585710e-04 2.21254399e+02] [-5.84369190e-02 9.98291102e-01 -4.82296595e-05 -2.17841632e+01] [-7.73085542e-04 3.05813390e-06 9.99999701e-01 -3.37483529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.29, Y:-21.79, Z:-0.33 [[ 9.98357951e-01 5.72783277e-02 7.71578130e-04 2.21286891e+02] [-5.72783074e-02 9.98358249e-01 -4.83506199e-05 -2.17875742e+01] [-7.73080833e-04 4.07653652e-06 9.99999701e-01 -3.34467423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.32, Y:-21.79, Z:-0.34 [[ 9.98418136e-01 5.62194876e-02 7.71568758e-04 2.21319247e+02] [-5.62194669e-02 9.98418434e-01 -4.84997096e-05 -2.17909160e+01] [-7.73075100e-04 5.04580541e-06 9.99999701e-01 -3.35081041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.35, Y:-21.79, Z:-0.33 [[ 9.98403342e-01 5.64816101e-02 7.71560468e-04 2.21352098e+02] [-5.64815894e-02 9.98403640e-01 -4.86312387e-05 -2.17937598e+01] [-7.73075550e-04 4.97462971e-06 9.99999701e-01 -3.34424205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.38, Y:-21.80, Z:-0.34 [[ 9.98350143e-01 5.74142610e-02 7.71550806e-04 2.21384251e+02] [-5.74142405e-02 9.98350441e-01 -4.87840423e-05 -2.17968848e+01] [-7.73078987e-04 4.40555209e-06 9.99999701e-01 -3.35716290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.42, Y:-21.80, Z:-0.34 [[ 9.98263846e-01 5.88956649e-02 7.71541781e-04 2.21415995e+02] [-5.88956447e-02 9.98264144e-01 -4.89263682e-05 -2.18017276e+01] [-7.73084046e-04 3.40097390e-06 9.99999701e-01 -3.35186782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.45, Y:-21.81, Z:-0.34 [[ 9.98206413e-01 5.98611867e-02 7.71533321e-04 2.21448140e+02] [-5.98611666e-02 9.98206711e-01 -4.90594191e-05 -2.18054620e+01] [-7.73086494e-04 2.78654207e-06 9.99999701e-01 -3.36893627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.48, Y:-21.81, Z:-0.34 [[ 9.98161878e-01 6.05992605e-02 7.71527266e-04 2.21481398e+02] [-6.05992406e-02 9.98162176e-01 -4.91544467e-05 -2.18096451e+01] [-7.73088058e-04 2.31012836e-06 9.99999701e-01 -3.36958616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.51, Y:-21.81, Z:-0.34 [[ 9.98144434e-01 6.08859145e-02 7.71517802e-04 2.21514330e+02] [-6.08858946e-02 9.98144732e-01 -4.93025450e-05 -2.18116073e+01] [-7.73088260e-04 2.23650920e-06 9.99999701e-01 -3.36472078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.55, Y:-21.81, Z:-0.34 [[ 9.98130064e-01 6.11210211e-02 7.71508153e-04 2.21545516e+02] [-6.11210012e-02 9.98130363e-01 -4.94530884e-05 -2.18133893e+01] [-7.73088335e-04 2.20526362e-06 9.99999701e-01 -3.39002577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.58, Y:-21.82, Z:-0.34 [[ 9.98096582e-01 6.16653765e-02 7.71500366e-04 2.21576392e+02] [-6.16653566e-02 9.98096880e-01 -4.95742600e-05 -2.18159367e+01] [-7.73089124e-04 1.90505420e-06 9.99999701e-01 -3.41559858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.61, Y:-21.82, Z:-0.34 [[ 9.98032788e-01 6.26893885e-02 7.71492619e-04 2.21608357e+02] [-6.26893688e-02 9.98033086e-01 -4.96945421e-05 -2.18198993e+01] [-7.73090479e-04 1.23239711e-06 9.99999701e-01 -3.41830600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.64, Y:-21.82, Z:-0.34 [[ 9.98008716e-01 6.30714528e-02 7.71484066e-04 2.21639036e+02] [-6.30714331e-02 9.98009014e-01 -4.98269614e-05 -2.18234168e+01] [-7.73090711e-04 1.06913605e-06 9.99999701e-01 -3.44794014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.67, Y:-21.83, Z:-0.34 [[ 9.97981309e-01 6.35036283e-02 7.71479186e-04 2.21671567e+02] [-6.35036087e-02 9.97981608e-01 -4.99024023e-05 -2.18269811e+01] [-7.73091022e-04 8.09952433e-07 9.99999701e-01 -3.43831547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.70, Y:-21.83, Z:-0.34 [[ 9.97969884e-01 6.36829358e-02 7.71469644e-04 2.21704499e+02] [-6.36829161e-02 9.97970182e-01 -5.00494870e-05 -2.18293872e+01] [-7.73090999e-04 8.18444078e-07 9.99999701e-01 -3.40982196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.484203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:221.74, Y:-21.83, Z:-0.35 [[ 9.97938878e-01 6.41669747e-02 7.71459692e-04 2.21735724e+02] [-6.41669551e-02 9.97939176e-01 -5.02024172e-05 -2.18309411e+01] [-7.73091187e-04 5.96724449e-07 9.99999701e-01 -3.45864136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.77, Y:-21.84, Z:-0.34 [[ 9.97974937e-01 6.36036954e-02 7.71451616e-04 2.21767510e+02] [-6.36036755e-02 9.97975235e-01 -5.03262272e-05 -2.18357900e+01] [-7.73090541e-04 1.15715522e-06 9.99999701e-01 -3.40945792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.80, Y:-21.84, Z:-0.34 [[ 9.97983536e-01 6.34686337e-02 7.71443310e-04 2.21799890e+02] [-6.34686136e-02 9.97983834e-01 -5.04532272e-05 -2.18391420e+01] [-7.73090149e-04 1.38905269e-06 9.99999701e-01 -3.39813270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.83, Y:-21.84, Z:-0.34 [[ 9.97988619e-01 6.33886551e-02 7.71434983e-04 2.21832261e+02] [-6.33886350e-02 9.97988917e-01 -5.05802258e-05 -2.18422121e+01] [-7.73089775e-04 1.57827913e-06 9.99999701e-01 -3.36927904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.86, Y:-21.85, Z:-0.34 [[ 9.97985720e-01 6.34342757e-02 7.71425645e-04 2.21864544e+02] [-6.34342554e-02 9.97986018e-01 -5.07222400e-05 -2.18451011e+01] [-7.73089537e-04 1.68525982e-06 9.99999701e-01 -3.37850392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.90, Y:-21.85, Z:-0.34 [[ 9.97983275e-01 6.34727288e-02 7.71416322e-04 2.21897530e+02] [-6.34727085e-02 9.97983573e-01 -5.08636361e-05 -2.18476763e+01] [-7.73089272e-04 1.79717478e-06 9.99999701e-01 -3.36981955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.93, Y:-21.85, Z:-0.34 [[ 9.97978248e-01 6.35517275e-02 7.71406508e-04 2.21928712e+02] [-6.35517070e-02 9.97978546e-01 -5.10120533e-05 -2.18499730e+01] [-7.73089049e-04 1.88471918e-06 9.99999701e-01 -3.36872372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.96, Y:-21.85, Z:-0.34 [[ 9.97953254e-01 6.39430096e-02 7.71398564e-04 2.21961651e+02] [-6.39429892e-02 9.97953552e-01 -5.11318985e-05 -2.18533950e+01] [-7.73089464e-04 1.70171449e-06 9.99999701e-01 -3.36429091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72420382200002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:221.99, Y:-21.86, Z:-0.34 [[ 9.97811167e-01 6.61232123e-02 7.71388812e-04 2.21993204e+02] [-6.61231924e-02 9.97811466e-01 -5.12785917e-05 -2.18571909e+01] [-7.73091306e-04 1.59660613e-07 9.99999701e-01 -3.35135819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.02, Y:-21.86, Z:-0.33 [[ 9.97739549e-01 6.71952113e-02 7.71379886e-04 2.22024677e+02] [-6.71951917e-02 9.97739848e-01 -5.14125192e-05 -2.18588468e+01] [-7.73091125e-04 -5.36715497e-07 9.99999701e-01 -3.34354871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.06, Y:-21.86, Z:-0.34 [[ 9.97547757e-01 6.99848445e-02 7.71370338e-04 2.22056719e+02] [-6.99848255e-02 9.97548055e-01 -5.15553739e-05 -2.18605215e+01] [-7.73087075e-04 -2.55527100e-06 9.99999701e-01 -3.35500038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.09, Y:-21.86, Z:-0.33 [[ 9.97444536e-01 7.14408995e-02 7.71361632e-04 2.22089069e+02] [-7.14408809e-02 9.97444835e-01 -5.16852978e-05 -2.18621887e+01] [-7.73083120e-04 -3.55353661e-06 9.99999701e-01 -3.32882655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84420382200003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:222.12, Y:-21.86, Z:-0.33 [[ 9.97337174e-01 7.29243875e-02 7.71352816e-04 2.22119818e+02] [-7.29243692e-02 9.97337472e-01 -5.18165473e-05 -2.18624078e+01] [-7.73077757e-04 -4.57184870e-06 9.99999701e-01 -3.33086914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.15, Y:-21.86, Z:-0.33 [[ 9.97212174e-01 7.46142349e-02 7.71348426e-04 2.22150660e+02] [-7.46142171e-02 9.97212473e-01 -5.18818121e-05 -2.18618787e+01] [-7.73069393e-04 -5.81638418e-06 9.99999701e-01 -3.29350207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.18, Y:-21.86, Z:-0.33 [[ 9.97085796e-01 7.62844734e-02 7.71340559e-04 2.22183988e+02] [-7.62844560e-02 9.97086094e-01 -5.19985089e-05 -2.18609518e+01] [-7.73059624e-04 -6.99432027e-06 9.99999701e-01 -3.27044870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.22, Y:-21.86, Z:-0.33 [[ 9.96990547e-01 7.75193814e-02 7.71330516e-04 2.22216158e+02] [-7.75193642e-02 9.96990845e-01 -5.21470547e-05 -2.18606805e+01] [-7.73051871e-04 -7.80293070e-06 9.99999701e-01 -3.27606518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.25, Y:-21.86, Z:-0.33 [[ 9.96890049e-01 7.88012376e-02 7.71324259e-04 2.22248233e+02] [-7.88012208e-02 9.96890347e-01 -5.22394490e-05 -2.18606580e+01] [-7.73042241e-04 -8.70430635e-06 9.99999701e-01 -3.28168627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.28, Y:-21.86, Z:-0.33 [[ 9.96695468e-01 8.12253031e-02 7.71318233e-04 2.22280930e+02] [-8.12252869e-02 9.96695766e-01 -5.23282662e-05 -2.18581465e+01] [-7.73019996e-04 -1.04951990e-05 9.99999701e-01 -3.29124672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.31, Y:-21.86, Z:-0.33 [[ 9.96596335e-01 8.24327051e-02 7.71309734e-04 2.22313212e+02] [-8.24326892e-02 9.96596633e-01 -5.24532418e-05 -2.18575077e+01] [-7.73008547e-04 -1.13064271e-05 9.99999701e-01 -3.30448145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.34, Y:-21.85, Z:-0.34 [[ 9.96443295e-01 8.42624756e-02 7.71300939e-04 2.22344585e+02] [-8.42624601e-02 9.96443594e-01 -5.25822462e-05 -2.18537225e+01] [-7.72988590e-04 -1.25964880e-05 9.99999701e-01 -3.39555457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.084203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:222.38, Y:-21.85, Z:-0.34 [[ 9.96375608e-01 8.50591161e-02 7.71292826e-04 2.22377273e+02] [-8.50591008e-02 9.96375906e-01 -5.27009909e-05 -2.18528814e+01] [-7.72980288e-04 -1.30954924e-05 9.99999701e-01 -3.41349870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.41, Y:-21.85, Z:-0.34 [[ 9.96410772e-01 8.46462006e-02 7.71284134e-04 2.22409456e+02] [-8.46461850e-02 9.96411070e-01 -5.28278884e-05 -2.18493707e+01] [-7.72987729e-04 -1.26479825e-05 9.99999701e-01 -3.38757553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.44, Y:-21.85, Z:-0.34 [[ 9.96462975e-01 8.40294256e-02 7.71275285e-04 2.22442000e+02] [-8.40294098e-02 9.96463274e-01 -5.29567709e-05 -2.18487854e+01] [-7.72997422e-04 -1.20403454e-05 9.99999701e-01 -3.40150246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.47, Y:-21.85, Z:-0.34 [[ 9.96663785e-01 8.16131456e-02 7.71265830e-04 2.22474907e+02] [-8.16131290e-02 9.96664083e-01 -5.30941195e-05 -2.18456132e+01] [-7.73026129e-04 -1.00284315e-05 9.99999701e-01 -3.40217726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.51, Y:-21.85, Z:-0.34 [[ 9.96812106e-01 7.97811401e-02 7.71257080e-04 2.22508072e+02] [-7.97811228e-02 9.96812404e-01 -5.32209177e-05 -2.18459781e+01] [-7.73044650e-04 -8.48050076e-06 9.99999701e-01 -3.40588693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.54, Y:-21.85, Z:-0.34 [[ 9.97182914e-01 7.50042808e-02 7.71247020e-04 2.22539142e+02] [-7.50042620e-02 9.97183212e-01 -5.33662989e-05 -2.18458608e+01] [-7.73077282e-04 -4.63085213e-06 9.99999701e-01 -3.40847359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.57, Y:-21.85, Z:-0.34 [[ 9.97386918e-01 7.22408511e-02 7.71238877e-04 2.22571471e+02] [-7.22408313e-02 9.97387216e-01 -5.34837274e-05 -2.18472388e+01] [-7.73087507e-04 -2.37096761e-06 9.99999701e-01 -3.39823857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.60, Y:-21.85, Z:-0.34 [[ 9.97789404e-01 6.64508138e-02 7.71230200e-04 2.22603697e+02] [-6.64507922e-02 9.97789702e-01 -5.36085614e-05 -2.18456754e+01] [-7.73087884e-04 2.24119677e-06 9.99999701e-01 -3.37931963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.64, Y:-21.85, Z:-0.34 [[ 9.97970751e-01 6.36693463e-02 7.71221456e-04 2.22636825e+02] [-6.36693238e-02 9.97971049e-01 -5.37340591e-05 -2.18458177e+01] [-7.73077897e-04 4.52187075e-06 9.99999701e-01 -3.38331218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.67, Y:-21.85, Z:-0.34 [[ 9.97958756e-01 6.38570813e-02 7.71211356e-04 2.22670227e+02] [-6.38570587e-02 9.97959054e-01 -5.38786183e-05 -2.18483580e+01] [-7.73077887e-04 4.52135001e-06 9.99999701e-01 -3.38357127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.70, Y:-21.85, Z:-0.34 [[ 9.98123589e-01 6.12266815e-02 7.71201194e-04 2.22701307e+02] [-6.12266580e-02 9.98123887e-01 -5.40236949e-05 -2.18495153e+01] [-7.73062024e-04 6.70425249e-06 9.99999701e-01 -3.40971923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.73, Y:-21.85, Z:-0.34 [[ 9.98410598e-01 5.63532077e-02 7.71192970e-04 2.22733188e+02] [-5.63531826e-02 9.98410895e-01 -5.41408344e-05 -2.18527445e+01] [-7.73018473e-04 1.05956045e-05 9.99999701e-01 -3.39061232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.77, Y:-21.86, Z:-0.34 [[ 9.98484814e-01 5.50225604e-02 7.71183731e-04 2.22765434e+02] [-5.50225349e-02 9.98485111e-01 -5.42721158e-05 -2.18561769e+01] [-7.73001664e-04 1.17573997e-05 9.99999701e-01 -3.39984682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.80, Y:-21.86, Z:-0.34 [[ 9.98547048e-01 5.38813268e-02 7.71173868e-04 2.22797067e+02] [-5.38813009e-02 9.98547346e-01 -5.44119014e-05 -2.18606907e+01] [-7.72985405e-04 1.27809923e-05 9.99999701e-01 -3.42240173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50420382200002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:222.83, Y:-21.86, Z:-0.35 [[ 9.98509896e-01 5.45654940e-02 7.71164898e-04 2.22828835e+02] [-5.45654682e-02 9.98510194e-01 -5.45387416e-05 -2.18627661e+01] [-7.72991945e-04 1.23784994e-05 9.99999701e-01 -3.47403425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.86, Y:-21.86, Z:-0.35 [[ 9.98317672e-01 5.79761245e-02 7.71155879e-04 2.22859939e+02] [-5.79760996e-02 9.98317970e-01 -5.46659607e-05 -2.18630323e+01] [-7.73028092e-04 9.86538458e-06 9.99999701e-01 -3.47015173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.89, Y:-21.87, Z:-0.34 [[ 9.98000301e-01 6.32044668e-02 7.71147508e-04 2.22891733e+02] [-6.32044433e-02 9.98000599e-01 -5.47837970e-05 -2.18650801e+01] [-7.73068256e-04 5.93429692e-06 9.99999701e-01 -3.43205476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.92, Y:-21.87, Z:-0.34 [[ 9.97826683e-01 6.58886612e-02 7.71138039e-04 2.22922676e+02] [-6.58886384e-02 9.97826981e-01 -5.49167589e-05 -2.18676499e+01] [-7.73080733e-04 3.98817196e-06 9.99999701e-01 -3.44239514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.95, Y:-21.87, Z:-0.34 [[ 9.97657905e-01 6.83967115e-02 7.71132900e-04 2.22954576e+02] [-6.83966894e-02 9.97658203e-01 -5.49888248e-05 -2.18696215e+01] [-7.73088118e-04 2.11709825e-06 9.99999701e-01 -3.37454720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.99, Y:-21.87, Z:-0.34 [[ 9.97364783e-01 7.25458089e-02 7.71123089e-04 2.22986020e+02] [-7.25457880e-02 9.97365081e-01 -5.51260670e-05 -2.18707992e+01] [-7.73090408e-04 -9.60934266e-07 9.99999701e-01 -3.40689055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.684203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:223.02, Y:-21.87, Z:-0.34 [[ 9.97202055e-01 7.47493661e-02 7.71114026e-04 2.23017761e+02] [-7.47493457e-02 9.97202353e-01 -5.52525482e-05 -2.18725941e+01] [-7.73086814e-04 -2.54231438e-06 9.99999701e-01 -3.42072041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.05, Y:-21.87, Z:-0.34 [[ 9.96963949e-01 7.78607080e-02 7.71104468e-04 2.23050715e+02] [-7.78606884e-02 9.96964247e-01 -5.53856295e-05 -2.18736524e+01] [-7.73075949e-04 -4.82124879e-06 9.99999701e-01 -3.40684144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.08, Y:-21.88, Z:-0.34 [[ 9.96830818e-01 7.95470081e-02 7.71093522e-04 2.23082496e+02] [-7.95469890e-02 9.96831116e-01 -5.55375976e-05 -2.18755819e+01] [-7.73067866e-04 -5.97657904e-06 9.99999701e-01 -3.43710264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.11, Y:-21.88, Z:-0.34 [[ 9.96565969e-01 8.27990069e-02 7.71083324e-04 2.23114375e+02] [-8.27989886e-02 9.96566267e-01 -5.56788239e-05 -2.18756398e+01] [-7.73045781e-04 -8.35729829e-06 9.99999701e-01 -3.38725673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.15, Y:-21.88, Z:-0.34 [[ 9.96418538e-01 8.45547328e-02 7.71073803e-04 2.23145379e+02] [-8.45547150e-02 9.96418836e-01 -5.58103721e-05 -2.18762764e+01] [-7.73031492e-04 -9.58743625e-06 9.99999701e-01 -3.40871991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.18, Y:-21.88, Z:-0.34 [[ 9.96285468e-01 8.61084885e-02 7.71064995e-04 2.23177353e+02] [-8.61084709e-02 9.96285766e-01 -5.59317941e-05 -2.18770182e+01] [-7.73017282e-04 -1.06711940e-05 9.99999701e-01 -3.39901028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.21, Y:-21.88, Z:-0.34 [[ 9.96098235e-01 8.82480091e-02 7.71056228e-04 2.23209486e+02] [-8.82479922e-02 9.96098534e-01 -5.60523920e-05 -2.18758982e+01] [-7.72994490e-04 -1.22104752e-05 9.99999701e-01 -3.39251061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.24, Y:-21.88, Z:-0.34 [[ 9.96069678e-01 8.85697580e-02 7.71046834e-04 2.23241038e+02] [-8.85697411e-02 9.96069976e-01 -5.61813149e-05 -2.18764435e+01] [-7.72992568e-04 -1.23309142e-05 9.99999701e-01 -3.44219898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.27, Y:-21.88, Z:-0.34 [[ 9.96281682e-01 8.61522852e-02 7.71041474e-04 2.23272870e+02] [-8.61522675e-02 9.96281980e-01 -5.62547918e-05 -2.18784028e+01] [-7.73021205e-04 -1.03813527e-05 9.99999701e-01 -3.39968145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.30, Y:-21.88, Z:-0.34 [[ 9.96496069e-01 8.36360610e-02 7.71031894e-04 2.23304733e+02] [-8.36360424e-02 9.96496367e-01 -5.63857837e-05 -2.18812283e+01] [-7.73046366e-04 -8.29784442e-06 9.99999701e-01 -3.39584673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.34, Y:-21.88, Z:-0.34 [[ 9.97003818e-01 7.73485098e-02 7.71022178e-04 2.23337023e+02] [-7.73484892e-02 9.97004116e-01 -5.65183308e-05 -2.18840014e+01] [-7.73083894e-04 -3.28840901e-06 9.99999701e-01 -3.41713847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.37, Y:-21.89, Z:-0.34 [[ 9.97265035e-01 7.39043629e-02 7.71011777e-04 2.23370126e+02] [-7.39043412e-02 9.97265333e-01 -5.66598707e-05 -2.18868851e+01] [-7.73090728e-04 -4.76209436e-07 9.99999701e-01 -3.40441831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.40, Y:-21.89, Z:-0.34 [[ 9.97755443e-01 6.69588085e-02 7.71000697e-04 2.23401631e+02] [-6.69587846e-02 9.97755741e-01 -5.68102381e-05 -2.18916200e+01] [-7.73074317e-04 5.05745465e-06 9.99999701e-01 -3.40584784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.43, Y:-21.90, Z:-0.34 [[ 9.97933525e-01 6.42501843e-02 7.70990731e-04 2.23433666e+02] [-6.42501595e-02 9.97933822e-01 -5.69451637e-05 -2.18955439e+01] [-7.73056465e-04 7.29121049e-06 9.99999701e-01 -3.41555387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.46, Y:-21.90, Z:-0.35 [[ 9.98219428e-01 5.96437764e-02 7.70980721e-04 2.23464602e+02] [-5.96437501e-02 9.98219725e-01 -5.70803673e-05 -2.19015117e+01] [-7.73012653e-04 1.09945501e-05 9.99999701e-01 -3.46296329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.50, Y:-21.91, Z:-0.34 [[ 9.98294765e-01 5.83692407e-02 7.70971463e-04 2.23496503e+02] [-5.83692140e-02 9.98295062e-01 -5.72051412e-05 -2.19052609e+01] [-7.72996026e-04 1.21065947e-05 9.99999701e-01 -3.41942427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.53, Y:-21.91, Z:-0.34 [[ 9.98310854e-01 5.80934086e-02 7.70961784e-04 2.23527930e+02] [-5.80933817e-02 9.98311152e-01 -5.73352966e-05 -2.19080567e+01] [-7.72990549e-04 1.24506718e-05 9.99999701e-01 -3.41382721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.56, Y:-21.91, Z:-0.34 [[ 9.98222276e-01 5.95960848e-02 7.70952793e-04 2.23559963e+02] [-5.95960582e-02 9.98222574e-01 -5.74559368e-05 -2.19117285e+01] [-7.73006630e-04 1.14080485e-05 9.99999701e-01 -3.40298332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.59, Y:-21.92, Z:-0.34 [[ 9.98146043e-01 6.08595373e-02 7.70943463e-04 2.23592623e+02] [-6.08595110e-02 9.98146340e-01 -5.75808530e-05 -2.19163853e+01] [-7.73018740e-04 1.05548584e-05 9.99999701e-01 -3.37467561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.62, Y:-21.92, Z:-0.34 [[ 9.97985711e-01 6.34344219e-02 7.70932081e-04 2.23624533e+02] [-6.34343963e-02 9.97986009e-01 -5.77328418e-05 -2.19226574e+01] [-7.73041680e-04 8.71294005e-06 9.99999701e-01 -3.35421971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.66, Y:-21.93, Z:-0.34 [[ 9.97898787e-01 6.47874749e-02 7.70922141e-04 2.23656809e+02] [-6.47874495e-02 9.97899085e-01 -5.78652681e-05 -2.19265634e+01] [-7.73051444e-04 7.79760151e-06 9.99999701e-01 -3.35477952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.69, Y:-21.93, Z:-0.34 [[ 9.97756646e-01 6.69408795e-02 7.70911473e-04 2.23689001e+02] [-6.69408546e-02 9.97756944e-01 -5.80070547e-05 -2.19318119e+01] [-7.73065318e-04 6.27145151e-06 9.99999701e-01 -3.37606743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.72, Y:-21.94, Z:-0.34 [[ 9.97683923e-01 6.80161435e-02 7.70900206e-04 2.23721020e+02] [-6.80161189e-02 9.97684221e-01 -5.81564034e-05 -2.19354836e+01] [-7.73070545e-04 5.58806859e-06 9.99999701e-01 -3.39067526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.75, Y:-21.94, Z:-0.34 [[ 9.97565138e-01 6.97366500e-02 7.70889918e-04 2.23753515e+02] [-6.97366258e-02 9.97565436e-01 -5.82924510e-05 -2.19426853e+01] [-7.73078258e-04 4.39125524e-06 9.99999701e-01 -3.38454167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.79, Y:-21.95, Z:-0.34 [[ 9.97507481e-01 7.05565781e-02 7.70878690e-04 2.23786285e+02] [-7.05565540e-02 9.97507779e-01 -5.84405624e-05 -2.19490200e+01] [-7.73080856e-04 3.90435432e-06 9.99999701e-01 -3.36878768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.82, Y:-21.96, Z:-0.34 [[ 9.97444530e-01 7.14409942e-02 7.70867195e-04 2.23818054e+02] [-7.14409702e-02 9.97444828e-01 -5.85918004e-05 -2.19576327e+01] [-7.73083353e-04 3.37057050e-06 9.99999701e-01 -3.36388764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.85, Y:-21.96, Z:-0.34 [[ 9.97370905e-01 7.24616012e-02 7.70860020e-04 2.23849833e+02] [-7.24615774e-02 9.97371203e-01 -5.86860364e-05 -2.19626050e+01] [-7.73086070e-04 2.67401221e-06 9.99999701e-01 -3.36974788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.88, Y:-21.97, Z:-0.34 [[ 9.97160753e-01 7.52983243e-02 7.70849389e-04 2.23881646e+02] [-7.52983013e-02 9.97161051e-01 -5.88253548e-05 -2.19712937e+01] [-7.73090438e-04 6.14685631e-07 9.99999701e-01 -3.37455630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.91, Y:-21.98, Z:-0.34 [[ 9.97031442e-01 7.69916153e-02 7.70839291e-04 2.23912628e+02] [-7.69915927e-02 9.97031740e-01 -5.89573751e-05 -2.19763024e+01] [-7.73090463e-04 -5.65788071e-07 9.99999701e-01 -3.40011272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.94, Y:-21.98, Z:-0.34 [[ 9.96735277e-01 8.07353315e-02 7.70829942e-04 2.23943746e+02] [-8.07353100e-02 9.96735575e-01 -5.90793595e-05 -2.19819418e+01] [-7.73083417e-04 -3.34671249e-06 9.99999701e-01 -3.42019726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.98, Y:-21.99, Z:-0.34 [[ 9.96565224e-01 8.28079688e-02 7.70820820e-04 2.23976690e+02] [-8.28079478e-02 9.96565522e-01 -5.91981390e-05 -2.19865399e+01] [-7.73075530e-04 -4.83528355e-06 9.99999701e-01 -3.42221890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.01, Y:-21.99, Z:-0.34 [[ 9.96275730e-01 8.62210827e-02 7.70809632e-04 2.24007485e+02] [-8.62210626e-02 9.96276028e-01 -5.93434617e-05 -2.19939250e+01] [-7.73055816e-04 -7.33757482e-06 9.99999701e-01 -3.41456416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.04, Y:-22.00, Z:-0.34 [[ 9.96151665e-01 8.76428301e-02 7.70800585e-04 2.24039651e+02] [-8.76428103e-02 9.96151963e-01 -5.94607348e-05 -2.19983119e+01] [-7.73045823e-04 -8.32321948e-06 9.99999701e-01 -3.39142201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.07, Y:-22.00, Z:-0.34 [[ 9.96033830e-01 8.89719878e-02 7.70790869e-04 2.24070508e+02] [-8.89719684e-02 9.96034129e-01 -5.95864227e-05 -2.20021740e+01] [-7.73035533e-04 -9.22868792e-06 9.99999701e-01 -3.36998072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.10, Y:-22.01, Z:-0.34 [[ 9.95878395e-01 9.06952527e-02 7.70785597e-04 2.24102450e+02] [-9.06952337e-02 9.95878693e-01 -5.96545294e-05 -2.20083732e+01] [-7.73019336e-04 -1.04979229e-05 9.99999701e-01 -3.35383792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.13, Y:-22.01, Z:-0.34 [[ 9.95797135e-01 9.15831442e-02 7.70775285e-04 2.24134446e+02] [-9.15831253e-02 9.95797433e-01 -5.97874708e-05 -2.20117883e+01] [-7.73011575e-04 -1.10538175e-05 9.99999701e-01 -3.36149551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.17, Y:-22.02, Z:-0.34 [[ 9.95655000e-01 9.31156690e-02 7.70765712e-04 2.24166159e+02] [-9.31156506e-02 9.95655298e-01 -5.99106339e-05 -2.20157939e+01] [-7.72995583e-04 -1.21200286e-05 9.99999701e-01 -3.41337867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.20, Y:-22.02, Z:-0.34 [[ 9.95593605e-01 9.37698251e-02 7.70756133e-04 2.24197739e+02] [-9.37698068e-02 9.95593903e-01 -6.00336165e-05 -2.20202700e+01] [-7.72989449e-04 -1.25045690e-05 9.99999701e-01 -3.44429756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.23, Y:-22.02, Z:-0.35 [[ 9.95581137e-01 9.39021069e-02 7.70746565e-04 2.24228327e+02] [-9.39020885e-02 9.95581435e-01 -6.01562065e-05 -2.20248194e+01] [-7.72989766e-04 -1.24843277e-05 9.99999701e-01 -3.46706079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.26, Y:-22.03, Z:-0.34 [[ 9.95597785e-01 9.37254302e-02 7.70737720e-04 2.24259811e+02] [-9.37254116e-02 9.95598083e-01 -6.02693232e-05 -2.20301299e+01] [-7.72993765e-04 -1.22337054e-05 9.99999701e-01 -3.43253062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.29, Y:-22.03, Z:-0.34 [[ 9.95607650e-01 9.36205763e-02 7.70727886e-04 2.24291699e+02] [-9.36205576e-02 9.95607949e-01 -6.03948145e-05 -2.20336810e+01] [-7.72997007e-04 -1.20264350e-05 9.99999701e-01 -3.41076774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.32, Y:-22.04, Z:-0.34 [[ 9.95608370e-01 9.36129203e-02 7.70718047e-04 2.24322474e+02] [-9.36129015e-02 9.95608669e-01 -6.05201191e-05 -2.20378335e+01] [-7.72999033e-04 -1.18948154e-05 9.99999701e-01 -3.37313351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.36, Y:-22.04, Z:-0.34 [[ 9.95562299e-01 9.41016174e-02 7.70708969e-04 2.24355330e+02] [-9.41015987e-02 9.95562597e-01 -6.06355051e-05 -2.20409153e+01] [-7.72994922e-04 -1.21585232e-05 9.99999701e-01 -3.37092610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.39, Y:-22.04, Z:-0.34 [[ 9.95437971e-01 9.54078201e-02 7.70697762e-04 2.24387548e+02] [-9.54078017e-02 9.95438269e-01 -6.07776086e-05 -2.20440322e+01] [-7.72980706e-04 -1.30302398e-05 9.99999701e-01 -3.40543226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.42, Y:-22.05, Z:-0.34 [[ 9.95335369e-01 9.64723199e-02 7.70688007e-04 2.24418291e+02] [-9.64723016e-02 9.95335668e-01 -6.09010644e-05 -2.20465455e+01] [-7.72968529e-04 -1.37330624e-05 9.99999701e-01 -3.42236838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.45, Y:-22.05, Z:-0.34 [[ 9.95207946e-01 9.77780658e-02 7.70682546e-04 2.24451501e+02] [-9.77780479e-02 9.95208244e-01 -6.09700903e-05 -2.20489571e+01] [-7.72951161e-04 -1.46779165e-05 9.99999701e-01 -3.39695876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.48, Y:-22.05, Z:-0.34 [[ 9.94929684e-01 1.00570024e-01 7.70670763e-04 2.24483932e+02] [-1.00570007e-01 9.94929982e-01 -6.11186707e-05 -2.20500462e+01] [-7.72910154e-04 -1.66975842e-05 9.99999701e-01 -3.37572582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.52, Y:-22.05, Z:-0.34 [[ 9.94796567e-01 1.01878342e-01 7.70660282e-04 2.24516036e+02] [-1.01878325e-01 9.94796865e-01 -6.12505370e-05 -2.20517853e+01] [-7.72890536e-04 -1.75817547e-05 9.99999701e-01 -3.38290937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.55, Y:-22.05, Z:-0.34 [[ 9.94669711e-01 1.03109518e-01 7.70649112e-04 2.24548599e+02] [-1.03109501e-01 9.94670009e-01 -6.13907578e-05 -2.20523619e+01] [-7.72871531e-04 -1.83977180e-05 9.99999701e-01 -3.37538578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.58, Y:-22.05, Z:-0.34 [[ 9.94690433e-01 1.02909416e-01 7.70637396e-04 2.24581906e+02] [-1.02909399e-01 9.94690732e-01 -6.15374768e-05 -2.20541644e+01] [-7.72878661e-04 -1.80950920e-05 9.99999701e-01 -3.38683760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.61, Y:-22.06, Z:-0.34 [[ 9.94792219e-01 1.01920785e-01 7.70625716e-04 2.24612641e+02] [-1.01920767e-01 9.94792518e-01 -6.16834013e-05 -2.20559865e+01] [-7.72899517e-04 -1.71805966e-05 9.99999701e-01 -3.42868941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.214203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:224.65, Y:-22.06, Z:-0.34 [[ 9.95099776e-01 9.88728623e-02 7.70616247e-04 2.24645431e+02] [-9.88728441e-02 9.95100074e-01 -6.18014745e-05 -2.20559420e+01] [-7.72950772e-04 -1.46943866e-05 9.99999701e-01 -3.43103448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.244203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:224.68, Y:-22.06, Z:-0.34 [[ 9.95080913e-01 9.90625182e-02 7.70604466e-04 2.24678798e+02] [-9.90624999e-02 9.95081211e-01 -6.19480185e-05 -2.20588092e+01] [-7.72950752e-04 -1.46947140e-05 9.99999701e-01 -3.43129358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.71, Y:-22.06, Z:-0.34 [[ 9.95213859e-01 9.77178613e-02 7.70592631e-04 2.24710730e+02] [-9.77178425e-02 9.95214158e-01 -6.20948870e-05 -2.20601420e+01] [-7.72972476e-04 -1.35029573e-05 9.99999701e-01 -3.38370152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.74, Y:-22.06, Z:-0.34 [[ 9.95417321e-01 9.56230302e-02 7.70581569e-04 2.24743396e+02] [-9.56230106e-02 9.95417619e-01 -6.22318652e-05 -2.20620311e+01] [-7.73001270e-04 -1.17386530e-05 9.99999701e-01 -3.36997429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.78, Y:-22.06, Z:-0.34 [[ 9.95431845e-01 9.54717145e-02 7.70569336e-04 2.24775642e+02] [-9.54716948e-02 9.95432143e-01 -6.23829669e-05 -2.20640144e+01] [-7.73005295e-04 -1.14695686e-05 9.99999701e-01 -3.37915930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.81, Y:-22.06, Z:-0.34 [[ 9.95413210e-01 9.56658155e-02 7.70557885e-04 2.24807542e+02] [-9.56657957e-02 9.95413508e-01 -6.25240969e-05 -2.20646031e+01] [-7.73005146e-04 -1.14787212e-05 9.99999701e-01 -3.39545215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.84, Y:-22.06, Z:-0.34 [[ 9.95382406e-01 9.59857892e-02 7.70546685e-04 2.24839468e+02] [-9.59857694e-02 9.95382704e-01 -6.26618172e-05 -2.20628704e+01] [-7.73003487e-04 -1.15890461e-05 9.99999701e-01 -3.38250848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.87, Y:-22.06, Z:-0.34 [[ 9.95388138e-01 9.59263343e-02 7.70537175e-04 2.24871739e+02] [-9.59263145e-02 9.95388436e-01 -6.27785444e-05 -2.20642103e+01] [-7.73005909e-04 -1.14257729e-05 9.99999701e-01 -3.35903917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.90, Y:-22.06, Z:-0.33 [[ 9.95458963e-01 9.51885476e-02 7.70526918e-04 2.24903652e+02] [-9.51885274e-02 9.95459261e-01 -6.29041893e-05 -2.20625639e+01] [-7.73015914e-04 -1.07267835e-05 9.99999701e-01 -3.32543924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.94, Y:-22.06, Z:-0.33 [[ 9.95486886e-01 9.48960820e-02 7.70516816e-04 2.24935091e+02] [-9.48960616e-02 9.95487184e-01 -6.30276787e-05 -2.20621078e+01] [-7.73020695e-04 -1.03757837e-05 9.99999701e-01 -3.34644350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.97, Y:-22.06, Z:-0.34 [[ 9.95505666e-01 9.46988686e-02 7.70510642e-04 2.24966400e+02] [-9.46988481e-02 9.95505964e-01 -6.31030716e-05 -2.20621080e+01] [-7.73023729e-04 -1.01470049e-05 9.99999701e-01 -3.39559856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.00, Y:-22.06, Z:-0.34 [[ 9.95637791e-01 9.32994933e-02 7.70500712e-04 2.24998460e+02] [-9.32994723e-02 9.95638089e-01 -6.32240861e-05 -2.20617467e+01] [-7.73038632e-04 -8.93902038e-06 9.99999701e-01 -3.41115481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57420382200002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:225.03, Y:-22.06, Z:-0.35 [[ 9.95710778e-01 9.25173113e-02 7.70489893e-04 2.25031307e+02] [-9.25172900e-02 9.95711076e-01 -6.33556572e-05 -2.20629671e+01] [-7.73046816e-04 -8.19972613e-06 9.99999701e-01 -3.46079466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.06, Y:-22.06, Z:-0.34 [[ 9.95816110e-01 9.13765946e-02 7.70477468e-04 2.25063195e+02] [-9.13765728e-02 9.95816408e-01 -6.35063951e-05 -2.20641442e+01] [-7.73057103e-04 -7.16289914e-06 9.99999701e-01 -3.43209796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.10, Y:-22.06, Z:-0.34 [[ 9.96063990e-01 8.86337044e-02 7.70465867e-04 2.25095364e+02] [-8.86336817e-02 9.96064288e-01 -6.36468303e-05 -2.20645529e+01] [-7.73074790e-04 -4.89291060e-06 9.99999701e-01 -3.40451315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66420382200002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:225.13, Y:-22.07, Z:-0.34 [[ 9.96164395e-01 8.74980291e-02 7.70455391e-04 2.25127861e+02] [-8.74980059e-02 9.96164693e-01 -6.37734020e-05 -2.20667523e+01] [-7.73080504e-04 -3.88451793e-06 9.99999701e-01 -3.43841844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.16, Y:-22.07, Z:-0.34 [[ 9.96284502e-01 8.61196726e-02 7.70443374e-04 2.25160123e+02] [-8.61196490e-02 9.96284800e-01 -6.39182406e-05 -2.20688879e+01] [-7.73085641e-04 -2.66956046e-06 9.99999701e-01 -3.36719251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.19, Y:-22.07, Z:-0.34 [[ 9.96465442e-01 8.40001709e-02 7.70432125e-04 2.25191884e+02] [-8.40001465e-02 9.96465740e-01 -6.40535419e-05 -2.20683313e+01] [-7.73089727e-04 -8.89270420e-07 9.99999701e-01 -3.41472817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.22, Y:-22.07, Z:-0.34 [[ 9.96543032e-01 8.30746203e-02 7.70425720e-04 2.25224405e+02] [-8.30745956e-02 9.96543329e-01 -6.41304906e-05 -2.20698575e+01] [-7.73090228e-04 -9.40116191e-08 9.99999701e-01 -3.42586346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.26, Y:-22.07, Z:-0.34 [[ 9.96598156e-01 8.24106902e-02 7.70414750e-04 2.25255707e+02] [-8.24106652e-02 9.96598454e-01 -6.42620076e-05 -2.20709765e+01] [-7.73090025e-04 5.53006253e-07 9.99999701e-01 -3.43830575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.29, Y:-22.07, Z:-0.34 [[ 9.96564019e-01 8.28224757e-02 7.70404566e-04 2.25288006e+02] [-8.28224507e-02 9.96564317e-01 -6.43838721e-05 -2.20724483e+01] [-7.73090131e-04 3.55856152e-07 9.99999701e-01 -3.40692539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.32, Y:-22.07, Z:-0.34 [[ 9.96510315e-01 8.34661566e-02 7.70393857e-04 2.25318753e+02] [-8.34661317e-02 9.96510612e-01 -6.45117523e-05 -2.20735147e+01] [-7.73090202e-04 -1.51685478e-08 9.99999701e-01 -3.38964152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.35, Y:-22.07, Z:-0.34 [[ 9.96320763e-01 8.56991444e-02 7.70383961e-04 2.25350291e+02] [-8.56991200e-02 9.96321061e-01 -6.46297166e-05 -2.20747731e+01] [-7.73088477e-04 -1.62929896e-06 9.99999701e-01 -3.39579042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.38, Y:-22.08, Z:-0.34 [[ 9.96215077e-01 8.69190788e-02 7.70372629e-04 2.25382360e+02] [-8.69190547e-02 9.96215375e-01 -6.47645039e-05 -2.20768102e+01] [-7.73086329e-04 -2.44068550e-06 9.99999701e-01 -3.38610845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.934203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.41, Y:-22.08, Z:-0.35 [[ 9.96022270e-01 8.91013119e-02 7.70361614e-04 2.25414103e+02] [-8.91012884e-02 9.96022568e-01 -6.48952607e-05 -2.20761215e+01] [-7.73079806e-04 -4.00308744e-06 9.99999701e-01 -3.45312883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.45, Y:-22.08, Z:-0.34 [[ 9.95942907e-01 8.99840694e-02 7.70351401e-04 2.25447443e+02] [-8.99840460e-02 9.95943205e-01 -6.50162691e-05 -2.20778887e+01] [-7.73076672e-04 -4.56684388e-06 9.99999701e-01 -3.38799573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.48, Y:-22.08, Z:-0.34 [[ 9.95835765e-01 9.11621394e-02 7.70338316e-04 2.25479798e+02] [-9.11621163e-02 9.95836063e-01 -6.51709462e-05 -2.20800576e+01] [-7.73071798e-04 -5.32611200e-06 9.99999701e-01 -3.39264651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.51, Y:-22.08, Z:-0.34 [[ 9.95708050e-01 9.25466699e-02 7.70326062e-04 2.25510922e+02] [-9.25466470e-02 9.95708348e-01 -6.53154682e-05 -2.20819565e+01] [-7.73064819e-04 -6.25595663e-06 9.99999701e-01 -3.40401826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.54, Y:-22.09, Z:-0.34 [[ 9.95630210e-01 9.33803595e-02 7.70319931e-04 2.25543697e+02] [-9.33803369e-02 9.95630508e-01 -6.53876939e-05 -2.20857934e+01] [-7.73059951e-04 -6.83077126e-06 9.99999701e-01 -3.39667268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.58, Y:-22.09, Z:-0.34 [[ 9.95612226e-01 9.35719046e-02 7.70307611e-04 2.25575415e+02] [-9.35718819e-02 9.95612524e-01 -6.55325070e-05 -2.20875822e+01] [-7.73059907e-04 -6.83416763e-06 9.99999701e-01 -3.38742111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.61, Y:-22.09, Z:-0.34 [[ 9.95553905e-01 9.41903886e-02 7.70296419e-04 2.25607876e+02] [-9.41903660e-02 9.95554203e-01 -6.56638003e-05 -2.20890900e+01] [-7.73056736e-04 -7.18264886e-06 9.99999701e-01 -3.39466535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.64, Y:-22.09, Z:-0.34 [[ 9.95493997e-01 9.48214576e-02 7.70284451e-04 2.25640017e+02] [-9.48214351e-02 9.95494295e-01 -6.58038968e-05 -2.20909559e+01] [-7.73053398e-04 -7.53209286e-06 9.99999701e-01 -3.39191151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.67, Y:-22.09, Z:-0.34 [[ 9.95397858e-01 9.58254221e-02 7.70273452e-04 2.25671065e+02] [-9.58253998e-02 9.95398156e-01 -6.59323970e-05 -2.20921314e+01] [-7.73046773e-04 -8.18279477e-06 9.99999701e-01 -3.38475110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.70, Y:-22.09, Z:-0.34 [[ 9.95334242e-01 9.64839498e-02 7.70267519e-04 2.25703712e+02] [-9.64839276e-02 9.95334540e-01 -6.60016366e-05 -2.20938318e+01] [-7.73041966e-04 -8.62474663e-06 9.99999701e-01 -3.39080944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.74, Y:-22.10, Z:-0.34 [[ 9.95136485e-01 9.85027091e-02 7.70263653e-04 2.25735888e+02] [-9.85026874e-02 9.95136783e-01 -6.60467298e-05 -2.20956813e+01] [-7.73023475e-04 -1.01475293e-05 9.99999701e-01 -3.40993119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.77, Y:-22.10, Z:-0.34 [[ 9.95070690e-01 9.91651575e-02 7.70252822e-04 2.25768447e+02] [-9.91651360e-02 9.95070988e-01 -6.61727973e-05 -2.20983796e+01] [-7.73018273e-04 -1.05356147e-05 9.99999701e-01 -3.41938877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.80, Y:-22.10, Z:-0.34 [[ 9.94904208e-01 1.00821740e-01 7.70248961e-04 2.25800593e+02] [-1.00821719e-01 9.94904506e-01 -6.62177136e-05 -2.20993489e+01] [-7.73000347e-04 -1.17775421e-05 9.99999701e-01 -3.36707312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.83, Y:-22.10, Z:-0.34 [[ 9.94792171e-01 1.01921264e-01 7.70237511e-04 2.25831858e+02] [-1.01921244e-01 9.94792469e-01 -6.63506245e-05 -2.21008231e+01] [-7.72989015e-04 -1.24984832e-05 9.99999701e-01 -3.35804179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.86, Y:-22.10, Z:-0.33 [[ 9.94651582e-01 1.03284258e-01 7.70231013e-04 2.25864170e+02] [-1.03284238e-01 9.94651880e-01 -6.64259726e-05 -2.21018129e+01] [-7.72972482e-04 -1.34820244e-05 9.99999701e-01 -3.33930279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.90, Y:-22.10, Z:-0.33 [[ 9.94319460e-01 1.06434105e-01 7.70219709e-04 2.25895838e+02] [-1.06434085e-01 9.94319758e-01 -6.65567864e-05 -2.20994854e+01] [-7.72928587e-04 -1.57989222e-05 9.99999701e-01 -3.34099086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.93, Y:-22.10, Z:-0.34 [[ 9.94151304e-01 1.07993480e-01 7.70218088e-04 2.25927150e+02] [-1.07993461e-01 9.94151602e-01 -6.65755351e-05 -2.20999616e+01] [-7.72903270e-04 -1.69923618e-05 9.99999701e-01 -3.36639242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.96, Y:-22.10, Z:-0.34 [[ 9.93930192e-01 1.10009910e-01 7.70211708e-04 2.25958240e+02] [-1.10009891e-01 9.93930490e-01 -6.66492737e-05 -2.20983478e+01] [-7.72868981e-04 -1.84861807e-05 9.99999701e-01 -3.36277282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.99, Y:-22.10, Z:-0.34 [[ 9.93872873e-01 1.10526558e-01 7.70211708e-04 2.25989857e+02] [-1.10526539e-01 9.93873171e-01 -6.66492737e-05 -2.20985316e+01] [-7.72859267e-04 -1.88879296e-05 9.99999701e-01 -3.35352354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.02, Y:-22.10, Z:-0.34 [[ 9.93853656e-01 1.10699216e-01 7.70210089e-04 2.26020360e+02] [-1.10699198e-01 9.93853955e-01 -6.66679767e-05 -2.20983709e+01] [-7.72856435e-04 -1.90034266e-05 9.99999701e-01 -3.35411277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.05, Y:-22.10, Z:-0.34 [[ 9.93928064e-01 1.10029133e-01 7.70206185e-04 2.26050935e+02] [-1.10029115e-01 9.93928362e-01 -6.67130409e-05 -2.20958252e+01] [-7.72870151e-04 -1.84371411e-05 9.99999701e-01 -3.37923642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.08, Y:-22.10, Z:-0.34 [[ 9.93989378e-01 1.09473851e-01 7.70205384e-04 2.26081262e+02] [-1.09473832e-01 9.93989676e-01 -6.67222963e-05 -2.20955067e+01] [-7.72880546e-04 -1.79960809e-05 9.99999701e-01 -3.37193900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.11, Y:-22.09, Z:-0.34 [[ 9.94096398e-01 1.08497735e-01 7.70205384e-04 2.26111166e+02] [-1.08497715e-01 9.94096696e-01 -6.67222963e-05 -2.20918261e+01] [-7.72897845e-04 -1.72371301e-05 9.99999701e-01 -3.37066495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.14, Y:-22.09, Z:-0.34 [[ 9.94171470e-01 1.07807679e-01 7.70206179e-04 2.26140446e+02] [-1.07807659e-01 9.94171768e-01 -6.67131098e-05 -2.20915030e+01] [-7.72909424e-04 -1.67098550e-05 9.99999701e-01 -3.36983729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.17, Y:-22.09, Z:-0.33 [[ 9.94245273e-01 1.07124898e-01 7.70208517e-04 2.26170549e+02] [-1.07124879e-01 9.94245571e-01 -6.66861070e-05 -2.20916745e+01] [-7.72920150e-04 -1.62061475e-05 9.99999701e-01 -3.34255645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.20, Y:-22.09, Z:-0.34 [[ 9.94412005e-01 1.05565960e-01 7.70207957e-04 2.26199926e+02] [-1.05565940e-01 9.94412303e-01 -6.66925822e-05 -2.20888624e+01] [-7.72944734e-04 -1.49878226e-05 9.99999701e-01 -3.35130534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.23, Y:-22.09, Z:-0.34 [[ 9.94506481e-01 1.04672181e-01 7.70209748e-04 2.26229548e+02] [-1.04672161e-01 9.94506779e-01 -6.66718873e-05 -2.20882280e+01] [-7.72957508e-04 -1.43138946e-05 9.99999701e-01 -3.37548792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.26, Y:-22.08, Z:-0.34 [[ 9.94655550e-01 1.03246036e-01 7.70211298e-04 2.26259890e+02] [-1.03246015e-01 9.94655848e-01 -6.66539773e-05 -2.20835787e+01] [-7.72976931e-04 -1.32234987e-05 9.99999701e-01 -3.38875657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.29, Y:-22.08, Z:-0.34 [[ 9.94745132e-01 1.02379337e-01 7.70212936e-04 2.26288534e+02] [-1.02379316e-01 9.94745430e-01 -6.66350480e-05 -2.20828234e+01] [-7.72987850e-04 -1.25689838e-05 9.99999701e-01 -3.42287803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.32, Y:-22.08, Z:-0.34 [[ 9.94860131e-01 1.01255749e-01 7.70215384e-04 2.26318763e+02] [-1.01255728e-01 9.94860429e-01 -6.66067321e-05 -2.20824558e+01] [-7.73001122e-04 -1.17243370e-05 9.99999701e-01 -3.42941298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.35, Y:-22.08, Z:-0.34 [[ 9.95146966e-01 9.83967637e-02 7.70216939e-04 2.26348820e+02] [-9.83967416e-02 9.95147264e-01 -6.65887532e-05 -2.20793981e+01] [-7.73031397e-04 -9.52124139e-06 9.99999701e-01 -3.44003545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.864203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:226.38, Y:-22.08, Z:-0.35 [[ 9.95340234e-01 9.64221252e-02 7.70218512e-04 2.26378252e+02] [-9.64221026e-02 9.95340532e-01 -6.65705470e-05 -2.20793223e+01] [-7.73048577e-04 -8.00574461e-06 9.99999701e-01 -3.45327689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.41, Y:-22.08, Z:-0.34 [[ 9.95571677e-01 9.40023571e-02 7.70221810e-04 2.26407161e+02] [-9.40023338e-02 9.95571975e-01 -6.65323728e-05 -2.20798223e+01] [-7.73065448e-04 -6.16490173e-06 9.99999701e-01 -3.42684933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.44, Y:-22.08, Z:-0.34 [[ 9.96088860e-01 8.83537745e-02 7.70224268e-04 2.26436907e+02] [-8.83537495e-02 9.96089158e-01 -6.65039049e-05 -2.20772618e+01] [-7.73087913e-04 -1.80840319e-06 9.99999701e-01 -3.40829733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.47, Y:-22.08, Z:-0.34 [[ 9.96347445e-01 8.53883865e-02 7.70225894e-04 2.26465426e+02] [-8.53883606e-02 9.96347742e-01 -6.64850692e-05 -2.20776276e+01] [-7.73089883e-04 4.73902401e-07 9.99999701e-01 -3.42842631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.49, Y:-22.08, Z:-0.34 [[ 9.96860042e-01 7.91799430e-02 7.70228311e-04 2.26494910e+02] [-7.91799153e-02 9.96860340e-01 -6.64570494e-05 -2.20778905e+01] [-7.73072121e-04 5.26176466e-06 9.99999701e-01 -3.42788385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.52, Y:-22.08, Z:-0.35 [[ 9.97064856e-01 7.65576946e-02 7.70229952e-04 2.26523927e+02] [-7.65576661e-02 9.97065153e-01 -6.64380236e-05 -2.20798384e+01] [-7.73055787e-04 7.27601092e-06 9.99999701e-01 -3.45706897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04420382200001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:226.55, Y:-22.08, Z:-0.34 [[ 9.97344564e-01 7.28232569e-02 7.70232396e-04 2.26553930e+02] [-7.28232273e-02 9.97344862e-01 -6.64096806e-05 -2.20815065e+01] [-7.73023492e-04 1.01425251e-05 9.99999701e-01 -3.44892926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:226.58, Y:-22.08, Z:-0.34 [[ 9.97410844e-01 7.19097663e-02 7.70233212e-04 2.26582420e+02] [-7.19097365e-02 9.97411142e-01 -6.64002144e-05 -2.20840455e+01] [-7.73014011e-04 1.08410266e-05 9.99999701e-01 -3.43980294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.61, Y:-22.09, Z:-0.34 [[ 9.97470129e-01 7.10826899e-02 7.70235648e-04 2.26611033e+02] [-7.10826598e-02 9.97470426e-01 -6.63719507e-05 -2.20862539e+01] [-7.73005177e-04 1.14536397e-05 9.99999701e-01 -3.39977361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13420382200002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:226.64, Y:-22.09, Z:-0.34 [[ 9.97434547e-01 7.15802390e-02 7.70237979e-04 2.26640299e+02] [-7.15802091e-02 9.97434845e-01 -6.63448835e-05 -2.20869182e+01] [-7.73011182e-04 1.10408833e-05 9.99999701e-01 -3.43126251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16420382200002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:226.67, Y:-22.09, Z:-0.34 [[ 9.97436274e-01 7.15561755e-02 7.70239583e-04 2.26670353e+02] [-7.15561456e-02 9.97436571e-01 -6.63262616e-05 -2.20894624e+01] [-7.73011182e-04 1.10408435e-05 9.99999701e-01 -3.43149569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.70, Y:-22.09, Z:-0.34 [[ 9.97426253e-01 7.16957273e-02 7.70241182e-04 2.26699901e+02] [-7.16956975e-02 9.97426550e-01 -6.63076793e-05 -2.20910672e+01] [-7.73012982e-04 1.09140413e-05 9.99999701e-01 -3.39711776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.73, Y:-22.09, Z:-0.34 [[ 9.97348894e-01 7.27639296e-02 7.70242775e-04 2.26729767e+02] [-7.27639001e-02 9.97349192e-01 -6.62891717e-05 -2.20935811e+01] [-7.73024470e-04 1.00675638e-05 9.99999701e-01 -3.39354966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.76, Y:-22.10, Z:-0.34 [[ 9.97279804e-01 7.37048129e-02 7.70244391e-04 2.26757834e+02] [-7.37047837e-02 9.97280101e-01 -6.62703936e-05 -2.20964743e+01] [-7.73033851e-04 9.31942887e-06 9.99999701e-01 -3.41894400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.79, Y:-22.10, Z:-0.34 [[ 9.96997006e-01 7.74362726e-02 7.70246795e-04 2.26787321e+02] [-7.74362445e-02 9.96997304e-01 -6.62424410e-05 -2.20998348e+01] [-7.73063545e-04 6.39849619e-06 9.99999701e-01 -3.42561327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.82, Y:-22.10, Z:-0.34 [[ 9.96821503e-01 7.96636565e-02 7.70248362e-04 2.26815796e+02] [-7.96636292e-02 9.96821800e-01 -6.62242176e-05 -2.21022516e+01] [-7.73076022e-04 4.65294425e-06 9.99999701e-01 -3.42949997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.84, Y:-22.10, Z:-0.34 [[ 9.96647386e-01 8.18131648e-02 7.70250707e-04 2.26844189e+02] [-8.18131381e-02 9.96647684e-01 -6.61969226e-05 -2.21046237e+01] [-7.73084363e-04 2.95836239e-06 9.99999701e-01 -3.42762766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.87, Y:-22.11, Z:-0.34 [[ 9.96262920e-01 8.63689801e-02 7.70252300e-04 2.26872613e+02] [-8.63689548e-02 9.96263218e-01 -6.61783898e-05 -2.21059891e+01] [-7.73089795e-04 -5.94810174e-07 9.99999701e-01 -3.42338211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.90, Y:-22.11, Z:-0.34 [[ 9.96091737e-01 8.83213297e-02 7.70255518e-04 2.26901795e+02] [-8.83213050e-02 9.96092035e-01 -6.61409151e-05 -2.21080213e+01] [-7.73087040e-04 -2.14755346e-06 9.99999701e-01 -3.41847019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.93, Y:-22.11, Z:-0.34 [[ 9.95788430e-01 9.16777522e-02 7.70258778e-04 2.26929590e+02] [-9.16777285e-02 9.95788727e-01 -6.61029189e-05 -2.21106417e+01] [-7.73075176e-04 -4.79105332e-06 9.99999701e-01 -3.41197406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.464203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:226.96, Y:-22.11, Z:-0.35 [[ 9.95671454e-01 9.29395665e-02 7.70262830e-04 2.26958611e+02] [-9.29395432e-02 9.95671752e-01 -6.60556743e-05 -2.21128975e+01] [-7.73068127e-04 -5.81812635e-06 9.99999701e-01 -3.45015718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.99, Y:-22.12, Z:-0.34 [[ 9.95578510e-01 9.39299541e-02 7.70266050e-04 2.26986681e+02] [-9.39299312e-02 9.95578808e-01 -6.60181051e-05 -2.21150048e+01] [-7.73061634e-04 -6.62483032e-06 9.99999701e-01 -3.42636292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.02, Y:-22.12, Z:-0.34 [[ 9.95563514e-01 9.40887683e-02 7.70270047e-04 2.27015953e+02] [-9.40887454e-02 9.95563812e-01 -6.59714319e-05 -2.21171538e+01] [-7.73060155e-04 -6.79499183e-06 9.99999701e-01 -3.42630042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.04, Y:-22.12, Z:-0.34 [[ 9.95485854e-01 9.49069053e-02 7.70272467e-04 2.27043860e+02] [-9.49068827e-02 9.95486152e-01 -6.59431682e-05 -2.21176275e+01] [-7.73054036e-04 -7.45866750e-06 9.99999701e-01 -3.44854337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.584203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:227.07, Y:-22.12, Z:-0.35 [[ 9.95433752e-01 9.54518337e-02 7.70276475e-04 2.27071513e+02] [-9.54518113e-02 9.95434050e-01 -6.58963211e-05 -2.21188109e+01] [-7.73049355e-04 -7.92886255e-06 9.99999701e-01 -3.45521630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.10, Y:-22.12, Z:-0.35 [[ 9.95352159e-01 9.62989379e-02 7.70280382e-04 2.27099546e+02] [-9.62989157e-02 9.95352457e-01 -6.58506205e-05 -2.21196876e+01] [-7.73041816e-04 -8.63260828e-06 9.99999701e-01 -3.45226906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.644203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:227.13, Y:-22.12, Z:-0.35 [[ 9.95328390e-01 9.65443068e-02 7.70284836e-04 2.27128746e+02] [-9.65442848e-02 9.95328688e-01 -6.57984743e-05 -2.21213821e+01] [-7.73039063e-04 -8.87550913e-06 9.99999701e-01 -3.45597911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.16, Y:-22.12, Z:-0.34 [[ 9.95341650e-01 9.64074980e-02 7.70287899e-04 2.27157123e+02] [-9.64074759e-02 9.95341948e-01 -6.57625959e-05 -2.21225469e+01] [-7.73039866e-04 -8.80526138e-06 9.99999701e-01 -3.43469998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.18, Y:-22.12, Z:-0.34 [[ 9.95476009e-01 9.50101180e-02 7.70291123e-04 2.27184562e+02] [-9.50100956e-02 9.95476307e-01 -6.57248143e-05 -2.21222122e+01] [-7.73051084e-04 -7.75795736e-06 9.99999701e-01 -3.43019484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.21, Y:-22.12, Z:-0.34 [[ 9.95635338e-01 9.33256733e-02 7.70295926e-04 2.27213614e+02] [-9.33256505e-02 9.95635635e-01 -6.56684697e-05 -2.21235249e+01] [-7.73062628e-04 -6.50651938e-06 9.99999701e-01 -3.41888027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.24, Y:-22.12, Z:-0.34 [[ 9.95975835e-01 8.96188711e-02 7.70299027e-04 2.27242923e+02] [-8.96188471e-02 9.95976133e-01 -6.56320828e-05 -2.21247146e+01] [-7.73081319e-04 -3.66534215e-06 9.99999701e-01 -3.39568220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79420382200001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:227.27, Y:-22.13, Z:-0.34 [[ 9.96163919e-01 8.75034446e-02 7.70302255e-04 2.27271011e+02] [-8.75034200e-02 9.96164217e-01 -6.55941696e-05 -2.21264505e+01] [-7.73087258e-04 -2.06153667e-06 9.99999701e-01 -3.41498799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.30, Y:-22.13, Z:-0.34 [[ 9.96480037e-01 8.38268543e-02 7.70306245e-04 2.27300203e+02] [-8.38268287e-02 9.96480335e-01 -6.55472771e-05 -2.21275955e+01] [-7.73089647e-04 7.44223516e-07 9.99999701e-01 -3.38075088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.33, Y:-22.13, Z:-0.34 [[ 9.96623929e-01 8.20984179e-02 7.70309526e-04 2.27328162e+02] [-8.20983918e-02 9.96624227e-01 -6.55086968e-05 -2.21293285e+01] [-7.73087296e-04 2.04636158e-06 9.99999701e-01 -3.40706276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.36, Y:-22.13, Z:-0.34 [[ 9.96742300e-01 8.06485893e-02 7.70313904e-04 2.27357090e+02] [-8.06485628e-02 9.96742597e-01 -6.54571817e-05 -2.21307816e+01] [-7.73083710e-04 3.11923259e-06 9.99999701e-01 -3.40080083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.39, Y:-22.13, Z:-0.34 [[ 9.96909873e-01 7.85500582e-02 7.70317063e-04 2.27386170e+02] [-7.85500311e-02 9.96910171e-01 -6.54199805e-05 -2.21335308e+01] [-7.73075658e-04 4.70939524e-06 9.99999701e-01 -3.39497158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.41, Y:-22.14, Z:-0.34 [[ 9.96980946e-01 7.76427765e-02 7.70320267e-04 2.27414474e+02] [-7.76427492e-02 9.96981243e-01 -6.53822329e-05 -2.21373532e+01] [-7.73071315e-04 5.37505710e-06 9.99999701e-01 -3.39884066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.44, Y:-22.14, Z:-0.34 [[ 9.97003925e-01 7.73471360e-02 7.70321854e-04 2.27443217e+02] [-7.73471086e-02 9.97004223e-01 -6.53635321e-05 -2.21402198e+01] [-7.73069823e-04 5.58553003e-06 9.99999701e-01 -3.41132501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00420382200002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:227.47, Y:-22.14, Z:-0.35 [[ 9.96949875e-01 7.80407221e-02 7.70324229e-04 2.27471585e+02] [-7.80406949e-02 9.96950172e-01 -6.53355250e-05 -2.21419304e+01] [-7.73073704e-04 5.01960530e-06 9.99999701e-01 -3.45387598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.50, Y:-22.14, Z:-0.34 [[ 9.96882810e-01 7.88927797e-02 7.70327268e-04 2.27500253e+02] [-7.88927528e-02 9.96883107e-01 -6.52996790e-05 -2.21449117e+01] [-7.73077913e-04 4.32288874e-06 9.99999701e-01 -3.40182379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.53, Y:-22.15, Z:-0.34 [[ 9.96817692e-01 7.97113291e-02 7.70330408e-04 2.27527914e+02] [-7.97113025e-02 9.96817989e-01 -6.52626139e-05 -2.21478625e+01] [-7.73081378e-04 3.65088805e-06 9.99999701e-01 -3.40084222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.56, Y:-22.15, Z:-0.34 [[ 9.96688612e-01 8.13093973e-02 7.70334304e-04 2.27557039e+02] [-8.13093712e-02 9.96688909e-01 -6.52165892e-05 -2.21513661e+01] [-7.73086379e-04 2.36523380e-06 9.99999701e-01 -3.40507566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.58, Y:-22.15, Z:-0.34 [[ 9.96633748e-01 8.19791413e-02 7.70336681e-04 2.27584896e+02] [-8.19791154e-02 9.96634045e-01 -6.51885069e-05 -2.21548744e+01] [-7.73087860e-04 1.81754629e-06 9.99999701e-01 -3.42512380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.154203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:227.61, Y:-22.16, Z:-0.34 [[ 9.96594252e-01 8.24578901e-02 7.70340639e-04 2.27613277e+02] [-8.24578644e-02 9.96594550e-01 -6.51416994e-05 -2.21586421e+01] [-7.73088729e-04 1.39919919e-06 9.99999701e-01 -3.42334114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.184203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:227.64, Y:-22.16, Z:-0.34 [[ 9.96540867e-01 8.31005842e-02 7.70343791e-04 2.27642071e+02] [-8.31005587e-02 9.96541165e-01 -6.51044044e-05 -2.21620522e+01] [-7.73089513e-04 8.63200148e-07 9.99999701e-01 -3.41305508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.67, Y:-22.17, Z:-0.34 [[ 9.96372530e-01 8.50951659e-02 7.70346203e-04 2.27669657e+02] [-8.50951411e-02 9.96372828e-01 -6.50758444e-05 -2.21655635e+01] [-7.73089665e-04 -7.12935062e-07 9.99999701e-01 -3.43444121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.70, Y:-22.17, Z:-0.34 [[ 9.96140656e-01 8.77678720e-02 7.70350223e-04 2.27698345e+02] [-8.77678480e-02 9.96140954e-01 -6.50282236e-05 -2.21706834e+01] [-7.73084795e-04 -2.83472395e-06 9.99999701e-01 -3.44895357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.73, Y:-22.17, Z:-0.35 [[ 9.96017357e-01 8.91562152e-02 7.70353450e-04 2.27726441e+02] [-8.91561916e-02 9.96017655e-01 -6.49899731e-05 -2.21745885e+01] [-7.73079897e-04 -3.95063856e-06 9.99999701e-01 -3.49200235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.75, Y:-22.18, Z:-0.35 [[ 9.95898473e-01 9.04745191e-02 7.70356666e-04 2.27754952e+02] [-9.04744959e-02 9.95898771e-01 -6.49518310e-05 -2.21774299e+01] [-7.73073743e-04 -5.01220176e-06 9.99999701e-01 -3.49124249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.78, Y:-22.18, Z:-0.34 [[ 9.95700416e-01 9.26287625e-02 7.70359753e-04 2.27783395e+02] [-9.26287399e-02 9.95700714e-01 -6.49151997e-05 -2.21801662e+01] [-7.73060771e-04 -6.72136184e-06 9.99999701e-01 -3.43754995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.81, Y:-22.18, Z:-0.34 [[ 9.95660990e-01 9.30515993e-02 7.70362953e-04 2.27811320e+02] [-9.30515769e-02 9.95661288e-01 -6.48772010e-05 -2.21830218e+01] [-7.73057497e-04 -7.08778942e-06 9.99999701e-01 -3.44307813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.84, Y:-22.19, Z:-0.35 [[ 9.95685871e-01 9.27849816e-02 7.70366928e-04 2.27839481e+02] [-9.27849592e-02 9.95686169e-01 -6.48299669e-05 -2.21871484e+01] [-7.73058943e-04 -6.92818191e-06 9.99999701e-01 -3.46348385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.87, Y:-22.19, Z:-0.35 [[ 9.95675001e-01 9.29015526e-02 7.70369993e-04 2.27868347e+02] [-9.29015303e-02 9.95675299e-01 -6.47935235e-05 -2.21906788e+01] [-7.73057792e-04 -7.05525964e-06 9.99999701e-01 -3.47824653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.90, Y:-22.19, Z:-0.35 [[ 9.95647291e-01 9.31980653e-02 7.70373073e-04 2.27896990e+02] [-9.31980431e-02 9.95647589e-01 -6.47568813e-05 -2.21943756e+01] [-7.73055309e-04 -7.32224945e-06 9.99999701e-01 -3.45179434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.93, Y:-22.20, Z:-0.35 [[ 9.95427805e-01 9.55138296e-02 7.70376405e-04 2.27925101e+02] [-9.55138081e-02 9.95428103e-01 -6.47172266e-05 -2.21961442e+01] [-7.73035713e-04 -9.16025723e-06 9.99999701e-01 -3.46953119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.95, Y:-22.20, Z:-0.35 [[ 9.95287773e-01 9.69621382e-02 7.70380554e-04 2.27953715e+02] [-9.69621171e-02 9.95288071e-01 -6.46677975e-05 -2.21975147e+01] [-7.73020903e-04 -1.03346614e-05 9.99999701e-01 -3.45676335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.98, Y:-22.20, Z:-0.35 [[ 9.95137643e-01 9.84910017e-02 7.70383808e-04 2.27981453e+02] [-9.84909812e-02 9.95137941e-01 -6.46290050e-05 -2.22007591e+01] [-7.73003532e-04 -1.15611014e-05 9.99999701e-01 -3.47714665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.01, Y:-22.20, Z:-0.35 [[ 9.95089049e-01 9.89807619e-02 7.70387846e-04 2.28009965e+02] [-9.89807415e-02 9.95089347e-01 -6.45808358e-05 -2.22033618e+01] [-7.72996999e-04 -1.19898778e-05 9.99999701e-01 -3.47435227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.04, Y:-22.20, Z:-0.35 [[ 9.95108384e-01 9.87861812e-02 7.70390854e-04 2.28038336e+02] [-9.87861608e-02 9.95108683e-01 -6.45449329e-05 -2.22048381e+01] [-7.72998775e-04 -1.18747509e-05 9.99999701e-01 -3.45584762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.07, Y:-22.21, Z:-0.34 [[ 9.95269150e-01 9.71531075e-02 7.70393901e-04 2.28067553e+02] [-9.71530866e-02 9.95269448e-01 -6.45085440e-05 -2.22062867e+01] [-7.73016718e-04 -1.06427817e-05 9.99999701e-01 -3.41364223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.10, Y:-22.21, Z:-0.34 [[ 9.95593847e-01 9.37672530e-02 7.70397111e-04 2.28095726e+02] [-9.37672311e-02 9.95594145e-01 -6.44701935e-05 -2.22083055e+01] [-7.73048046e-04 -8.05187600e-06 9.99999701e-01 -3.42076940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.69420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:228.12, Y:-22.21, Z:-0.35 [[ 9.95770355e-01 9.18738651e-02 7.70401104e-04 2.28124672e+02] [-9.18738428e-02 9.95770653e-01 -6.44224341e-05 -2.22101722e+01] [-7.73061548e-04 -6.62975985e-06 9.99999701e-01 -3.45143074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.15, Y:-22.21, Z:-0.34 [[ 9.95957863e-01 8.98183843e-02 7.70404286e-04 2.28152696e+02] [-8.98183614e-02 9.95958161e-01 -6.43843617e-05 -2.22133656e+01] [-7.73073335e-04 -5.07233934e-06 9.99999701e-01 -3.43749913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.18, Y:-22.22, Z:-0.35 [[ 9.96207848e-01 8.70018934e-02 7.70408236e-04 2.28182066e+02] [-8.70018697e-02 9.96208146e-01 -6.43370638e-05 -2.22189816e+01] [-7.73084407e-04 -2.93386908e-06 9.99999701e-01 -3.45306491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.21, Y:-22.22, Z:-0.34 [[ 9.96252640e-01 8.64874794e-02 7.70409819e-04 2.28211060e+02] [-8.64874555e-02 9.96252938e-01 -6.43180982e-05 -2.22225997e+01] [-7.73085756e-04 -2.55370979e-06 9.99999701e-01 -3.44540837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.24, Y:-22.22, Z:-0.34 [[ 9.96142495e-01 8.77469957e-02 7.70411401e-04 2.28240287e+02] [-8.77469722e-02 9.96142793e-01 -6.42991518e-05 -2.22229958e+01] [-7.73081822e-04 -3.55015024e-06 9.99999701e-01 -3.42970874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.27, Y:-22.22, Z:-0.34 [[ 9.96023958e-01 8.90824443e-02 7.70413762e-04 2.28269481e+02] [-8.90824212e-02 9.96024256e-01 -6.42708450e-05 -2.22233116e+01] [-7.73076198e-04 -4.61502187e-06 9.99999701e-01 -3.43076300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.30, Y:-22.22, Z:-0.34 [[ 9.95870875e-01 9.07777852e-02 7.70416921e-04 2.28298313e+02] [-9.07777626e-02 9.95871173e-01 -6.42329617e-05 -2.22241862e+01] [-7.73066929e-04 -5.96898855e-06 9.99999701e-01 -3.43152177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.33, Y:-22.22, Z:-0.34 [[ 9.95513700e-01 9.46143694e-02 7.70420099e-04 2.28326289e+02] [-9.46143480e-02 9.95513998e-01 -6.41948138e-05 -2.22241399e+01] [-7.73037745e-04 -8.98597875e-06 9.99999701e-01 -3.44343319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.35, Y:-22.23, Z:-0.34 [[ 9.95311281e-01 9.67205305e-02 7.70424053e-04 2.28354699e+02] [-9.67205098e-02 9.95311579e-01 -6.41473230e-05 -2.22252081e+01] [-7.73016344e-04 -1.06692530e-05 9.99999701e-01 -3.44634458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.38, Y:-22.23, Z:-0.35 [[ 9.95006504e-01 9.98071303e-02 7.70427222e-04 2.28382877e+02] [-9.98071105e-02 9.95006802e-01 -6.41092494e-05 -2.22251613e+01] [-7.72978886e-04 -1.31049948e-05 9.99999701e-01 -3.46217571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.41, Y:-22.23, Z:-0.35 [[ 9.94965905e-01 1.00211047e-01 7.70431147e-04 2.28410504e+02] [-1.00211028e-01 9.94966203e-01 -6.40620419e-05 -2.22256983e+01] [-7.72972678e-04 -1.34661495e-05 9.99999701e-01 -3.47679374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.44, Y:-22.22, Z:-0.35 [[ 9.95006728e-01 9.98048997e-02 7.70435032e-04 2.28439608e+02] [-9.98048801e-02 9.95007026e-01 -6.40152855e-05 -2.22241083e+01] [-7.72977309e-04 -1.31975363e-05 9.99999701e-01 -3.45465787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.47, Y:-22.22, Z:-0.34 [[ 9.95070156e-01 9.91705147e-02 7.70438024e-04 2.28468224e+02] [-9.91704949e-02 9.95070454e-01 -6.39792497e-05 -2.22249607e+01] [-7.72984970e-04 -1.27408782e-05 9.99999701e-01 -3.44474417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.50, Y:-22.23, Z:-0.34 [[ 9.95074806e-01 9.91238501e-02 7.70441028e-04 2.28497454e+02] [-9.91238303e-02 9.95075104e-01 -6.39430645e-05 -2.22272944e+01] [-7.72984968e-04 -1.27409332e-05 9.99999701e-01 -3.44497087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.53, Y:-22.23, Z:-0.35 [[ 9.95285713e-01 9.69832734e-02 7.70444025e-04 2.28526024e+02] [-9.69832529e-02 9.95286011e-01 -6.39069340e-05 -2.22279943e+01] [-7.73010064e-04 -1.11145094e-05 9.99999701e-01 -3.46347441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.55, Y:-22.23, Z:-0.35 [[ 9.95439756e-01 9.53891951e-02 7.70447007e-04 2.28554424e+02] [-9.53891743e-02 9.95440054e-01 -6.38709545e-05 -2.22294886e+01] [-7.73026410e-04 -9.91261651e-06 9.99999701e-01 -3.47241667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.58, Y:-22.23, Z:-0.35 [[ 9.95700006e-01 9.26331754e-02 7.70450032e-04 2.28582884e+02] [-9.26331537e-02 9.95700304e-01 -6.38344539e-05 -2.22294388e+01] [-7.73050519e-04 -7.80925004e-06 9.99999701e-01 -3.48340856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.61, Y:-22.23, Z:-0.35 [[ 9.95788446e-01 9.16775747e-02 7.70453044e-04 2.28611529e+02] [-9.16775528e-02 9.95788744e-01 -6.37980724e-05 -2.22301286e+01] [-7.73057321e-04 -7.10386632e-06 9.99999701e-01 -3.47684843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.64, Y:-22.23, Z:-0.34 [[ 9.95851396e-01 9.09912252e-02 7.70456034e-04 2.28640271e+02] [-9.09912031e-02 9.95851694e-01 -6.37619389e-05 -2.22307028e+01] [-7.73061724e-04 -6.60730562e-06 9.99999701e-01 -3.42648256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.67, Y:-22.23, Z:-0.34 [[ 9.95941140e-01 9.00036205e-02 7.70459170e-04 2.28667888e+02] [-9.00035981e-02 9.95941438e-01 -6.37240316e-05 -2.22296330e+01] [-7.73067607e-04 -5.87871283e-06 9.99999701e-01 -3.41170508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.70, Y:-22.23, Z:-0.34 [[ 9.96043342e-01 8.88654471e-02 7.70463057e-04 2.28696308e+02] [-8.88654244e-02 9.96043640e-01 -6.36769950e-05 -2.22296541e+01] [-7.73073512e-04 -5.04247965e-06 9.99999701e-01 -3.37260578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.72, Y:-22.23, Z:-0.34 [[ 9.96052850e-01 8.87588056e-02 7.70467313e-04 2.28724180e+02] [-8.87587829e-02 9.96053148e-01 -6.36254658e-05 -2.22310540e+01] [-7.73073713e-04 -5.01141439e-06 9.99999701e-01 -3.37457879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.75, Y:-22.23, Z:-0.34 [[ 9.96040072e-01 8.89020891e-02 7.70471206e-04 2.28752769e+02] [-8.89020665e-02 9.96040370e-01 -6.35782831e-05 -2.22323695e+01] [-7.73072667e-04 -5.16996468e-06 9.99999701e-01 -3.35104900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.78, Y:-22.23, Z:-0.34 [[ 9.96050224e-01 8.87882755e-02 7.70474332e-04 2.28781129e+02] [-8.87882529e-02 9.96050522e-01 -6.35403834e-05 -2.22307589e+01] [-7.73073001e-04 -5.11965668e-06 9.99999701e-01 -3.37915993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.81, Y:-22.23, Z:-0.34 [[ 9.96091295e-01 8.83263176e-02 7.70478219e-04 2.28810493e+02] [-8.83262949e-02 9.96091593e-01 -6.34932140e-05 -2.22311699e+01] [-7.73074998e-04 -4.80844862e-06 9.99999701e-01 -3.37937869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.84, Y:-22.23, Z:-0.34 [[ 9.96228973e-01 8.67596720e-02 7.70481294e-04 2.28838227e+02] [-8.67596489e-02 9.96229270e-01 -6.34558752e-05 -2.22314001e+01] [-7.73081428e-04 -3.63010511e-06 9.99999701e-01 -3.39226581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.87, Y:-22.23, Z:-0.34 [[ 9.96276663e-01 8.62103117e-02 7.70485104e-04 2.28866737e+02] [-8.62102884e-02 9.96276961e-01 -6.34095748e-05 -2.22333817e+01] [-7.73083117e-04 -3.25026350e-06 9.99999701e-01 -3.38443472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.89, Y:-22.23, Z:-0.34 [[ 9.96311540e-01 8.58063015e-02 7.70488083e-04 2.28894749e+02] [-8.58062781e-02 9.96311838e-01 -6.33733549e-05 -2.22334423e+01] [-7.73084232e-04 -2.97310996e-06 9.99999701e-01 -3.37527240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.92, Y:-22.23, Z:-0.34 [[ 9.96373905e-01 8.50790701e-02 7.70491956e-04 2.28923533e+02] [-8.50790466e-02 9.96374203e-01 -6.33262410e-05 -2.22337513e+01] [-7.73086046e-04 -2.45610694e-06 9.99999701e-01 -3.37449903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:228.95, Y:-22.23, Z:-0.34 [[ 9.96451403e-01 8.41665515e-02 7.70494915e-04 2.28952226e+02] [-8.41665277e-02 9.96451701e-01 -6.32902149e-05 -2.22346118e+01] [-7.73087887e-04 -1.78425821e-06 9.99999701e-01 -3.37907159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.98, Y:-22.24, Z:-0.34 [[ 9.96580361e-01 8.26256074e-02 7.70497925e-04 2.28979978e+02] [-8.26255832e-02 9.96580659e-01 -6.32535540e-05 -2.22356852e+01] [-7.73089692e-04 -6.25590702e-07 9.99999701e-01 -3.40476311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.01, Y:-22.24, Z:-0.34 [[ 9.96844273e-01 7.93782220e-02 7.70501663e-04 2.29008459e+02] [-7.93781969e-02 9.96844571e-01 -6.32079769e-05 -2.22380424e+01] [-7.73087737e-04 1.84747704e-06 9.99999701e-01 -3.41523940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.04, Y:-22.24, Z:-0.34 [[ 9.96987704e-01 7.75559474e-02 7.70504656e-04 2.29037202e+02] [-7.75559217e-02 9.96988001e-01 -6.31714816e-05 -2.22404920e+01] [-7.73083221e-04 3.22399160e-06 9.99999701e-01 -3.39691712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.06, Y:-22.24, Z:-0.34 [[ 9.97231538e-01 7.43549959e-02 7.70507733e-04 2.29064784e+02] [-7.43549693e-02 9.97231836e-01 -6.31339222e-05 -2.22411045e+01] [-7.73069164e-04 5.66805953e-06 9.99999701e-01 -3.39692959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.09, Y:-22.24, Z:-0.34 [[ 9.97359890e-01 7.26130577e-02 7.70511563e-04 2.29093607e+02] [-7.26130306e-02 9.97360188e-01 -6.30871477e-05 -2.22426878e+01] [-7.73058508e-04 6.97141100e-06 9.99999701e-01 -3.39422446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.12, Y:-22.24, Z:-0.34 [[ 9.97472594e-01 7.10480908e-02 7.70514596e-04 2.29121064e+02] [-7.10480632e-02 9.97472891e-01 -6.30500844e-05 -2.22449629e+01] [-7.73047010e-04 8.14716146e-06 9.99999701e-01 -3.40645287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.15, Y:-22.25, Z:-0.34 [[ 9.97666687e-01 6.82684950e-02 7.70518362e-04 2.29149567e+02] [-6.82684667e-02 9.97666985e-01 -6.30040195e-05 -2.22477150e+01] [-7.73021921e-04 1.02549043e-05 9.99999701e-01 -3.41236326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.18, Y:-22.25, Z:-0.34 [[ 9.97732527e-01 6.72994130e-02 7.70521313e-04 2.29177416e+02] [-6.72993845e-02 9.97732824e-01 -6.29679177e-05 -2.22493031e+01] [-7.73012109e-04 1.09695296e-05 9.99999701e-01 -3.42424562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.21, Y:-22.25, Z:-0.34 [[ 9.97790286e-01 6.64375684e-02 7.70525153e-04 2.29205985e+02] [-6.64375396e-02 9.97790584e-01 -6.29208895e-05 -2.22513109e+01] [-7.73003053e-04 1.15900570e-05 9.99999701e-01 -3.40686104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.864203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.23, Y:-22.25, Z:-0.34 [[ 9.97798907e-01 6.63079778e-02 7.70528189e-04 2.29233881e+02] [-6.63079490e-02 9.97799204e-01 -6.28836887e-05 -2.22541842e+01] [-7.73002104e-04 1.16531320e-05 9.99999701e-01 -3.43839749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.26, Y:-22.26, Z:-0.34 [[ 9.97766820e-01 6.67890586e-02 7.70531969e-04 2.29262765e+02] [-6.67890300e-02 9.97767118e-01 -6.28373429e-05 -2.22567784e+01] [-7.73008308e-04 1.12339331e-05 9.99999701e-01 -3.37925366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.29, Y:-22.26, Z:-0.34 [[ 9.97630877e-01 6.87898151e-02 7.70535027e-04 2.29290611e+02] [-6.87897871e-02 9.97631175e-01 -6.27998172e-05 -2.22585552e+01] [-7.73029752e-04 9.64609624e-06 9.99999701e-01 -3.37811409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.32, Y:-22.26, Z:-0.34 [[ 9.97439725e-01 7.15080474e-02 7.70538832e-04 2.29319027e+02] [-7.15080202e-02 9.97440023e-01 -6.27530978e-05 -2.22609692e+01] [-7.73053621e-04 7.49272621e-06 9.99999701e-01 -3.36638044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.35, Y:-22.26, Z:-0.34 [[ 9.97349761e-01 7.27520543e-02 7.70541916e-04 2.29346306e+02] [-7.27520276e-02 9.97350058e-01 -6.27152084e-05 -2.22627099e+01] [-7.73062685e-04 6.49051136e-06 9.99999701e-01 -3.36472731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.38, Y:-22.27, Z:-0.34 [[ 9.97270308e-01 7.38331797e-02 7.70546532e-04 2.29375439e+02] [-7.38331533e-02 9.97270606e-01 -6.26584427e-05 -2.22651783e+01] [-7.73069679e-04 5.59552425e-06 9.99999701e-01 -3.36455121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.40, Y:-22.27, Z:-0.34 [[ 9.97194930e-01 7.48443604e-02 7.70549576e-04 2.29403955e+02] [-7.48443343e-02 9.97195227e-01 -6.26209885e-05 -2.22680060e+01] [-7.73075187e-04 4.77406218e-06 9.99999701e-01 -3.38175425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.43, Y:-22.27, Z:-0.34 [[ 9.97178884e-01 7.50578455e-02 7.70552625e-04 2.29431880e+02] [-7.50578195e-02 9.97179181e-01 -6.25834377e-05 -2.22708075e+01] [-7.73076414e-04 4.57088269e-06 9.99999701e-01 -3.39086175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.46, Y:-22.27, Z:-0.34 [[ 9.97157586e-01 7.53402656e-02 7.70556417e-04 2.29459054e+02] [-7.53402398e-02 9.97157883e-01 -6.25367173e-05 -2.22745992e+01] [-7.73077939e-04 4.30505675e-06 9.99999701e-01 -3.38981064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.49, Y:-22.28, Z:-0.34 [[ 9.97176006e-01 7.50960718e-02 7.70560120e-04 2.29487983e+02] [-7.50960459e-02 9.97176303e-01 -6.24910542e-05 -2.22774215e+01] [-7.73077125e-04 4.44856163e-06 9.99999701e-01 -3.39012404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.52, Y:-22.28, Z:-0.34 [[ 9.97192214e-01 7.48805383e-02 7.70563082e-04 2.29516165e+02] [-7.48805124e-02 9.97192511e-01 -6.24545128e-05 -2.22804017e+01] [-7.73076362e-04 4.57899547e-06 9.99999701e-01 -3.40215926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.54, Y:-22.29, Z:-0.34 [[ 9.97260414e-01 7.39667073e-02 7.70566028e-04 2.29544540e+02] [-7.39666811e-02 9.97260711e-01 -6.24181384e-05 -2.22868473e+01] [-7.73072090e-04 5.25092682e-06 9.99999701e-01 -3.42982459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.57, Y:-22.29, Z:-0.34 [[ 9.97367586e-01 7.25072770e-02 7.70568946e-04 2.29573048e+02] [-7.25072504e-02 9.97367883e-01 -6.23820965e-05 -2.22941584e+01] [-7.73063875e-04 6.34604544e-06 9.99999701e-01 -3.42615121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.60, Y:-22.30, Z:-0.34 [[ 9.97393763e-01 7.21462992e-02 7.70571877e-04 2.29600506e+02] [-7.21462726e-02 9.97394060e-01 -6.23458727e-05 -2.22977138e+01] [-7.73061837e-04 6.58949585e-06 9.99999701e-01 -3.42529677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.63, Y:-22.30, Z:-0.34 [[ 9.97392064e-01 7.21697751e-02 7.70575517e-04 2.29628834e+02] [-7.21697485e-02 9.97392362e-01 -6.23008454e-05 -2.23017020e+01] [-7.73062373e-04 6.52612752e-06 9.99999701e-01 -3.42191863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.66, Y:-22.31, Z:-0.34 [[ 9.97321747e-01 7.31350693e-02 7.70578424e-04 2.29657681e+02] [-7.31350430e-02 9.97322045e-01 -6.22648796e-05 -2.23072857e+01] [-7.73068596e-04 5.74183241e-06 9.99999701e-01 -3.39598184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.69, Y:-22.31, Z:-0.34 [[ 9.97256122e-01 7.40245393e-02 7.70581434e-04 2.29686323e+02] [-7.40245134e-02 9.97256420e-01 -6.22275969e-05 -2.23106657e+01] [-7.73073652e-04 5.01493636e-06 9.99999701e-01 -3.38666583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.71, Y:-22.32, Z:-0.34 [[ 9.97065128e-01 7.65541361e-02 7.70584476e-04 2.29714968e+02] [-7.65541109e-02 9.97065426e-01 -6.21899043e-05 -2.23157996e+01] [-7.73084034e-04 3.01597544e-06 9.99999701e-01 -3.39667598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.74, Y:-22.32, Z:-0.34 [[ 9.96948596e-01 7.80570453e-02 7.70586738e-04 2.29743467e+02] [-7.80570206e-02 9.96948894e-01 -6.21618635e-05 -2.23198091e+01] [-7.73087768e-04 1.82247771e-06 9.99999701e-01 -3.39448224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.77, Y:-22.32, Z:-0.34 [[ 9.96813546e-01 7.97631598e-02 7.70591843e-04 2.29771654e+02] [-7.97631356e-02 9.96813843e-01 -6.20985127e-05 -2.23231387e+01] [-7.73089791e-04 4.35816873e-07 9.99999701e-01 -3.37582356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.80, Y:-22.33, Z:-0.33 [[ 9.96480547e-01 8.38207916e-02 7.70594932e-04 2.29800246e+02] [-8.38207687e-02 9.96480845e-01 -6.20601662e-05 -2.23257851e+01] [-7.73085021e-04 -2.75011110e-06 9.99999701e-01 -3.34380113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.83, Y:-22.33, Z:-0.34 [[ 9.96137885e-01 8.77993214e-02 7.70597222e-04 2.29828139e+02] [-8.77992997e-02 9.96138183e-01 -6.20317128e-05 -2.23290378e+01] [-7.73067659e-04 -5.86575730e-06 9.99999701e-01 -3.35996581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.86, Y:-22.33, Z:-0.34 [[ 9.95974571e-01 8.96329147e-02 7.70601038e-04 2.29856511e+02] [-8.96328935e-02 9.95974869e-01 -6.19842695e-05 -2.23315280e+01] [-7.73055099e-04 -7.33644457e-06 9.99999701e-01 -3.37206840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.89, Y:-22.33, Z:-0.34 [[ 9.95810795e-01 9.14344956e-02 7.70603943e-04 2.29885204e+02] [-9.14344750e-02 9.95811093e-01 -6.19481415e-05 -2.23339075e+01] [-7.73040151e-04 -8.77113894e-06 9.99999701e-01 -3.37769826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.584203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:229.91, Y:-22.34, Z:-0.34 [[ 9.95550252e-01 9.42289869e-02 7.70606856e-04 2.29913973e+02] [-9.42289672e-02 9.95550550e-01 -6.19118834e-05 -2.23359885e+01] [-7.73011973e-04 -1.09770970e-05 9.99999701e-01 -3.37907067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.94, Y:-22.34, Z:-0.33 [[ 9.95521003e-01 9.45375037e-02 7.70609868e-04 2.29941782e+02] [-9.45374841e-02 9.95521301e-01 -6.18743648e-05 -2.23382988e+01] [-7.73007986e-04 -1.12542885e-05 9.99999701e-01 -3.34720573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.97, Y:-22.34, Z:-0.34 [[ 9.95460008e-01 9.51776158e-02 7.70613831e-04 2.29969740e+02] [-9.51775964e-02 9.95460306e-01 -6.18249705e-05 -2.23395876e+01] [-7.72999833e-04 -1.18008865e-05 9.99999701e-01 -3.36403888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.00, Y:-22.34, Z:-0.33 [[ 9.95447369e-01 9.53097186e-02 7.70617486e-04 2.29999070e+02] [-9.53096993e-02 9.95447667e-01 -6.17793739e-05 -2.23409415e+01] [-7.72997554e-04 -1.19492057e-05 9.99999701e-01 -3.34351285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.03, Y:-22.34, Z:-0.34 [[ 9.95366671e-01 9.61488228e-02 7.70619700e-04 2.30027896e+02] [-9.61488038e-02 9.95366969e-01 -6.17517430e-05 -2.23401246e+01] [-7.72986753e-04 -1.26285355e-05 9.99999701e-01 -3.37559831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.06, Y:-22.34, Z:-0.34 [[ 9.95297153e-01 9.68658056e-02 7.70622742e-04 2.30055357e+02] [-9.68657868e-02 9.95297451e-01 -6.17137673e-05 -2.23404478e+01] [-7.72976804e-04 -1.32234414e-05 9.99999701e-01 -3.40837476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.764203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.08, Y:-22.34, Z:-0.34 [[ 9.95246657e-01 9.73832575e-02 7.70626650e-04 2.30084757e+02] [-9.73832389e-02 9.95246955e-01 -6.16649212e-05 -2.23394218e+01] [-7.72968958e-04 -1.36743125e-05 9.99999701e-01 -3.38339170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.11, Y:-22.34, Z:-0.34 [[ 9.95272019e-01 9.71237085e-02 7.70629678e-04 2.30112339e+02] [-9.71236899e-02 9.95272317e-01 -6.16270631e-05 -2.23397538e+01] [-7.72971834e-04 -1.35107064e-05 9.99999701e-01 -3.40479218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.14, Y:-22.34, Z:-0.34 [[ 9.95352280e-01 9.62976923e-02 7.70633560e-04 2.30141188e+02] [-9.62976735e-02 9.95352578e-01 -6.15784847e-05 -2.23400292e+01] [-7.72981966e-04 -1.29179338e-05 9.99999701e-01 -3.40482359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.17, Y:-22.34, Z:-0.34 [[ 9.95569259e-01 9.40279619e-02 7.70636441e-04 2.30170482e+02] [-9.40279424e-02 9.95569557e-01 -6.15423974e-05 -2.23394166e+01] [-7.73008887e-04 -1.11916400e-05 9.99999701e-01 -3.40521606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.20, Y:-22.34, Z:-0.34 [[ 9.95705098e-01 9.25784219e-02 7.70639443e-04 2.30198029e+02] [-9.25784020e-02 9.95705396e-01 -6.15047858e-05 -2.23392768e+01] [-7.73023868e-04 -1.01039394e-05 9.99999701e-01 -3.40751743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.23, Y:-22.34, Z:-0.34 [[ 9.95974598e-01 8.96326228e-02 7.70643169e-04 2.30226699e+02] [-8.96326021e-02 9.95974896e-01 -6.14580734e-05 -2.23350651e+01] [-7.73049898e-04 -7.86407254e-06 9.99999701e-01 -3.40782197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.26, Y:-22.34, Z:-0.34 [[ 9.96127514e-01 8.79169082e-02 7.70646878e-04 2.30256037e+02] [-8.79168870e-02 9.96127812e-01 -6.14115200e-05 -2.23352869e+01] [-7.73061899e-04 -6.57916982e-06 9.99999701e-01 -3.38191051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.29, Y:-22.34, Z:-0.34 [[ 9.96131718e-01 8.78692549e-02 7.70649821e-04 2.30285274e+02] [-8.78692338e-02 9.96132016e-01 -6.13745754e-05 -2.23375246e+01] [-7.73061898e-04 -6.57924798e-06 9.99999701e-01 -3.38213722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.31, Y:-22.34, Z:-0.34 [[ 9.96496130e-01 8.36353389e-02 7.70652755e-04 2.30314266e+02] [-8.36353165e-02 9.96496428e-01 -6.13377086e-05 -2.23367060e+01] [-7.73082717e-04 -3.33099784e-06 9.99999701e-01 -3.35450167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.34, Y:-22.34, Z:-0.34 [[ 9.96674768e-01 8.14789099e-02 7.70655784e-04 2.30341702e+02] [-8.14788868e-02 9.96675066e-01 -6.12996210e-05 -2.23371090e+01] [-7.73088031e-04 -1.69638986e-06 9.99999701e-01 -3.36270130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.37, Y:-22.34, Z:-0.34 [[ 9.96833564e-01 7.95125840e-02 7.70659541e-04 2.30369774e+02] [-7.95125604e-02 9.96833862e-01 -6.12523553e-05 -2.23377928e+01] [-7.73089860e-04 -2.18709617e-07 9.99999701e-01 -3.38130466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09420382200003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:230.40, Y:-22.34, Z:-0.34 [[ 9.97150281e-01 7.54368830e-02 7.70663203e-04 2.30398917e+02] [-7.54368582e-02 9.97150579e-01 -6.12062527e-05 -2.23381577e+01] [-7.73084467e-04 2.89542136e-06 9.99999701e-01 -3.40604359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.43, Y:-22.34, Z:-0.34 [[ 9.97291435e-01 7.35472641e-02 7.70666195e-04 2.30426808e+02] [-7.35472388e-02 9.97291733e-01 -6.11685561e-05 -2.23397671e+01] [-7.73077804e-04 4.32250641e-06 9.99999701e-01 -3.37656697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.154203822 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:230.46, Y:-22.34, Z:-0.35 [[ 9.97459059e-01 7.12378460e-02 7.70669910e-04 2.30455334e+02] [-7.12378201e-02 9.97459357e-01 -6.11217119e-05 -2.23386445e+01] [-7.73066092e-04 6.06556094e-06 9.99999701e-01 -3.45286503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.48, Y:-22.34, Z:-0.34 [[ 9.97521035e-01 7.03647009e-02 7.70672848e-04 2.30484174e+02] [-7.03646747e-02 9.97521333e-01 -6.10846384e-05 -2.23401152e+01] [-7.73060809e-04 6.70506747e-06 9.99999701e-01 -3.40507054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.51, Y:-22.34, Z:-0.34 [[ 9.97516642e-01 7.04269464e-02 7.70675831e-04 2.30512372e+02] [-7.04269203e-02 9.97516940e-01 -6.10469900e-05 -2.23422476e+01] [-7.73061549e-04 6.61906318e-06 9.99999701e-01 -3.43370146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.54, Y:-22.34, Z:-0.34 [[ 9.97375830e-01 7.23937869e-02 7.70679531e-04 2.30541244e+02] [-7.23937613e-02 9.97376127e-01 -6.10002321e-05 -2.23442905e+01] [-7.73073404e-04 5.04776702e-06 9.99999701e-01 -3.40162901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.57, Y:-22.34, Z:-0.34 [[ 9.97260780e-01 7.39617694e-02 7.70682459e-04 2.30569465e+02] [-7.39617444e-02 9.97261077e-01 -6.09632286e-05 -2.23449036e+01] [-7.73080567e-04 3.79521794e-06 9.99999701e-01 -3.40951065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.60, Y:-22.34, Z:-0.34 [[ 9.96995872e-01 7.74508707e-02 7.70686096e-04 2.30598084e+02] [-7.74508467e-02 9.96996170e-01 -6.09172088e-05 -2.23442395e+01] [-7.73089177e-04 1.04391498e-06 9.99999701e-01 -3.39092127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.63, Y:-22.35, Z:-0.34 [[ 9.96865778e-01 7.91076946e-02 7.70689092e-04 2.30625762e+02] [-7.91076712e-02 9.96866076e-01 -6.08792765e-05 -2.23457440e+01] [-7.73089830e-04 -2.78951993e-07 9.99999701e-01 -3.41888995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.65, Y:-22.35, Z:-0.34 [[ 9.96746492e-01 8.05967549e-02 7.70692821e-04 2.30654419e+02] [-8.05967320e-02 9.96746790e-01 -6.08320361e-05 -2.23468180e+01] [-7.73088460e-04 -1.48120418e-06 9.99999701e-01 -3.38619160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.68, Y:-22.35, Z:-0.34 [[ 9.96468915e-01 8.39589663e-02 7.70695805e-04 2.30683040e+02] [-8.39589444e-02 9.96469213e-01 -6.07942102e-05 -2.23454441e+01] [-7.73078861e-04 -4.12726564e-06 9.99999701e-01 -3.38610880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.424203822 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:230.71, Y:-22.35, Z:-0.34 [[ 9.96329377e-01 8.55989415e-02 7.70698781e-04 2.30712327e+02] [-8.55989201e-02 9.96329675e-01 -6.07564549e-05 -2.23457597e+01] [-7.73070755e-04 -5.43754260e-06 9.99999701e-01 -3.42683502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.74, Y:-22.35, Z:-0.34 [[ 9.96191993e-01 8.71832489e-02 7.70701775e-04 2.30740630e+02] [-8.71832280e-02 9.96192291e-01 -6.07184616e-05 -2.23452053e+01] [-7.73060799e-04 -6.70502330e-06 9.99999701e-01 -3.39702165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.77, Y:-22.35, Z:-0.34 [[ 9.96176887e-01 8.73556823e-02 7.70705498e-04 2.30769669e+02] [-8.73556615e-02 9.96177185e-01 -6.06711624e-05 -2.23458304e+01] [-7.73059205e-04 -6.88627890e-06 9.99999701e-01 -3.38747815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.80, Y:-22.35, Z:-0.34 [[ 9.96178894e-01 8.73327977e-02 7.70708390e-04 2.30798936e+02] [-8.73327769e-02 9.96179192e-01 -6.06344041e-05 -2.23464043e+01] [-7.73059033e-04 -6.90539030e-06 9.99999701e-01 -3.37379797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.83, Y:-22.35, Z:-0.34 [[ 9.96296849e-01 8.59767071e-02 7.70710636e-04 2.30826746e+02] [-8.59766859e-02 9.96297147e-01 -6.06058410e-05 -2.23461271e+01] [-7.73067499e-04 -5.88173787e-06 9.99999701e-01 -3.38684398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.86, Y:-22.35, Z:-0.34 [[ 9.96589210e-01 8.25188065e-02 7.70714378e-04 2.30855787e+02] [-8.25187843e-02 9.96589508e-01 -6.05582148e-05 -2.23469897e+01] [-7.73083054e-04 -3.24675010e-06 9.99999701e-01 -3.38014290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.89, Y:-22.35, Z:-0.34 [[ 9.96758980e-01 8.04421663e-02 7.70717320e-04 2.30885056e+02] [-8.04421436e-02 9.96759278e-01 -6.05207525e-05 -2.23479858e+01] [-7.73088060e-04 -1.67354982e-06 9.99999701e-01 -3.38015208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.91, Y:-22.35, Z:-0.34 [[ 9.96922065e-01 7.83951669e-02 7.70720282e-04 2.30913950e+02] [-7.83951435e-02 9.96922363e-01 -6.04830071e-05 -2.23481962e+01] [-7.73089860e-04 -1.23882845e-07 9.99999701e-01 -3.37100807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.94, Y:-22.35, Z:-0.34 [[ 9.97156916e-01 7.53491263e-02 7.70723290e-04 2.30941439e+02] [-7.53491021e-02 9.97157214e-01 -6.04446542e-05 -2.23472035e+01] [-7.73086740e-04 2.19949713e-06 9.99999701e-01 -3.36184304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.97, Y:-22.35, Z:-0.34 [[ 9.97243973e-01 7.41880335e-02 7.70727768e-04 2.30970278e+02] [-7.41880090e-02 9.97244271e-01 -6.03874999e-05 -2.23485774e+01] [-7.73083881e-04 3.04231178e-06 9.99999701e-01 -3.36315980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.00, Y:-22.35, Z:-0.34 [[ 9.97356090e-01 7.26652339e-02 7.70730709e-04 2.30998378e+02] [-7.26652089e-02 9.97356388e-01 -6.03499405e-05 -2.23491481e+01] [-7.73078538e-04 4.18507266e-06 9.99999701e-01 -3.39734074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.03, Y:-22.35, Z:-0.34 [[ 9.97430464e-01 7.16371049e-02 7.70734588e-04 2.31027400e+02] [-7.16370797e-02 9.97430762e-01 -6.03003608e-05 -2.23509629e+01] [-7.73074131e-04 4.93224180e-06 9.99999701e-01 -3.37426660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.06, Y:-22.35, Z:-0.34 [[ 9.97524825e-01 7.03109506e-02 7.70737562e-04 2.31055093e+02] [-7.03109250e-02 9.97525123e-01 -6.02623300e-05 -2.23522979e+01] [-7.73067182e-04 5.92189926e-06 9.99999701e-01 -3.36913948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.08, Y:-22.35, Z:-0.33 [[ 9.97634999e-01 6.87300141e-02 7.70741252e-04 2.31083209e+02] [-6.87299881e-02 9.97635297e-01 -6.02151002e-05 -2.23514711e+01] [-7.73057262e-04 7.09965445e-06 9.99999701e-01 -3.34924736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.11, Y:-22.35, Z:-0.33 [[ 9.97685438e-01 6.79939191e-02 7.70744862e-04 2.31111660e+02] [-6.79938929e-02 9.97685736e-01 -6.01688529e-05 -2.23518829e+01] [-7.73052271e-04 7.62364476e-06 9.99999701e-01 -3.33188157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.14, Y:-22.35, Z:-0.34 [[ 9.97791065e-01 6.64258694e-02 7.70747772e-04 2.31139723e+02] [-6.64258427e-02 9.97791363e-01 -6.01315490e-05 -2.23530542e+01] [-7.73039760e-04 8.80115197e-06 9.99999701e-01 -3.35925169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.17, Y:-22.36, Z:-0.34 [[ 9.97870430e-01 6.52227750e-02 7.70751393e-04 2.31167397e+02] [-6.52227480e-02 9.97870728e-01 -6.00851014e-05 -2.23560614e+01] [-7.73029171e-04 9.68662210e-06 9.99999701e-01 -3.37664558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.20, Y:-22.36, Z:-0.33 [[ 9.98113180e-01 6.13961453e-02 7.70754944e-04 2.31196314e+02] [-6.13961172e-02 9.98113477e-01 -6.00395221e-05 -2.23599637e+01] [-7.72987092e-04 1.26048774e-05 9.99999701e-01 -3.32808947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.22, Y:-22.36, Z:-0.33 [[ 9.98252066e-01 5.90949989e-02 7.70757815e-04 2.31224480e+02] [-5.90949702e-02 9.98252363e-01 -6.00026374e-05 -2.23636973e+01] [-7.72956666e-04 1.43498466e-05 9.99999701e-01 -3.32000744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.25, Y:-22.37, Z:-0.33 [[ 9.98394056e-01 5.66455129e-02 7.70760669e-04 2.31253564e+02] [-5.66454835e-02 9.98394354e-01 -5.99659562e-05 -2.23677951e+01] [-7.72919902e-04 1.62095435e-05 9.99999701e-01 -3.31511106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.024203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:231.28, Y:-22.37, Z:-0.34 [[ 9.98601206e-01 5.28681124e-02 7.70762854e-04 2.31281329e+02] [-5.28680819e-02 9.98601503e-01 -5.99378503e-05 -2.23735798e+01] [-7.72853746e-04 1.91052558e-05 9.99999701e-01 -3.38776265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.31, Y:-22.38, Z:-0.34 [[ 9.98777373e-01 4.94283905e-02 7.70766470e-04 2.31309516e+02] [-4.94283590e-02 9.98777670e-01 -5.98913161e-05 -2.23794051e+01] [-7.72784671e-04 2.17203696e-05 9.99999701e-01 -3.38532789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.084203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.34, Y:-22.38, Z:-0.34 [[ 9.98826334e-01 4.84289140e-02 7.70769327e-04 2.31337844e+02] [-4.84288823e-02 9.98826632e-01 -5.98545317e-05 -2.23842649e+01] [-7.72763620e-04 2.24567856e-05 9.99999701e-01 -3.40979847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.37, Y:-22.39, Z:-0.34 [[ 9.98866226e-01 4.75990358e-02 7.70771465e-04 2.31367466e+02] [-4.75990038e-02 9.98866523e-01 -5.98269805e-05 -2.23894546e+01] [-7.72745520e-04 2.30711963e-05 9.99999701e-01 -3.38112700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.40, Y:-22.40, Z:-0.34 [[ 9.98859685e-01 4.77360981e-02 7.70772895e-04 2.31395469e+02] [-4.77360661e-02 9.98859982e-01 -5.98085616e-05 -2.23959368e+01] [-7.72749227e-04 2.29466952e-05 9.99999701e-01 -3.35512240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.42, Y:-22.40, Z:-0.34 [[ 9.98808820e-01 4.87887980e-02 7.70775021e-04 2.31422887e+02] [-4.87887664e-02 9.98809117e-01 -5.97811490e-05 -2.24005668e+01] [-7.72773768e-04 2.21047765e-05 9.99999701e-01 -3.35503032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.45, Y:-22.41, Z:-0.33 [[ 9.98682424e-01 5.13110255e-02 7.70778530e-04 2.31451437e+02] [-5.13109947e-02 9.98682722e-01 -5.97358704e-05 -2.24072342e+01] [-7.72828309e-04 2.01077508e-05 9.99999701e-01 -3.34157723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.48, Y:-22.41, Z:-0.33 [[ 9.98600380e-01 5.28837204e-02 7.70781416e-04 2.31479707e+02] [-5.28836901e-02 9.98600677e-01 -5.96986099e-05 -2.24113089e+01] [-7.72859928e-04 1.88532890e-05 9.99999701e-01 -3.34264440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.51, Y:-22.42, Z:-0.34 [[ 9.98378362e-01 5.69214624e-02 7.70784305e-04 2.31507272e+02] [-5.69214333e-02 9.98378659e-01 -5.96612803e-05 -2.24172170e+01] [-7.72930608e-04 1.56903839e-05 9.99999701e-01 -3.37548070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.54, Y:-22.42, Z:-0.33 [[ 9.98252762e-01 5.90832311e-02 7.70788356e-04 2.31535840e+02] [-5.90832026e-02 9.98253060e-01 -5.96088948e-05 -2.24207497e+01] [-7.72963721e-04 1.39640992e-05 9.99999701e-01 -3.34915567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32420382200002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:231.56, Y:-22.42, Z:-0.34 [[ 9.98089154e-01 6.17854825e-02 7.70791269e-04 2.31563726e+02] [-6.17854549e-02 9.98089452e-01 -5.95712055e-05 -2.24234976e+01] [-7.72999271e-04 1.18336849e-05 9.99999701e-01 -3.39740216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.59, Y:-22.43, Z:-0.34 [[ 9.97793322e-01 6.63919572e-02 7.70794886e-04 2.31592823e+02] [-6.63919310e-02 9.97793620e-01 -5.95243704e-05 -2.24262728e+01] [-7.73046159e-04 8.21845836e-06 9.99999701e-01 -3.36323342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.62, Y:-22.43, Z:-0.34 [[ 9.97627931e-01 6.88325311e-02 7.70797726e-04 2.31621354e+02] [-6.88325056e-02 9.97628229e-01 -5.94875743e-05 -2.24301659e+01] [-7.73064250e-04 6.29052683e-06 9.99999701e-01 -3.37645484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41420382200002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:231.65, Y:-22.44, Z:-0.34 [[ 9.97337781e-01 7.29160886e-02 7.70800598e-04 2.31649905e+02] [-7.29160645e-02 9.97338079e-01 -5.94503366e-05 -2.24360287e+01] [-7.73083674e-04 3.08832075e-06 9.99999701e-01 -3.42602723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.68, Y:-22.44, Z:-0.34 [[ 9.97287141e-01 7.36054583e-02 7.70802784e-04 2.31677107e+02] [-7.36054344e-02 9.97287439e-01 -5.94219822e-05 -2.24389002e+01] [-7.73085717e-04 2.52550509e-06 9.99999701e-01 -3.41356293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47420382200002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:231.71, Y:-22.44, Z:-0.34 [[ 9.97220097e-01 7.45082816e-02 7.70807155e-04 2.31705728e+02] [-7.45082580e-02 9.97220395e-01 -5.93652302e-05 -2.24429812e+01] [-7.73087816e-04 1.76870232e-06 9.99999701e-01 -3.43268086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.73, Y:-22.45, Z:-0.34 [[ 9.97300274e-01 7.34273040e-02 7.70809329e-04 2.31733291e+02] [-7.34272800e-02 9.97300572e-01 -5.93369834e-05 -2.24462330e+01] [-7.73085540e-04 2.57835733e-06 9.99999701e-01 -3.41911235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.76, Y:-22.45, Z:-0.34 [[ 9.97376500e-01 7.23845450e-02 7.70812952e-04 2.31761829e+02] [-7.23845208e-02 9.97376798e-01 -5.92898848e-05 -2.24499325e+01] [-7.73082625e-04 3.33941171e-06 9.99999701e-01 -3.39223191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.79, Y:-22.45, Z:-0.34 [[ 9.97574335e-01 6.96049700e-02 7.70815840e-04 2.31790346e+02] [-6.96049450e-02 9.97574633e-01 -5.92523130e-05 -2.24545510e+01] [-7.73070584e-04 5.45599263e-06 9.99999701e-01 -3.38140136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.82, Y:-22.46, Z:-0.34 [[ 9.97681721e-01 6.80484320e-02 7.70817997e-04 2.31819040e+02] [-6.80484066e-02 9.97682019e-01 -5.92242378e-05 -2.24584380e+01] [-7.73061372e-04 6.63400308e-06 9.99999701e-01 -3.36195793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62420382200003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:231.85, Y:-22.46, Z:-0.34 [[ 9.97753833e-01 6.69827889e-02 7.70820838e-04 2.31847697e+02] [-6.69827631e-02 9.97754131e-01 -5.91872382e-05 -2.24628982e+01] [-7.73054202e-04 7.42258418e-06 9.99999701e-01 -3.38778516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.654203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:231.88, Y:-22.47, Z:-0.34 [[ 9.97879142e-01 6.50893497e-02 7.70823724e-04 2.31876486e+02] [-6.50893234e-02 9.97879440e-01 -5.91496284e-05 -2.24693166e+01] [-7.73039157e-04 8.85178582e-06 9.99999701e-01 -3.38559146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.684203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:231.90, Y:-22.47, Z:-0.34 [[ 9.97921989e-01 6.44291069e-02 7.70825173e-04 2.31904686e+02] [-6.44290805e-02 9.97922287e-01 -5.91307415e-05 -2.24722165e+01] [-7.73033360e-04 9.34431005e-06 9.99999701e-01 -3.38186382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.93, Y:-22.47, Z:-0.33 [[ 9.97970364e-01 6.36754072e-02 7.70826659e-04 2.31933950e+02] [-6.36753805e-02 9.97970662e-01 -5.91113666e-05 -2.24732653e+01] [-7.73026331e-04 9.90871121e-06 9.99999701e-01 -3.34917478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.96, Y:-22.48, Z:-0.33 [[ 9.97961500e-01 6.38141880e-02 7.70828088e-04 2.31963594e+02] [-6.38141614e-02 9.97961798e-01 -5.90927185e-05 -2.24761057e+01] [-7.73027938e-04 9.78250995e-06 9.99999701e-01 -3.33534404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.99, Y:-22.48, Z:-0.33 [[ 9.97892805e-01 6.48795468e-02 7.70829553e-04 2.31991281e+02] [-6.48795205e-02 9.97893103e-01 -5.90736057e-05 -2.24801399e+01] [-7.73038163e-04 8.93807434e-06 9.99999701e-01 -3.34532901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.02, Y:-22.48, Z:-0.34 [[ 9.97837723e-01 6.57212685e-02 7.70833501e-04 2.32019607e+02] [-6.57212425e-02 9.97838020e-01 -5.90220443e-05 -2.24826366e+01] [-7.73045978e-04 8.23428686e-06 9.99999701e-01 -3.36524637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.05, Y:-22.49, Z:-0.34 [[ 9.97755435e-01 6.69589246e-02 7.70835620e-04 2.32048650e+02] [-6.69588991e-02 9.97755733e-01 -5.89943519e-05 -2.24864199e+01] [-7.73055858e-04 7.24763075e-06 9.99999701e-01 -3.38186721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.08, Y:-22.49, Z:-0.34 [[ 9.97748916e-01 6.70559972e-02 7.70837015e-04 2.32078132e+02] [-6.70559717e-02 9.97749214e-01 -5.89761260e-05 -2.24893995e+01] [-7.73056728e-04 7.15414071e-06 9.99999701e-01 -3.38258290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.11, Y:-22.49, Z:-0.34 [[ 9.97750571e-01 6.70313585e-02 7.70838465e-04 2.32108207e+02] [-6.70313329e-02 9.97750869e-01 -5.89571690e-05 -2.24916561e+01] [-7.73056727e-04 7.15421930e-06 9.99999701e-01 -3.38281606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.14, Y:-22.49, Z:-0.34 [[ 9.97774814e-01 6.66695305e-02 7.70839920e-04 2.32136801e+02] [-6.66695049e-02 9.97775112e-01 -5.89381337e-05 -2.24937076e+01] [-7.73054265e-04 7.41546956e-06 9.99999701e-01 -3.41049917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.17, Y:-22.49, Z:-0.34 [[ 9.97880152e-01 6.50738681e-02 7.70842090e-04 2.32166574e+02] [-6.50738420e-02 9.97880450e-01 -5.89097396e-05 -2.24947179e+01] [-7.73041736e-04 8.62320350e-06 9.99999701e-01 -3.41310456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.20, Y:-22.50, Z:-0.34 [[ 9.97946257e-01 6.40521145e-02 7.70843531e-04 2.32195035e+02] [-6.40520881e-02 9.97946555e-01 -5.88908821e-05 -2.24975412e+01] [-7.73032732e-04 9.39579758e-06 9.99999701e-01 -3.40918447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.22, Y:-22.50, Z:-0.34 [[ 9.98146060e-01 6.08592558e-02 7.70845181e-04 2.32223518e+02] [-6.08592285e-02 9.98146357e-01 -5.88692709e-05 -2.25017165e+01] [-7.72999050e-04 1.18470879e-05 9.99999701e-01 -3.42566351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.25, Y:-22.50, Z:-0.34 [[ 9.98218796e-01 5.96543479e-02 7.70847295e-04 2.32252836e+02] [-5.96543203e-02 9.98219094e-01 -5.88415800e-05 -2.25044475e+01] [-7.72984644e-04 1.27523997e-05 9.99999701e-01 -3.40429971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.28, Y:-22.51, Z:-0.34 [[ 9.98302008e-01 5.82452344e-02 7.70848700e-04 2.32281289e+02] [-5.82452063e-02 9.98302305e-01 -5.88231644e-05 -2.25067999e+01] [-7.72966203e-04 1.38250415e-05 9.99999701e-01 -3.39253961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.31, Y:-22.51, Z:-0.34 [[ 9.98457348e-01 5.55187311e-02 7.70851561e-04 2.32310143e+02] [-5.55187023e-02 9.98457646e-01 -5.87856474e-05 -2.25106640e+01] [-7.72926340e-04 1.58982832e-05 9.99999701e-01 -3.37186202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.34, Y:-22.52, Z:-0.34 [[ 9.98574901e-01 5.33626466e-02 7.70852984e-04 2.32338431e+02] [-5.33626172e-02 9.98575199e-01 -5.87669817e-05 -2.25154745e+01] [-7.72890634e-04 1.75485002e-05 9.99999701e-01 -3.38776577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.37, Y:-22.52, Z:-0.34 [[ 9.98604214e-01 5.28112612e-02 7.70855100e-04 2.32367250e+02] [-5.28112316e-02 9.98604511e-01 -5.87392142e-05 -2.25194303e+01] [-7.72881473e-04 1.79474196e-05 9.99999701e-01 -3.40899424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.40, Y:-22.52, Z:-0.34 [[ 9.98593729e-01 5.30091440e-02 7.70855789e-04 2.32396550e+02] [-5.30091145e-02 9.98594027e-01 -5.87301815e-05 -2.25234968e+01] [-7.72885223e-04 1.77852082e-05 9.99999701e-01 -3.38441891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:232.43, Y:-22.53, Z:-0.34 [[ 9.98448369e-01 5.56799813e-02 7.70857227e-04 2.32425701e+02] [-5.56799526e-02 9.98448666e-01 -5.87112937e-05 -2.25262695e+01] [-7.72930414e-04 1.56989016e-05 9.99999701e-01 -3.36786886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.45, Y:-22.53, Z:-0.33 [[ 9.98335591e-01 5.76667382e-02 7.70858675e-04 2.32454535e+02] [-5.76667101e-02 9.98335889e-01 -5.86922814e-05 -2.25276651e+01] [-7.72960473e-04 1.41417098e-05 9.99999701e-01 -3.34670968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.48, Y:-22.53, Z:-0.33 [[ 9.98058407e-01 6.22801870e-02 7.70860831e-04 2.32483502e+02] [-6.22801603e-02 9.98058705e-01 -5.86639418e-05 -2.25300486e+01] [-7.73017964e-04 1.05407041e-05 9.99999701e-01 -3.34117416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.51, Y:-22.53, Z:-0.34 [[ 9.97920784e-01 6.44477643e-02 7.70863672e-04 2.32513097e+02] [-6.44477383e-02 9.97921082e-01 -5.86265870e-05 -2.25330577e+01] [-7.73039462e-04 8.82426953e-06 9.99999701e-01 -3.36811767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.54, Y:-22.54, Z:-0.34 [[ 9.97656827e-01 6.84124366e-02 7.70865102e-04 2.32542968e+02] [-6.84124118e-02 9.97657125e-01 -5.86077817e-05 -2.25352105e+01] [-7.73068562e-04 5.73371274e-06 9.99999701e-01 -3.41595923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.57, Y:-22.54, Z:-0.34 [[ 9.97514635e-01 7.04553732e-02 7.70866531e-04 2.32570560e+02] [-7.04553489e-02 9.97514932e-01 -5.85889817e-05 -2.25367914e+01] [-7.73078784e-04 4.13169629e-06 9.99999701e-01 -3.42765914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.60, Y:-22.54, Z:-0.34 [[ 9.97373039e-01 7.24322196e-02 7.70870384e-04 2.32600461e+02] [-7.24321959e-02 9.97373337e-01 -5.85382426e-05 -2.25380443e+01] [-7.73085622e-04 2.54863021e-06 9.99999701e-01 -3.40086096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.63, Y:-22.54, Z:-0.34 [[ 9.97135085e-01 7.56374782e-02 7.70871817e-04 2.32629548e+02] [-7.56374556e-02 9.97135383e-01 -5.85193667e-05 -2.25351926e+01] [-7.73089822e-04 4.49308951e-08 9.99999701e-01 -3.38390042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.66, Y:-22.53, Z:-0.34 [[ 9.96956642e-01 7.79542213e-02 7.70873426e-04 2.32657125e+02] [-7.79541994e-02 9.96956940e-01 -5.84981629e-05 -2.25333723e+01] [-7.73087790e-04 -1.77268877e-06 9.99999701e-01 -3.39123023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.69, Y:-22.53, Z:-0.34 [[ 9.96927855e-01 7.83215024e-02 7.70876938e-04 2.32686368e+02] [-7.83214806e-02 9.96928153e-01 -5.84518389e-05 -2.25346188e+01] [-7.73086958e-04 -2.10395681e-06 9.99999701e-01 -3.38987605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.71, Y:-22.54, Z:-0.34 [[ 9.96919339e-01 7.84298281e-02 7.70879749e-04 2.32714400e+02] [-7.84298064e-02 9.96919637e-01 -5.84147474e-05 -2.25356273e+01] [-7.73086618e-04 -2.22515813e-06 9.99999701e-01 -3.39749781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.74, Y:-22.53, Z:-0.34 [[ 9.97088552e-01 7.62484495e-02 7.70883235e-04 2.32743660e+02] [-7.62484272e-02 9.97088850e-01 -5.83687028e-05 -2.25329557e+01] [-7.73089601e-04 -5.79868894e-07 9.99999701e-01 -3.38664722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.77, Y:-22.53, Z:-0.34 [[ 9.97242623e-01 7.42061727e-02 7.70875171e-04 2.32772500e+02] [-7.42061497e-02 9.97242921e-01 -5.84753089e-05 -2.25329705e+01] [-7.73089037e-04 1.11039211e-06 9.99999701e-01 -3.35446662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.80, Y:-22.53, Z:-0.33 [[ 9.97402909e-01 7.20197439e-02 7.70888958e-04 2.32800203e+02] [-7.20197204e-02 9.97403207e-01 -5.82929859e-05 -2.25334000e+01] [-7.73085365e-04 2.62238643e-06 9.99999701e-01 -3.34728575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.83, Y:-22.53, Z:-0.34 [[ 9.97748268e-01 6.70656287e-02 7.70892720e-04 2.32829505e+02] [-6.70656037e-02 9.97748566e-01 -5.82431947e-05 -2.25326231e+01] [-7.73063223e-04 6.41166095e-06 9.99999701e-01 -3.37087881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.86, Y:-22.53, Z:-0.34 [[ 9.97909525e-01 6.46218618e-02 7.70895429e-04 2.32858751e+02] [-6.46218362e-02 9.97909823e-01 -5.82073222e-05 -2.25338211e+01] [-7.73045586e-04 8.26896322e-06 9.99999701e-01 -3.39601556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.704203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:232.89, Y:-22.53, Z:-0.34 [[ 9.98170816e-01 6.04518564e-02 7.70898110e-04 2.32888423e+02] [-6.04518295e-02 9.98171114e-01 -5.81717850e-05 -2.25344074e+01] [-7.73004818e-04 1.14631770e-05 9.99999701e-01 -3.41681873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.92, Y:-22.54, Z:-0.34 [[ 9.98310800e-01 5.80943479e-02 7.70899521e-04 2.32916886e+02] [-5.80943203e-02 9.98311097e-01 -5.81530887e-05 -2.25351758e+01] [-7.72975912e-04 1.32699729e-05 9.99999701e-01 -3.39709833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.764203822 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:232.95, Y:-22.53, Z:-0.34 [[ 9.98569571e-01 5.34623010e-02 7.70901084e-04 2.32946260e+02] [-5.34622720e-02 9.98569868e-01 -5.81323531e-05 -2.25349812e+01] [-7.72906484e-04 1.68350754e-05 9.99999701e-01 -3.41294828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79420382200001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:232.98, Y:-22.54, Z:-0.34 [[ 9.98717577e-01 5.06221972e-02 7.70902494e-04 2.32975205e+02] [-5.06221674e-02 9.98717874e-01 -5.81136460e-05 -2.25371943e+01] [-7.72855941e-04 1.90143647e-05 9.99999701e-01 -3.40417086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82420382200002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:233.00, Y:-22.54, Z:-0.34 [[ 9.99000183e-01 4.46994501e-02 7.70905366e-04 2.33003229e+02] [-4.46994186e-02 9.99000480e-01 -5.80755350e-05 -2.25417641e+01] [-7.72730774e-04 2.35584485e-05 9.99999701e-01 -3.40702503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.03, Y:-22.55, Z:-0.33 [[ 9.99105179e-01 4.22876751e-02 7.70907504e-04 2.33033052e+02] [-4.22876429e-02 9.99105476e-01 -5.80471386e-05 -2.25461536e+01] [-7.72672587e-04 2.53953355e-05 9.99999701e-01 -3.34761618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88420382200002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:233.06, Y:-22.55, Z:-0.34 [[ 9.99184729e-01 4.03643781e-02 7.70908916e-04 2.33061633e+02] [-4.03643454e-02 9.99185026e-01 -5.80283792e-05 -2.25503491e+01] [-7.72622924e-04 2.68638366e-05 9.99999701e-01 -3.36030514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.09, Y:-22.56, Z:-0.34 [[ 9.99272781e-01 3.81223762e-02 7.70911015e-04 2.33091122e+02] [-3.81223428e-02 9.99273078e-01 -5.80004798e-05 -2.25554627e+01] [-7.72561738e-04 2.85693668e-05 9.99999701e-01 -3.37357668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94420382200002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:233.12, Y:-22.56, Z:-0.34 [[ 9.99295523e-01 3.75215125e-02 7.70912407e-04 2.33120734e+02] [-3.75214790e-02 9.99295820e-01 -5.79819666e-05 -2.25594718e+01] [-7.72545117e-04 2.90153460e-05 9.99999701e-01 -3.40908659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.15, Y:-22.57, Z:-0.34 [[ 9.99333818e-01 3.64873424e-02 7.70913794e-04 2.33149777e+02] [-3.64873085e-02 9.99334115e-01 -5.79635275e-05 -2.25664961e+01] [-7.72515389e-04 2.97963438e-05 9.99999701e-01 -3.37817728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.18, Y:-22.57, Z:-0.34 [[ 9.99340158e-01 3.63132787e-02 7.70914483e-04 2.33179318e+02] [-3.63132448e-02 9.99340455e-01 -5.79543519e-05 -2.25731201e+01] [-7.72510543e-04 2.99217048e-05 9.99999701e-01 -3.35524050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.21, Y:-22.58, Z:-0.34 [[ 9.99326032e-01 3.66999544e-02 7.70915896e-04 2.33208704e+02] [-3.66999206e-02 9.99326329e-01 -5.79355507e-05 -2.25808150e+01] [-7.72522785e-04 2.96039518e-05 9.99999701e-01 -3.37822092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06420382200002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:233.24, Y:-22.59, Z:-0.34 [[ 9.99191815e-01 4.01885992e-02 7.70916598e-04 2.33237487e+02] [-4.01885664e-02 9.99192112e-01 -5.79262111e-05 -2.25914058e+01] [-7.72621757e-04 2.68973631e-05 9.99999701e-01 -3.41785398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.27, Y:-22.60, Z:-0.34 [[ 9.98833970e-01 4.82711746e-02 7.70915761e-04 2.33266811e+02] [-4.82711442e-02 9.98834267e-01 -5.79373522e-05 -2.25982876e+01] [-7.72813783e-04 2.06568097e-05 9.99999701e-01 -3.37966970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.30, Y:-22.60, Z:-0.34 [[ 9.98550971e-01 5.38085812e-02 7.70916441e-04 2.33296174e+02] [-5.38085525e-02 9.98551269e-01 -5.79283032e-05 -2.26017274e+01] [-7.72916630e-04 1.63624656e-05 9.99999701e-01 -3.38322365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.33, Y:-22.60, Z:-0.34 [[ 9.98197550e-01 6.00088121e-02 7.70917782e-04 2.33325443e+02] [-6.00087853e-02 9.98197847e-01 -5.79104451e-05 -2.26043536e+01] [-7.73003608e-04 1.15442248e-05 9.99999701e-01 -3.38025934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.35, Y:-22.61, Z:-0.34 [[ 9.97330045e-01 7.30218210e-02 7.70919180e-04 2.33353846e+02] [-7.30217980e-02 9.97330343e-01 -5.78918346e-05 -2.26058940e+01] [-7.73088457e-04 1.44336137e-06 9.99999701e-01 -3.42461653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.38, Y:-22.61, Z:-0.34 [[ 9.96880848e-01 7.89175502e-02 7.70921271e-04 2.33383726e+02] [-7.89175291e-02 9.96881147e-01 -5.78639783e-05 -2.26080142e+01] [-7.73083364e-04 -3.15571002e-06 9.99999701e-01 -3.41618756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.41, Y:-22.61, Z:-0.34 [[ 9.96044732e-01 8.88498588e-02 7.70922674e-04 2.33412502e+02] [-8.88498407e-02 9.96045030e-01 -5.78452761e-05 -2.26096449e+01] [-7.73013243e-04 -1.08798742e-05 9.99999701e-01 -3.38790023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.44, Y:-22.61, Z:-0.34 [[ 9.95718949e-01 9.24293236e-02 7.70925492e-04 2.33440774e+02] [-9.24293065e-02 9.95719248e-01 -5.78076964e-05 -2.26102854e+01] [-7.72968477e-04 -1.36958899e-05 9.99999701e-01 -3.39813096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.47, Y:-22.61, Z:-0.34 [[ 9.95454710e-01 9.52330069e-02 7.70929325e-04 2.33469255e+02] [-9.52329907e-02 9.95455009e-01 -5.77565352e-05 -2.26106838e+01] [-7.72925786e-04 -1.59238902e-05 9.99999701e-01 -3.40226163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.50, Y:-22.61, Z:-0.34 [[ 9.95269420e-01 9.71503315e-02 7.70932025e-04 2.33498091e+02] [-9.71503160e-02 9.95269719e-01 -5.77204763e-05 -2.26096819e+01] [-7.72892863e-04 -1.74488648e-05 9.99999701e-01 -3.41877213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.53, Y:-22.61, Z:-0.34 [[ 9.95350360e-01 9.63175342e-02 7.70934859e-04 2.33526296e+02] [-9.63175184e-02 9.95350658e-01 -5.76825922e-05 -2.26103154e+01] [-7.72906364e-04 -1.68401436e-05 9.99999701e-01 -3.44014549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.56, Y:-22.61, Z:-0.34 [[ 9.95783522e-01 9.17310400e-02 7.70938388e-04 2.33555482e+02] [-9.17310228e-02 9.95783820e-01 -5.76353945e-05 -2.26097968e+01] [-7.72974927e-04 -1.33265907e-05 9.99999701e-01 -3.39785651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.58, Y:-22.61, Z:-0.34 [[ 9.96085860e-01 8.83875882e-02 7.70941198e-04 2.33583713e+02] [-8.83875701e-02 9.96086158e-01 -5.75977790e-05 -2.26111617e+01] [-7.73014785e-04 -1.07692859e-05 9.99999701e-01 -3.40144790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.61, Y:-22.61, Z:-0.34 [[ 9.96419294e-01 8.45458230e-02 7.70944695e-04 2.33612992e+02] [-8.45458038e-02 9.96419592e-01 -5.75509348e-05 -2.26126642e+01] [-7.73050090e-04 -7.83527702e-06 9.99999701e-01 -3.38679990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.64, Y:-22.61, Z:-0.34 [[ 9.97113727e-01 7.59185157e-02 7.70947385e-04 2.33642265e+02] [-7.59184939e-02 9.97114025e-01 -5.75148676e-05 -2.26142773e+01] [-7.73088894e-04 -1.18030035e-06 9.99999701e-01 -3.36097137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.67, Y:-22.62, Z:-0.34 [[ 9.97451827e-01 7.13390380e-02 7.70948728e-04 2.33671776e+02] [-7.13390148e-02 9.97452125e-01 -5.74968605e-05 -2.26166223e+01] [-7.73086218e-04 2.35162583e-06 9.99999701e-01 -3.35404067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.70, Y:-22.62, Z:-0.34 [[ 9.97997552e-01 6.32478562e-02 7.70950104e-04 2.33701533e+02] [-6.32478307e-02 9.97997850e-01 -5.74784154e-05 -2.26217278e+01] [-7.73041932e-04 8.60239621e-06 9.99999701e-01 -3.35965118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.73, Y:-22.63, Z:-0.34 [[ 9.98209580e-01 5.98083665e-02 7.70951514e-04 2.33730650e+02] [-5.98083400e-02 9.98209877e-01 -5.74594967e-05 -2.26253224e+01] [-7.73007974e-04 1.12472898e-05 9.99999701e-01 -3.35359605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.76, Y:-22.63, Z:-0.34 [[ 9.98488523e-01 5.49552183e-02 7.70952919e-04 2.33760147e+02] [-5.49551903e-02 9.98488820e-01 -5.74406365e-05 -2.26294709e+01] [-7.72944533e-04 1.49859519e-05 9.99999701e-01 -3.37537753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.79, Y:-22.63, Z:-0.34 [[ 9.98564297e-01 5.35607153e-02 7.70953619e-04 2.33790380e+02] [-5.35606869e-02 9.98564595e-01 -5.74312442e-05 -2.26333515e+01] [-7.72923046e-04 1.60559846e-05 9.99999701e-01 -3.35220711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66420382200002 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:233.82, Y:-22.64, Z:-0.34 [[ 9.98563192e-01 5.35813152e-02 7.70953619e-04 2.33819366e+02] [-5.35812868e-02 9.98563489e-01 -5.74312442e-05 -2.26382341e+01] [-7.72923377e-04 1.60400396e-05 9.99999701e-01 -3.42370293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.85, Y:-22.64, Z:-0.34 [[ 9.98506467e-01 5.46282052e-02 7.70954322e-04 2.33847716e+02] [-5.46281771e-02 9.98506765e-01 -5.74217965e-05 -2.26405661e+01] [-7.72939956e-04 1.52202059e-05 9.99999701e-01 -3.40268557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.88, Y:-22.64, Z:-0.34 [[ 9.98407810e-01 5.64025705e-02 7.70956412e-04 2.33876849e+02] [-5.64025430e-02 9.98408108e-01 -5.73937243e-05 -2.26437652e+01] [-7.72966286e-04 1.38184404e-05 9.99999701e-01 -3.38803144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.91, Y:-22.65, Z:-0.34 [[ 9.98092375e-01 6.17334281e-02 7.70957755e-04 2.33906036e+02] [-6.17334022e-02 9.98092673e-01 -5.73756737e-05 -2.26478097e+01] [-7.73029284e-04 9.67237720e-06 9.99999701e-01 -3.37045054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.94, Y:-22.65, Z:-0.34 [[ 9.98093857e-01 6.17094660e-02 7.70959133e-04 2.33936118e+02] [-6.17094401e-02 9.98094155e-01 -5.73571541e-05 -2.26500037e+01] [-7.73029284e-04 9.67236668e-06 9.99999701e-01 -3.37068372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.97, Y:-22.65, Z:-0.34 [[ 9.97689084e-01 6.79403980e-02 7.70960510e-04 2.33965938e+02] [-6.79403740e-02 9.97689382e-01 -5.73386449e-05 -2.26519436e+01] [-7.73074725e-04 4.82679477e-06 9.99999701e-01 -3.37843570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.99, Y:-22.65, Z:-0.34 [[ 9.97500441e-01 7.06560424e-02 7.70961905e-04 2.33994952e+02] [-7.06560192e-02 9.97500739e-01 -5.73198843e-05 -2.26543424e+01] [-7.73085065e-04 2.70351071e-06 9.99999701e-01 -3.38953103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.02, Y:-22.66, Z:-0.34 [[ 9.97328400e-01 7.30442936e-02 7.70963991e-04 2.34024008e+02] [-7.30442711e-02 9.97328698e-01 -5.72918038e-05 -2.26566620e+01] [-7.73089353e-04 8.24240158e-07 9.99999701e-01 -3.38005313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.05, Y:-22.66, Z:-0.34 [[ 9.97028150e-01 7.70342405e-02 7.70966091e-04 2.34053129e+02] [-7.70342193e-02 9.97028448e-01 -5.72635377e-05 -2.26557943e+01] [-7.73086378e-04 -2.29741187e-06 9.99999701e-01 -3.35793754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.08, Y:-22.66, Z:-0.34 [[ 9.96898025e-01 7.87002773e-02 7.70968181e-04 2.34082473e+02] [-7.87002566e-02 9.96898323e-01 -5.72353868e-05 -2.26559513e+01] [-7.73081327e-04 -3.61754964e-06 9.99999701e-01 -3.35567014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.11, Y:-22.66, Z:-0.34 [[ 9.96772888e-01 8.02696400e-02 7.70969538e-04 2.34111684e+02] [-8.02696197e-02 9.96773186e-01 -5.72170967e-05 -2.26572563e+01] [-7.73074559e-04 -4.85298090e-06 9.99999701e-01 -3.38479287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.14, Y:-22.66, Z:-0.34 [[ 9.96799421e-01 7.99394736e-02 7.70970931e-04 2.34139994e+02] [-7.99394533e-02 9.96799719e-01 -5.71983184e-05 -2.26596019e+01] [-7.73076011e-04 -4.61574412e-06 9.99999701e-01 -3.41570179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.17, Y:-22.66, Z:-0.34 [[ 9.96926397e-01 7.83400528e-02 7.70972511e-04 2.34169721e+02] [-7.83400320e-02 9.96926695e-01 -5.71770217e-05 -2.26613315e+01] [-7.73082328e-04 -3.39672886e-06 9.99999701e-01 -3.40732804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.20, Y:-22.66, Z:-0.34 [[ 9.97034777e-01 7.69484187e-02 7.70973861e-04 2.34199651e+02] [-7.69483976e-02 9.97035075e-01 -5.71588027e-05 -2.26629310e+01] [-7.73086261e-04 -2.33588907e-06 9.99999701e-01 -3.39404732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.23, Y:-22.66, Z:-0.34 [[ 9.97151142e-01 7.54255021e-02 7.70975240e-04 2.34228081e+02] [-7.54254805e-02 9.97151440e-01 -5.71402027e-05 -2.26642036e+01] [-7.73088899e-04 -1.17375957e-06 9.99999701e-01 -3.39254397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.114203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:234.26, Y:-22.67, Z:-0.34 [[ 9.97443752e-01 7.14518565e-02 7.70977298e-04 2.34256343e+02] [-7.14518337e-02 9.97444050e-01 -5.71124210e-05 -2.26657498e+01] [-7.73087507e-04 1.87868585e-06 9.99999701e-01 -3.43954889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.28, Y:-22.67, Z:-0.34 [[ 9.97615250e-01 6.90160673e-02 7.70979336e-04 2.34284428e+02] [-6.90160438e-02 9.97615548e-01 -5.70848997e-05 -2.26685532e+01] [-7.73080748e-04 3.73882288e-06 9.99999701e-01 -3.42265540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.31, Y:-22.67, Z:-0.34 [[ 9.97924129e-01 6.43959549e-02 7.70981340e-04 2.34313916e+02] [-6.43959301e-02 9.97924426e-01 -5.70578139e-05 -2.26732365e+01] [-7.73055404e-04 7.29130873e-06 9.99999701e-01 -3.43318857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.34, Y:-22.68, Z:-0.34 [[ 9.98058365e-01 6.22808582e-02 7.70981988e-04 2.34343193e+02] [-6.22808328e-02 9.98058663e-01 -5.70490518e-05 -2.26760486e+01] [-7.73038316e-04 8.92088307e-06 9.99999701e-01 -3.39904163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.37, Y:-22.68, Z:-0.34 [[ 9.98158559e-01 6.06539115e-02 7.70983369e-04 2.34373190e+02] [-6.06538855e-02 9.98158857e-01 -5.70303947e-05 -2.26781843e+01] [-7.73022994e-04 1.01622395e-05 9.99999701e-01 -3.40087687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.40, Y:-22.68, Z:-0.34 [[ 9.98274972e-01 5.87067784e-02 7.70984747e-04 2.34402379e+02] [-5.87067519e-02 9.98275270e-01 -5.70117494e-05 -2.26793781e+01] [-7.73001983e-04 1.16513923e-05 9.99999701e-01 -3.40802361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.43, Y:-22.68, Z:-0.34 [[ 9.98291482e-01 5.84253510e-02 7.70986145e-04 2.34431521e+02] [-5.84253244e-02 9.98291780e-01 -5.69928408e-05 -2.26825828e+01] [-7.72998958e-04 1.18503519e-05 9.99999701e-01 -3.42878457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.46, Y:-22.69, Z:-0.34 [[ 9.98267607e-01 5.88318903e-02 7.70986838e-04 2.34461112e+02] [-5.88318638e-02 9.98267904e-01 -5.69834683e-05 -2.26881129e+01] [-7.73003860e-04 1.15261579e-05 9.99999701e-01 -3.41417165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.49, Y:-22.69, Z:-0.34 [[ 9.98235243e-01 5.93784885e-02 7.70988235e-04 2.34490074e+02] [-5.93784623e-02 9.98235541e-01 -5.69645610e-05 -2.26914750e+01] [-7.73010327e-04 1.10839366e-05 9.99999701e-01 -3.42122758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.52, Y:-22.69, Z:-0.34 [[ 9.98199195e-01 5.99814435e-02 7.70987649e-04 2.34519975e+02] [-5.99814174e-02 9.98199492e-01 -5.69724891e-05 -2.26947245e+01] [-7.73016772e-04 1.06249607e-05 9.99999701e-01 -3.41450424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.55, Y:-22.70, Z:-0.34 [[ 9.98080270e-01 6.19288310e-02 7.70989027e-04 2.34549733e+02] [-6.19288055e-02 9.98080568e-01 -5.69538385e-05 -2.26955932e+01] [-7.73036250e-04 9.09807298e-06 9.99999701e-01 -3.37756967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.58, Y:-22.69, Z:-0.34 [[ 9.97987406e-01 6.34077575e-02 7.70990415e-04 2.34578157e+02] [-6.34077325e-02 9.97987703e-01 -5.69350367e-05 -2.26948731e+01] [-7.73049077e-04 7.93369563e-06 9.99999701e-01 -3.38673565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.61, Y:-22.70, Z:-0.34 [[ 9.97988781e-01 6.33861084e-02 7.70992484e-04 2.34607962e+02] [-6.33860833e-02 9.97989079e-01 -5.69070053e-05 -2.26984666e+01] [-7.73049193e-04 7.92235897e-06 9.99999701e-01 -3.39293460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.64, Y:-22.70, Z:-0.34 [[ 9.98043706e-01 6.25153316e-02 7.70993838e-04 2.34636913e+02] [-6.25153063e-02 9.98044004e-01 -5.68886533e-05 -2.27029178e+01] [-7.73042190e-04 8.57844634e-06 9.99999701e-01 -3.40463304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.67, Y:-22.71, Z:-0.34 [[ 9.98116923e-01 6.13352537e-02 7.70993075e-04 2.34665831e+02] [-6.13352280e-02 9.98117221e-01 -5.68990014e-05 -2.27075541e+01] [-7.73031380e-04 9.50282017e-06 9.99999701e-01 -3.40952801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.70, Y:-22.71, Z:-0.34 [[ 9.98300350e-01 5.82736333e-02 7.70994422e-04 2.34695473e+02] [-5.82736068e-02 9.98300648e-01 -5.68807439e-05 -2.27141662e+01] [-7.72998878e-04 1.18554408e-05 9.99999701e-01 -3.41486670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.73, Y:-22.72, Z:-0.34 [[ 9.98539552e-01 5.40200699e-02 7.70994422e-04 2.34725950e+02] [-5.40200421e-02 9.98539850e-01 -5.68807439e-05 -2.27197291e+01] [-7.72941356e-04 1.51485214e-05 9.99999701e-01 -3.39609628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.76, Y:-22.72, Z:-0.34 [[ 9.98663195e-01 5.16839263e-02 7.70994422e-04 2.34755371e+02] [-5.16838978e-02 9.98663493e-01 -5.68807439e-05 -2.27232398e+01] [-7.72903802e-04 1.69567085e-05 9.99999701e-01 -3.40408604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.79, Y:-22.73, Z:-0.34 [[ 9.98774593e-01 4.94845128e-02 7.70993763e-04 2.34785264e+02] [-4.94844836e-02 9.98774891e-01 -5.68896671e-05 -2.27280936e+01] [-7.72864369e-04 1.86677259e-05 9.99999701e-01 -3.41239365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.684203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:234.82, Y:-22.74, Z:-0.35 [[ 9.98926002e-01 4.63276227e-02 7.70993763e-04 2.34815483e+02] [-4.63275926e-02 9.98926299e-01 -5.68896671e-05 -2.27367861e+01] [-7.72801509e-04 2.11102828e-05 9.99999701e-01 -3.48482898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.85, Y:-22.74, Z:-0.34 [[ 9.98947940e-01 4.58521367e-02 7.70990081e-04 2.34846118e+02] [-4.58521064e-02 9.98948237e-01 -5.69395288e-05 -2.27422593e+01] [-7.72789981e-04 2.15281058e-05 9.99999701e-01 -3.44087037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.88, Y:-22.75, Z:-0.34 [[ 9.98910895e-01 4.66522092e-02 7.70988718e-04 2.34876616e+02] [-4.66521791e-02 9.98911193e-01 -5.69579718e-05 -2.27504178e+01] [-7.72806475e-04 2.09276348e-05 9.99999701e-01 -3.43508698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.91, Y:-22.76, Z:-0.34 [[ 9.98844997e-01 4.80424627e-02 7.70987334e-04 2.34908023e+02] [-4.80424330e-02 9.98845294e-01 -5.69767004e-05 -2.27550777e+01] [-7.72834371e-04 1.98707847e-05 9.99999701e-01 -3.42062948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.94, Y:-22.76, Z:-0.34 [[ 9.98737834e-01 5.02209582e-02 7.70985952e-04 2.34937664e+02] [-5.02209292e-02 9.98738131e-01 -5.69953995e-05 -2.27593388e+01] [-7.72875432e-04 1.82038310e-05 9.99999701e-01 -3.42307079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.834203822 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:234.97, Y:-22.76, Z:-0.35 [[ 9.98456311e-01 5.55373719e-02 7.70985263e-04 2.34967892e+02] [-5.55373445e-02 9.98456609e-01 -5.70047103e-05 -2.27646150e+01] [-7.72961223e-04 1.40982387e-05 9.99999701e-01 -3.49133519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.00, Y:-22.77, Z:-0.35 [[ 9.98278391e-01 5.86486089e-02 7.70984591e-04 2.34997517e+02] [-5.86485823e-02 9.98278689e-01 -5.70138081e-05 -2.27688049e+01] [-7.73001267e-04 1.16984994e-05 9.99999701e-01 -3.47936109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.03, Y:-22.77, Z:-0.35 [[ 9.97929856e-01 6.43071446e-02 7.70983928e-04 2.35027523e+02] [-6.43071197e-02 9.97930153e-01 -5.70227715e-05 -2.27737111e+01] [-7.73055081e-04 7.32497044e-06 9.99999701e-01 -3.48381784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.06, Y:-22.78, Z:-0.35 [[ 9.97751261e-01 6.70210976e-02 7.70983928e-04 2.35058011e+02] [-6.70210736e-02 9.97751558e-01 -5.70227715e-05 -2.27766126e+01] [-7.73072144e-04 5.22237165e-06 9.99999701e-01 -3.47342668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.09, Y:-22.78, Z:-0.35 [[ 9.97594514e-01 6.93151625e-02 7.70983928e-04 2.35087977e+02] [-6.93151392e-02 9.97594812e-01 -5.70227715e-05 -2.27784459e+01] [-7.73082109e-04 3.44474580e-06 9.99999701e-01 -3.47254804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.12, Y:-22.78, Z:-0.35 [[ 9.97303092e-01 7.33890137e-02 7.70983928e-04 2.35118505e+02] [-7.33889915e-02 9.97303390e-01 -5.70227715e-05 -2.27808046e+01] [-7.73089730e-04 2.87253474e-07 9.99999701e-01 -3.48409779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.15, Y:-22.78, Z:-0.35 [[ 9.97171619e-01 7.51542998e-02 7.70983928e-04 2.35147608e+02] [-7.51542782e-02 9.97171917e-01 -5.70227715e-05 -2.27838364e+01] [-7.73089027e-04 -1.08125119e-06 9.99999701e-01 -3.50332676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.18, Y:-22.79, Z:-0.35 [[ 9.96987653e-01 7.75565955e-02 7.70984602e-04 2.35177481e+02] [-7.75565746e-02 9.96987951e-01 -5.70136588e-05 -2.27875864e+01] [-7.73084143e-04 -2.95301086e-06 9.99999701e-01 -3.50645121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.21, Y:-22.79, Z:-0.35 [[ 9.96931870e-01 7.82703752e-02 7.70984602e-04 2.35207618e+02] [-7.82703545e-02 9.96932168e-01 -5.70136588e-05 -2.27898283e+01] [-7.73081831e-04 -3.50650453e-06 9.99999701e-01 -3.50913667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.24, Y:-22.79, Z:-0.35 [[ 9.96895140e-01 7.87368108e-02 7.70984602e-04 2.35236835e+02] [-7.87367903e-02 9.96895438e-01 -5.70136588e-05 -2.27906313e+01] [-7.73080106e-04 -3.86821347e-06 9.99999701e-01 -3.50412394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.27, Y:-22.79, Z:-0.35 [[ 9.96910755e-01 7.85388600e-02 7.70985297e-04 2.35267999e+02] [-7.85388394e-02 9.96911053e-01 -5.70042460e-05 -2.27929692e+01] [-7.73080813e-04 -3.72414458e-06 9.99999701e-01 -3.50636785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.30, Y:-22.80, Z:-0.35 [[ 9.96972678e-01 7.77488543e-02 7.70983909e-04 2.35298317e+02] [-7.77488334e-02 9.96972976e-01 -5.70230147e-05 -2.27951553e+01] [-7.73083597e-04 -3.09271186e-06 9.99999701e-01 -3.51121001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.33, Y:-22.80, Z:-0.35 [[ 9.97144037e-01 7.55193682e-02 7.70983219e-04 2.35328338e+02] [-7.55193467e-02 9.97144335e-01 -5.70323480e-05 -2.27968674e+01] [-7.73088596e-04 -1.35468324e-06 9.99999701e-01 -3.49127593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.36, Y:-22.80, Z:-0.35 [[ 9.97233022e-01 7.43350942e-02 7.70980277e-04 2.35359577e+02] [-7.43350723e-02 9.97233320e-01 -5.70720875e-05 -2.27989397e+01] [-7.73089680e-04 -3.96704455e-07 9.99999701e-01 -3.48690915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.39, Y:-22.80, Z:-0.35 [[ 9.97420212e-01 7.17797030e-02 7.70978916e-04 2.35390013e+02] [-7.17796803e-02 9.97420510e-01 -5.70904733e-05 -2.27993411e+01] [-7.73088121e-04 1.60257193e-06 9.99999701e-01 -3.50057030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.42, Y:-22.80, Z:-0.35 [[ 9.97500618e-01 7.06535365e-02 7.70978241e-04 2.35420467e+02] [-7.06535135e-02 9.97500916e-01 -5.70995824e-05 -2.28014953e+01] [-7.73085789e-04 2.48454715e-06 9.99999701e-01 -3.49186822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.45, Y:-22.80, Z:-0.35 [[ 9.97626358e-01 6.88553271e-02 7.70978241e-04 2.35450986e+02] [-6.88553035e-02 9.97626656e-01 -5.70995824e-05 -2.28046904e+01] [-7.73080055e-04 3.87810756e-06 9.99999701e-01 -3.48298761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.48, Y:-22.81, Z:-0.35 [[ 9.97687059e-01 6.79701255e-02 7.70978241e-04 2.35481244e+02] [-6.79701017e-02 9.97687357e-01 -5.70995824e-05 -2.28066448e+01] [-7.73076309e-04 4.56404495e-06 9.99999701e-01 -3.46521138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.51, Y:-22.81, Z:-0.34 [[ 9.97811047e-01 6.61250378e-02 7.70978241e-04 2.35511699e+02] [-6.61250134e-02 9.97811345e-01 -5.70995824e-05 -2.28066753e+01] [-7.73066547e-04 5.99364748e-06 9.99999701e-01 -3.42859969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.54, Y:-22.81, Z:-0.34 [[ 9.97860929e-01 6.53679758e-02 7.70978241e-04 2.35542056e+02] [-6.53679512e-02 9.97861227e-01 -5.70995824e-05 -2.28087265e+01] [-7.73061778e-04 6.58017423e-06 9.99999701e-01 -3.44971329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.57, Y:-22.81, Z:-0.34 [[ 9.97887900e-01 6.49549504e-02 7.70975036e-04 2.35572951e+02] [-6.49549256e-02 9.97888197e-01 -5.71428296e-05 -2.28111539e+01] [-7.73058598e-04 6.94351215e-06 9.99999701e-01 -3.44039246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.60, Y:-22.81, Z:-0.35 [[ 9.97848118e-01 6.55632463e-02 7.70975036e-04 2.35603721e+02] [-6.55632217e-02 9.97848416e-01 -5.71428296e-05 -2.28122203e+01] [-7.73062687e-04 6.47225782e-06 9.99999701e-01 -3.45222768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.494203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:235.63, Y:-22.81, Z:-0.35 [[ 9.97789639e-01 6.64472822e-02 7.70975036e-04 2.35634378e+02] [-6.64472579e-02 9.97789937e-01 -5.71428296e-05 -2.28134804e+01] [-7.73068118e-04 5.78734633e-06 9.99999701e-01 -3.48171003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.66, Y:-22.81, Z:-0.35 [[ 9.97635629e-01 6.87208718e-02 7.70975036e-04 2.35664163e+02] [-6.87208482e-02 9.97635926e-01 -5.71428296e-05 -2.28144350e+01] [-7.73079299e-04 4.02566437e-06 9.99999701e-01 -3.48526997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.70, Y:-22.82, Z:-0.35 [[ 9.97549972e-01 6.99532659e-02 7.70974316e-04 2.35695103e+02] [-6.99532426e-02 9.97550270e-01 -5.71525350e-05 -2.28153450e+01] [-7.73083644e-04 3.08035635e-06 9.99999701e-01 -3.47846218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.73, Y:-22.82, Z:-0.35 [[ 9.97455739e-01 7.12843182e-02 7.70974316e-04 2.35725109e+02] [-7.12842953e-02 9.97456037e-01 -5.71525350e-05 -2.28156114e+01] [-7.73087066e-04 2.04876325e-06 9.99999701e-01 -3.47930165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.76, Y:-22.81, Z:-0.34 [[ 9.97261410e-01 7.39532721e-02 7.70973811e-04 2.35755739e+02] [-7.39532500e-02 9.97261708e-01 -5.71593547e-05 -2.28137224e+01] [-7.73089780e-04 -1.32002864e-08 9.99999701e-01 -3.44121194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.79, Y:-22.81, Z:-0.34 [[ 9.97162094e-01 7.52805637e-02 7.70973811e-04 2.35786075e+02] [-7.52805420e-02 9.97162392e-01 -5.71593547e-05 -2.28136741e+01] [-7.73089078e-04 -1.04218447e-06 9.99999701e-01 -3.44102216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.82, Y:-22.81, Z:-0.35 [[ 9.96990396e-01 7.75213226e-02 7.70973811e-04 2.35816118e+02] [-7.75213016e-02 9.96990694e-01 -5.71593547e-05 -2.28117151e+01] [-7.73084784e-04 -2.77956561e-06 9.99999701e-01 -3.47278979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.85, Y:-22.81, Z:-0.35 [[ 9.96992280e-01 7.74970929e-02 7.70975205e-04 2.35846200e+02] [-7.74970719e-02 9.96992578e-01 -5.71405467e-05 -2.28139000e+01] [-7.73084783e-04 -2.77963693e-06 9.99999701e-01 -3.47302296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.88, Y:-22.81, Z:-0.35 [[ 9.96944441e-01 7.81100902e-02 7.70976593e-04 2.35875732e+02] [-7.81100693e-02 9.96944740e-01 -5.71218097e-05 -2.28144011e+01] [-7.73082848e-04 -3.27376441e-06 9.99999701e-01 -3.48388859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.91, Y:-22.81, Z:-0.35 [[ 9.96961733e-01 7.78890736e-02 7.70977987e-04 2.35905289e+02] [-7.78890527e-02 9.96962031e-01 -5.71029895e-05 -2.28122596e+01] [-7.73083479e-04 -3.12124965e-06 9.99999701e-01 -3.46754859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.93, Y:-22.81, Z:-0.35 [[ 9.97006513e-01 7.73137705e-02 7.70979381e-04 2.35934157e+02] [-7.73137495e-02 9.97006811e-01 -5.70841530e-05 -2.28120293e+01] [-7.73085085e-04 -2.69403443e-06 9.99999701e-01 -3.46429609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.96, Y:-22.81, Z:-0.35 [[ 9.97244130e-01 7.41859155e-02 7.70981460e-04 2.35964075e+02] [-7.41858936e-02 9.97244428e-01 -5.70560718e-05 -2.28111773e+01] [-7.73089722e-04 -2.97115778e-07 9.99999701e-01 -3.48873317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.99, Y:-22.81, Z:-0.35 [[ 9.97388459e-01 7.22195808e-02 7.70982143e-04 2.35994435e+02] [-7.22195583e-02 9.97388757e-01 -5.70468308e-05 -2.28119592e+01] [-7.73088820e-04 1.21786076e-06 9.99999701e-01 -3.48503511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.02, Y:-22.81, Z:-0.35 [[ 9.97557515e-01 6.98456181e-02 7.70982143e-04 2.36023915e+02] [-6.98455948e-02 9.97557813e-01 -5.70468308e-05 -2.28118141e+01] [-7.73083732e-04 3.05778832e-06 9.99999701e-01 -3.49366935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.05, Y:-22.81, Z:-0.35 [[ 9.97841517e-01 6.56636257e-02 7.70982815e-04 2.36054736e+02] [-6.56636013e-02 9.97841815e-01 -5.70377509e-05 -2.28103588e+01] [-7.73064197e-04 6.28912775e-06 9.99999701e-01 -3.49026179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.08, Y:-22.81, Z:-0.35 [[ 9.97962011e-01 6.38061962e-02 7.70982815e-04 2.36084791e+02] [-6.38061712e-02 9.97962309e-01 -5.70377509e-05 -2.28115326e+01] [-7.73051152e-04 7.72804710e-06 9.99999701e-01 -3.46622785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.11, Y:-22.81, Z:-0.34 [[ 9.98159879e-01 6.06321754e-02 7.70984199e-04 2.36114298e+02] [-6.06321494e-02 9.98160177e-01 -5.70190352e-05 -2.28119418e+01] [-7.73022913e-04 1.01676842e-05 9.99999701e-01 -3.42724646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.14, Y:-22.81, Z:-0.34 [[ 9.98214388e-01 5.97280595e-02 7.70985591e-04 2.36143497e+02] [-5.97280333e-02 9.98214686e-01 -5.70002161e-05 -2.28140753e+01] [-7.73013651e-04 1.08489828e-05 9.99999701e-01 -3.42818844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.17, Y:-22.81, Z:-0.34 [[ 9.98252574e-01 5.90864151e-02 7.70986281e-04 2.36173535e+02] [-5.90863887e-02 9.98252871e-01 -5.69908723e-05 -2.28139667e+01] [-7.73006655e-04 1.13364899e-05 9.99999701e-01 -3.43940310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.20, Y:-22.81, Z:-0.34 [[ 9.98232885e-01 5.94181262e-02 7.70986947e-04 2.36203444e+02] [-5.94180999e-02 9.98233182e-01 -5.69818623e-05 -2.28128873e+01] [-7.73010509e-04 1.10705893e-05 9.99999701e-01 -3.44388873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.23, Y:-22.81, Z:-0.34 [[ 9.98193662e-01 6.00734445e-02 7.70988265e-04 2.36233186e+02] [-6.00734184e-02 9.98193960e-01 -5.69640195e-05 -2.28112691e+01] [-7.73017854e-04 1.05452226e-05 9.99999701e-01 -3.44646301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.26, Y:-22.81, Z:-0.35 [[ 9.98096939e-01 6.16596001e-02 7.70989646e-04 2.36262562e+02] [-6.16595745e-02 9.98097237e-01 -5.69453223e-05 -2.28073065e+01] [-7.73033861e-04 9.29805838e-06 9.99999701e-01 -3.51516213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.29, Y:-22.81, Z:-0.35 [[ 9.98072461e-01 6.20545604e-02 7.71047320e-04 2.36291646e+02] [-6.20545355e-02 9.98072759e-01 -5.61635808e-05 -2.28077444e+01] [-7.73046532e-04 8.20834002e-06 9.99999701e-01 -3.50562522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.32, Y:-22.81, Z:-0.35 [[ 9.98089821e-01 6.17747166e-02 7.70993965e-04 2.36320092e+02] [-6.17746911e-02 9.98090118e-01 -5.68867117e-05 -2.28050389e+01] [-7.73035618e-04 9.15013388e-06 9.99999701e-01 -3.50755176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.35, Y:-22.80, Z:-0.35 [[ 9.98112749e-01 6.14031365e-02 7.70996689e-04 2.36348732e+02] [-6.14031109e-02 9.98113047e-01 -5.68497588e-05 -2.28043611e+01] [-7.73032609e-04 9.40087383e-06 9.99999701e-01 -3.51979658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.38, Y:-22.80, Z:-0.35 [[ 9.98192521e-01 6.00924078e-02 7.70998714e-04 2.36378374e+02] [-6.00923819e-02 9.98192818e-01 -5.68222886e-05 -2.28008549e+01] [-7.73019967e-04 1.03884343e-05 9.99999701e-01 -3.53029318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.41, Y:-22.80, Z:-0.35 [[ 9.98253125e-01 5.90770946e-02 7.71000047e-04 2.36407409e+02] [-5.90770683e-02 9.98253423e-01 -5.68041934e-05 -2.28006473e+01] [-7.73009263e-04 1.11565411e-05 9.99999701e-01 -3.54406293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.44, Y:-22.80, Z:-0.36 [[ 9.98475014e-01 5.52001089e-02 7.71001329e-04 2.36436742e+02] [-5.52000815e-02 9.98475312e-01 -5.67867859e-05 -2.28015236e+01] [-7.72960429e-04 1.41408506e-05 9.99999701e-01 -3.55325167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.47, Y:-22.80, Z:-0.36 [[ 9.98594460e-01 5.29953725e-02 7.71002656e-04 2.36465679e+02] [-5.29953445e-02 9.98594758e-01 -5.67687664e-05 -2.28033517e+01] [-7.72927693e-04 1.58294243e-05 9.99999701e-01 -3.55505482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.49, Y:-22.80, Z:-0.35 [[ 9.98713673e-01 5.06991586e-02 7.71004630e-04 2.36494789e+02] [-5.06991299e-02 9.98713971e-01 -5.67419438e-05 -2.28049526e+01] [-7.72889864e-04 1.75796912e-05 9.99999701e-01 -3.53584278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.52, Y:-22.81, Z:-0.36 [[ 9.98903936e-01 4.68009845e-02 7.71007365e-04 2.36523736e+02] [-4.68009547e-02 9.98904233e-01 -5.67047542e-05 -2.28059960e+01] [-7.72816359e-04 2.05587214e-05 9.99999701e-01 -3.56872748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.55, Y:-22.81, Z:-0.36 [[ 9.98990896e-01 4.49065149e-02 7.71009400e-04 2.36553375e+02] [-4.49064845e-02 9.98991193e-01 -5.66770730e-05 -2.28082548e+01] [-7.72776771e-04 2.19965583e-05 9.99999701e-01 -3.55051882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.58, Y:-22.81, Z:-0.35 [[ 9.99072313e-01 4.30571606e-02 7.71010732e-04 2.36583289e+02] [-4.30571297e-02 9.99072610e-01 -5.66589451e-05 -2.28104630e+01] [-7.72735278e-04 2.34088742e-05 9.99999701e-01 -3.53195791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.61, Y:-22.81, Z:-0.35 [[ 9.99066815e-01 4.31845515e-02 7.71012061e-04 2.36612680e+02] [-4.31845206e-02 9.99067112e-01 -5.66408558e-05 -2.28124776e+01] [-7.72738803e-04 2.32922131e-05 9.99999701e-01 -3.52710148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.514203822 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:236.64, Y:-22.82, Z:-0.36 [[ 9.99043089e-01 4.37299801e-02 7.71013434e-04 2.36642040e+02] [-4.37299494e-02 9.99043387e-01 -5.66221567e-05 -2.28157008e+01] [-7.72751958e-04 2.28515959e-05 9.99999701e-01 -3.57471371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.67, Y:-22.82, Z:-0.36 [[ 9.98892910e-01 4.70357229e-02 7.71014797e-04 2.36671548e+02] [-4.70356932e-02 9.98893208e-01 -5.66035952e-05 -2.28218250e+01] [-7.72823835e-04 2.02757145e-05 9.99999701e-01 -3.55922034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.70, Y:-22.82, Z:-0.36 [[ 9.98647894e-01 5.19787299e-02 7.71016214e-04 2.36700781e+02] [-5.19787017e-02 9.98648192e-01 -5.65842836e-05 -2.28215809e+01] [-7.72915128e-04 1.64313539e-05 9.99999701e-01 -3.58143105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.73, Y:-22.82, Z:-0.36 [[ 9.98506220e-01 5.46327133e-02 7.71018329e-04 2.36729822e+02] [-5.46326859e-02 9.98506518e-01 -5.65554523e-05 -2.28230939e+01] [-7.72956605e-04 1.43481688e-05 9.99999701e-01 -3.61156349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.76, Y:-22.83, Z:-0.36 [[ 9.98382389e-01 5.68507778e-02 7.71020360e-04 2.36759084e+02] [-5.68507511e-02 9.98382687e-01 -5.65277533e-05 -2.28251506e+01] [-7.72987025e-04 1.26032267e-05 9.99999701e-01 -3.60543506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:-22.83, Z:-0.36 [[ 9.98198725e-01 5.99892591e-02 7.71021715e-04 2.36786951e+02] [-5.99892333e-02 9.98199023e-01 -5.65092641e-05 -2.28257803e+01] [-7.73023071e-04 1.01544738e-05 9.99999701e-01 -3.62841220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.82, Y:-22.83, Z:-0.36 [[ 9.98132087e-01 6.10879904e-02 7.71025102e-04 2.36817002e+02] [-6.10879650e-02 9.98132385e-01 -5.64630130e-05 -2.28271016e+01] [-7.73034336e-04 9.25719054e-06 9.99999701e-01 -3.64164507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.85, Y:-22.83, Z:-0.36 [[ 9.98070761e-01 6.20818995e-02 7.71026431e-04 2.36846331e+02] [-6.20818744e-02 9.98071058e-01 -5.64448645e-05 -2.28295673e+01] [-7.73043370e-04 8.46920283e-06 9.99999701e-01 -3.64314598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.87, Y:-22.83, Z:-0.36 [[ 9.98061847e-01 6.22250316e-02 7.71027808e-04 2.36874558e+02] [-6.22250066e-02 9.98062145e-01 -5.64260498e-05 -2.28319034e+01] [-7.73044780e-04 8.33947706e-06 9.99999701e-01 -3.64549211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.90, Y:-22.83, Z:-0.37 [[ 9.98069580e-01 6.21008695e-02 7.71029866e-04 2.36902645e+02] [-6.21008445e-02 9.98069878e-01 -5.63979147e-05 -2.28337933e+01] [-7.73044044e-04 8.40743728e-06 9.99999701e-01 -3.65211706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.93, Y:-22.84, Z:-0.36 [[ 9.98133402e-01 6.10664954e-02 7.71029505e-04 2.36931532e+02] [-6.10664700e-02 9.98133700e-01 -5.64028462e-05 -2.28353055e+01] [-7.73034857e-04 9.21351457e-06 9.99999701e-01 -3.62583682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.96, Y:-22.84, Z:-0.36 [[ 9.98205990e-01 5.98682424e-02 7.71032257e-04 2.36960390e+02] [-5.98682167e-02 9.98206288e-01 -5.63652045e-05 -2.28376058e+01] [-7.73023732e-04 1.01037586e-05 9.99999701e-01 -3.62141679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.99, Y:-22.84, Z:-0.36 [[ 9.98345346e-01 5.74976175e-02 7.71035000e-04 2.36989412e+02] [-5.74975911e-02 9.98345643e-01 -5.63276544e-05 -2.28419467e+01] [-7.72998139e-04 1.19017965e-05 9.99999701e-01 -3.60542439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.02, Y:-22.84, Z:-0.36 [[ 9.98402432e-01 5.64976880e-02 7.71036366e-04 2.37018113e+02] [-5.64976614e-02 9.98402730e-01 -5.63089495e-05 -2.28445277e+01] [-7.72986138e-04 1.26572406e-05 9.99999701e-01 -3.59718773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.05, Y:-22.85, Z:-0.36 [[ 9.98419021e-01 5.62037699e-02 7.71038409e-04 2.37045749e+02] [-5.62037432e-02 9.98419319e-01 -5.62809602e-05 -2.28466692e+01] [-7.72982845e-04 1.28567364e-05 9.99999701e-01 -3.60556646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.07, Y:-22.85, Z:-0.36 [[ 9.98384690e-01 5.68103529e-02 7.71041768e-04 2.37074359e+02] [-5.68103264e-02 9.98384988e-01 -5.62349061e-05 -2.28495862e+01] [-7.72991251e-04 1.23409348e-05 9.99999701e-01 -3.60421143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.10, Y:-22.85, Z:-0.36 [[ 9.98292790e-01 5.84030078e-02 7.71044464e-04 2.37103887e+02] [-5.84029818e-02 9.98293088e-01 -5.61979062e-05 -2.28548639e+01] [-7.73010486e-04 1.10706688e-05 9.99999701e-01 -3.60131368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.13, Y:-22.86, Z:-0.36 [[ 9.98216934e-01 5.96854855e-02 7.71045813e-04 2.37132696e+02] [-5.96854599e-02 9.98217232e-01 -5.61793963e-05 -2.28580024e+01] [-7.73024312e-04 1.00590008e-05 9.99999701e-01 -3.59519374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.16, Y:-22.86, Z:-0.36 [[ 9.98058407e-01 6.22801795e-02 7.71048598e-04 2.37160837e+02] [-6.22801547e-02 9.98058705e-01 -5.61411449e-05 -2.28611436e+01] [-7.73048246e-04 8.01111571e-06 9.99999701e-01 -3.63699017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.19, Y:-22.86, Z:-0.36 [[ 9.98003952e-01 6.31467843e-02 7.71051369e-04 2.37189728e+02] [-6.31467598e-02 9.98004250e-01 -5.61030627e-05 -2.28634876e+01] [-7.73055272e-04 7.30168274e-06 9.99999701e-01 -3.63731987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.22, Y:-22.87, Z:-0.36 [[ 9.97957697e-01 6.38736330e-02 7.71053360e-04 2.37218441e+02] [-6.38736088e-02 9.97957995e-01 -5.60756898e-05 -2.28653326e+01] [-7.73060623e-04 6.71120561e-06 9.99999701e-01 -3.63297571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.144203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:237.25, Y:-22.87, Z:-0.37 [[ 9.97894189e-01 6.48582591e-02 7.71055316e-04 2.37248149e+02] [-6.48582352e-02 9.97894487e-01 -5.60487774e-05 -2.28680174e+01] [-7.73067075e-04 5.92146221e-06 9.99999701e-01 -3.68454059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.28, Y:-22.87, Z:-0.37 [[ 9.97879190e-01 6.50886179e-02 7.71056610e-04 2.37277967e+02] [-6.50885940e-02 9.97879488e-01 -5.60309683e-05 -2.28721203e+01] [-7.73068554e-04 5.72514654e-06 9.99999701e-01 -3.67539379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.31, Y:-22.88, Z:-0.36 [[ 9.97850821e-01 6.55220967e-02 7.71057926e-04 2.37306878e+02] [-6.55220730e-02 9.97851119e-01 -5.60128567e-05 -2.28761535e+01] [-7.73071094e-04 5.37116133e-06 9.99999701e-01 -3.64329767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.34, Y:-22.88, Z:-0.37 [[ 9.97843778e-01 6.56292693e-02 7.71059986e-04 2.37335051e+02] [-6.56292456e-02 9.97844075e-01 -5.59844812e-05 -2.28793657e+01] [-7.73071860e-04 5.25968099e-06 9.99999701e-01 -3.66266109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.37, Y:-22.88, Z:-0.36 [[ 9.97824074e-01 6.59281597e-02 7.71061555e-04 2.37365028e+02] [-6.59281361e-02 9.97824372e-01 -5.59628681e-05 -2.28819941e+01] [-7.73073541e-04 5.00644592e-06 9.99999701e-01 -3.62957683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.40, Y:-22.88, Z:-0.36 [[ 9.97773765e-01 6.66852205e-02 7.71062907e-04 2.37395081e+02] [-6.66851972e-02 9.97774063e-01 -5.59442316e-05 -2.28827521e+01] [-7.73077223e-04 4.40120464e-06 9.99999701e-01 -3.62823513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.42, Y:-22.88, Z:-0.37 [[ 9.97648181e-01 6.85384046e-02 7.71064256e-04 2.37424035e+02] [-6.85383819e-02 9.97648479e-01 -5.59256360e-05 -2.28842346e+01] [-7.73084136e-04 2.94661259e-06 9.99999701e-01 -3.67109151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.45, Y:-22.89, Z:-0.37 [[ 9.97611299e-01 6.90731640e-02 7.71066266e-04 2.37454007e+02] [-6.90731414e-02 9.97611597e-01 -5.58979099e-05 -2.28877094e+01] [-7.73085694e-04 2.50441728e-06 9.99999701e-01 -3.65720317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.48, Y:-22.89, Z:-0.37 [[ 9.97571026e-01 6.96523834e-02 7.71066948e-04 2.37482765e+02] [-6.96523610e-02 9.97571324e-01 -5.58884950e-05 -2.28908427e+01] [-7.73087043e-04 2.04610983e-06 9.99999701e-01 -3.68985040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.51, Y:-22.89, Z:-0.37 [[ 9.97535069e-01 7.01654556e-02 7.71068269e-04 2.37512553e+02] [-7.01654333e-02 9.97535367e-01 -5.58702613e-05 -2.28931674e+01] [-7.73088032e-04 1.63020575e-06 9.99999701e-01 -3.70424092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.54, Y:-22.90, Z:-0.37 [[ 9.97539848e-01 7.00974764e-02 7.71069574e-04 2.37542476e+02] [-7.00974541e-02 9.97540146e-01 -5.58522576e-05 -2.28952747e+01] [-7.73087958e-04 1.66483849e-06 9.99999701e-01 -3.68868912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.57, Y:-22.90, Z:-0.38 [[ 9.97515224e-01 7.04470212e-02 7.71070937e-04 2.37571005e+02] [-7.04469991e-02 9.97515522e-01 -5.58334309e-05 -2.28961548e+01] [-7.73088527e-04 1.37506383e-06 9.99999701e-01 -3.76239383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.60, Y:-22.90, Z:-0.37 [[ 9.97497283e-01 7.07006087e-02 7.71072968e-04 2.37600494e+02] [-7.07005867e-02 9.97497581e-01 -5.58053706e-05 -2.28975715e+01] [-7.73088894e-04 1.15039427e-06 9.99999701e-01 -3.73676193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.63, Y:-22.90, Z:-0.37 [[ 9.97506969e-01 7.05638100e-02 7.71074273e-04 2.37629830e+02] [-7.05637880e-02 9.97507268e-01 -5.57873283e-05 -2.28994944e+01] [-7.73088758e-04 1.23832732e-06 9.99999701e-01 -3.71198225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.66, Y:-22.90, Z:-0.37 [[ 9.97538678e-01 7.01141321e-02 7.71075630e-04 2.37659676e+02] [-7.01141099e-02 9.97538976e-01 -5.57685703e-05 -2.29026061e+01] [-7.73088159e-04 1.56802441e-06 9.99999701e-01 -3.71146427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.69, Y:-22.90, Z:-0.37 [[ 9.97540389e-01 7.00897830e-02 7.71076992e-04 2.37689757e+02] [-7.00897608e-02 9.97540687e-01 -5.57497314e-05 -2.29047367e+01] [-7.73088159e-04 1.56800680e-06 9.99999701e-01 -3.71169741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62420382200003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.72, Y:-22.91, Z:-0.37 [[ 9.97580588e-01 6.95152899e-02 7.71078352e-04 2.37719422e+02] [-6.95152676e-02 9.97580886e-01 -5.57309100e-05 -2.29087355e+01] [-7.73087176e-04 1.99435596e-06 9.99999701e-01 -3.71675435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.75, Y:-22.91, Z:-0.37 [[ 9.97740135e-01 6.71865252e-02 7.71079720e-04 2.37747539e+02] [-6.71865022e-02 9.97740433e-01 -5.57119759e-05 -2.29134964e+01] [-7.73080508e-04 3.77992498e-06 9.99999701e-01 -3.74659962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.78, Y:-22.91, Z:-0.37 [[ 9.97809212e-01 6.61527122e-02 7.71081760e-04 2.37777441e+02] [-6.61526889e-02 9.97809510e-01 -5.56837339e-05 -2.29148084e+01] [-7.73076343e-04 4.55261086e-06 9.99999701e-01 -3.72200025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.714203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:237.81, Y:-22.92, Z:-0.38 [[ 9.97872634e-01 6.51890416e-02 7.71083118e-04 2.37807173e+02] [-6.51890181e-02 9.97872932e-01 -5.56649232e-05 -2.29162451e+01] [-7.73071714e-04 5.28035228e-06 9.99999701e-01 -3.76636229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.84, Y:-22.92, Z:-0.37 [[ 9.97886916e-01 6.49700582e-02 7.71084481e-04 2.37836385e+02] [-6.49700346e-02 9.97887214e-01 -5.56460258e-05 -2.29204634e+01] [-7.73070670e-04 5.43105564e-06 9.99999701e-01 -3.73479923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.87, Y:-22.92, Z:-0.37 [[ 9.97880846e-01 6.50632181e-02 7.71085846e-04 2.37865646e+02] [-6.50631945e-02 9.97881144e-01 -5.56271093e-05 -2.29249049e+01] [-7.73071305e-04 5.33991845e-06 9.99999701e-01 -3.71980695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.89, Y:-22.93, Z:-0.37 [[ 9.97835682e-01 6.57522446e-02 7.71087200e-04 2.37894513e+02] [-6.57522212e-02 9.97835980e-01 -5.56083389e-05 -2.29297168e+01] [-7.73074924e-04 4.78728861e-06 9.99999701e-01 -3.72648992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.92, Y:-22.93, Z:-0.37 [[ 9.97743529e-01 6.71360950e-02 7.71089227e-04 2.37924023e+02] [-6.71360721e-02 9.97743827e-01 -5.55802097e-05 -2.29321298e+01] [-7.73080955e-04 3.68689264e-06 9.99999701e-01 -3.74350602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.95, Y:-22.93, Z:-0.38 [[ 9.97669497e-01 6.82274088e-02 7.71090579e-04 2.37952439e+02] [-6.82273862e-02 9.97669795e-01 -5.55614513e-05 -2.29334918e+01] [-7.73084594e-04 2.82247043e-06 9.99999701e-01 -3.76541311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.98, Y:-22.93, Z:-0.38 [[ 9.97590908e-01 6.93670422e-02 7.71092592e-04 2.37981630e+02] [-6.93670200e-02 9.97591206e-01 -5.55334957e-05 -2.29343205e+01] [-7.73087383e-04 1.91131512e-06 9.99999701e-01 -3.75595579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.01, Y:-22.94, Z:-0.39 [[ 9.97487105e-01 7.08440606e-02 7.71093946e-04 2.38009906e+02] [-7.08440389e-02 9.97487403e-01 -5.55146915e-05 -2.29357729e+01] [-7.73089384e-04 7.47779398e-07 9.99999701e-01 -3.85698985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.04, Y:-22.94, Z:-0.38 [[ 9.97471590e-01 7.10621671e-02 7.71095967e-04 2.38039304e+02] [-7.10621454e-02 9.97471889e-01 -5.54866042e-05 -2.29388486e+01] [-7.73089549e-04 5.50577613e-07 9.99999701e-01 -3.78815886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.07, Y:-22.94, Z:-0.38 [[ 9.97484643e-01 7.08787199e-02 7.71097340e-04 2.38067950e+02] [-7.08786982e-02 9.97484941e-01 -5.54675154e-05 -2.29415101e+01] [-7.73089451e-04 6.73619145e-07 9.99999701e-01 -3.79325274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.10, Y:-22.94, Z:-0.38 [[ 9.97501665e-01 7.06387549e-02 7.71099382e-04 2.38096389e+02] [-7.06387331e-02 9.97501963e-01 -5.54391220e-05 -2.29426140e+01] [-7.73089297e-04 8.31133111e-07 9.99999701e-01 -3.82111587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.13, Y:-22.94, Z:-0.38 [[ 9.97532076e-01 7.02079978e-02 7.71101396e-04 2.38125723e+02] [-7.02079759e-02 9.97532374e-01 -5.54110885e-05 -2.29422083e+01] [-7.73088908e-04 1.13686989e-06 9.99999701e-01 -3.83920239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.16, Y:-22.94, Z:-0.38 [[ 9.97551780e-01 6.99274716e-02 7.71102719e-04 2.38155745e+02] [-6.99274496e-02 9.97552078e-01 -5.53926773e-05 -2.29423031e+01] [-7.73088589e-04 1.33581731e-06 9.99999701e-01 -3.81379993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.19, Y:-22.94, Z:-0.38 [[ 9.97572129e-01 6.96365721e-02 7.71104072e-04 2.38185382e+02] [-6.96365501e-02 9.97572427e-01 -5.53738255e-05 -2.29429508e+01] [-7.73088205e-04 1.54235766e-06 9.99999701e-01 -3.80752140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.22, Y:-22.95, Z:-0.38 [[ 9.97701295e-01 6.77608458e-02 7.71105423e-04 2.38215204e+02] [-6.77608232e-02 9.97701593e-01 -5.53550089e-05 -2.29454483e+01] [-7.73084011e-04 2.97702578e-06 9.99999701e-01 -3.80250933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16420382200002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:238.24, Y:-22.95, Z:-0.38 [[ 9.97909829e-01 6.46171695e-02 7.71106779e-04 2.38244325e+02] [-6.46171460e-02 9.97910127e-01 -5.53361164e-05 -2.29501200e+01] [-7.73070927e-04 5.39373510e-06 9.99999701e-01 -3.81455604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.27, Y:-22.95, Z:-0.38 [[ 9.98038032e-01 6.26058494e-02 7.71108140e-04 2.38273124e+02] [-6.26058254e-02 9.98038330e-01 -5.53171473e-05 -2.29528126e+01] [-7.73058657e-04 6.93275529e-06 9.99999701e-01 -3.80823702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.30, Y:-22.95, Z:-0.38 [[ 9.98144824e-01 6.08795253e-02 7.71109488e-04 2.38301930e+02] [-6.08795008e-02 9.98145121e-01 -5.52983397e-05 -2.29547655e+01] [-7.73045711e-04 8.25099084e-06 9.99999701e-01 -3.83540898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.25420382200002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:238.33, Y:-22.96, Z:-0.38 [[ 9.98254426e-01 5.90551120e-02 7.71111476e-04 2.38331753e+02] [-5.90550869e-02 9.98254724e-01 -5.52706120e-05 -2.29574784e+01] [-7.73029686e-04 9.63607780e-06 9.99999701e-01 -3.82457873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.36, Y:-22.96, Z:-0.38 [[ 9.98263116e-01 5.89080397e-02 7.71112811e-04 2.38361237e+02] [-5.89080146e-02 9.98263414e-01 -5.52519743e-05 -2.29598104e+01] [-7.73028493e-04 9.73128328e-06 9.99999701e-01 -3.75980025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.39, Y:-22.96, Z:-0.38 [[ 9.98211658e-01 5.97736616e-02 7.71114219e-04 2.38390089e+02] [-5.97736367e-02 9.98211956e-01 -5.52323203e-05 -2.29612135e+01] [-7.73036871e-04 9.04124487e-06 9.99999701e-01 -3.78850185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.42, Y:-22.96, Z:-0.38 [[ 9.98173565e-01 6.04064500e-02 7.71116317e-04 2.38420120e+02] [-6.04064254e-02 9.98173863e-01 -5.52030196e-05 -2.29644842e+01] [-7.73042771e-04 8.52181469e-06 9.99999701e-01 -3.78826855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37420382200003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:238.45, Y:-22.97, Z:-0.39 [[ 9.98056479e-01 6.23110672e-02 7.71119685e-04 2.38448868e+02] [-6.23110432e-02 9.98056777e-01 -5.51559242e-05 -2.29670263e+01] [-7.73058053e-04 6.99945555e-06 9.99999701e-01 -3.86861820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.48, Y:-22.97, Z:-0.38 [[ 9.97999900e-01 6.32108029e-02 7.71120717e-04 2.38477937e+02] [-6.32107792e-02 9.98000198e-01 -5.51415010e-05 -2.29688141e+01] [-7.73064166e-04 6.28807112e-06 9.99999701e-01 -3.82249663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.434203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.51, Y:-22.97, Z:-0.39 [[ 9.97913384e-01 6.45622493e-02 7.71123419e-04 2.38506531e+02] [-6.45622260e-02 9.97913682e-01 -5.51036786e-05 -2.29695108e+01] [-7.73072228e-04 5.20325389e-06 9.99999701e-01 -3.85674733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.54, Y:-22.97, Z:-0.38 [[ 9.97756273e-01 6.69464407e-02 7.71125435e-04 2.38536030e+02] [-6.69464182e-02 9.97756571e-01 -5.50754594e-05 -2.29698585e+01] [-7.73082575e-04 3.32779922e-06 9.99999701e-01 -3.82537098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.56, Y:-22.97, Z:-0.39 [[ 9.97644842e-01 6.85869830e-02 7.71126788e-04 2.38564474e+02] [-6.85869609e-02 9.97645140e-01 -5.50565077e-05 -2.29712491e+01] [-7.73087052e-04 2.03759802e-06 9.99999701e-01 -3.86559399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.59, Y:-22.97, Z:-0.38 [[ 9.97641442e-01 6.86364269e-02 7.71128811e-04 2.38593542e+02] [-6.86364049e-02 9.97641740e-01 -5.50281582e-05 -2.29740460e+01] [-7.73087225e-04 1.97086175e-06 9.99999701e-01 -3.83170273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.62, Y:-22.98, Z:-0.38 [[ 9.97657669e-01 6.84001581e-02 7.71130173e-04 2.38623375e+02] [-6.84001360e-02 9.97657967e-01 -5.50090616e-05 -2.29762100e+01] [-7.73086789e-04 2.13480345e-06 9.99999701e-01 -3.81350309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.65, Y:-22.98, Z:-0.38 [[ 9.97781045e-01 6.65762127e-02 7.71131580e-04 2.38651620e+02] [-6.65761901e-02 9.97781343e-01 -5.49893378e-05 -2.29769697e+01] [-7.73081685e-04 3.52831625e-06 9.99999701e-01 -3.84810596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.68, Y:-22.98, Z:-0.38 [[ 9.97893760e-01 6.48648550e-02 7.71134370e-04 2.38681001e+02] [-6.48648319e-02 9.97894058e-01 -5.49501807e-05 -2.29782936e+01] [-7.73074741e-04 4.81494112e-06 9.99999701e-01 -3.81763966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.71, Y:-22.98, Z:-0.38 [[ 9.98125783e-01 6.11909057e-02 7.71135665e-04 2.38710824e+02] [-6.11908816e-02 9.98126081e-01 -5.49320020e-05 -2.29813451e+01] [-7.73051958e-04 7.64257633e-06 9.99999701e-01 -3.76964192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.74, Y:-22.98, Z:-0.38 [[ 9.98261446e-01 5.89363305e-02 7.71137008e-04 2.38739200e+02] [-5.89363057e-02 9.98261744e-01 -5.49131373e-05 -2.29848706e+01] [-7.73032953e-04 9.36970137e-06 9.99999701e-01 -3.84721734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.77, Y:-22.99, Z:-0.38 [[ 9.98503409e-01 5.46840644e-02 7.71139007e-04 2.38768217e+02] [-5.46840383e-02 9.98503707e-01 -5.48850584e-05 -2.29902982e+01] [-7.72986495e-04 1.26339229e-05 9.99999701e-01 -3.82273469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.734203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:238.80, Y:-22.99, Z:-0.38 [[ 9.98592444e-01 5.30333451e-02 7.71140299e-04 2.38798708e+02] [-5.30333185e-02 9.98592742e-01 -5.48669010e-05 -2.29939308e+01] [-7.72964881e-04 1.38935437e-05 9.99999701e-01 -3.83242737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.764203822 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:238.83, Y:-23.00, Z:-0.38 [[ 9.98679981e-01 5.13585529e-02 7.71140299e-04 2.38828225e+02] [-5.13585258e-02 9.98680279e-01 -5.48669010e-05 -2.29981344e+01] [-7.72940493e-04 1.51898467e-05 9.99999701e-01 -3.84753732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79420382200001 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:238.86, Y:-23.01, Z:-0.38 [[ 9.98789146e-01 4.91899012e-02 7.71139695e-04 2.38858047e+02] [-4.91898735e-02 9.98789444e-01 -5.48753819e-05 -2.30064357e+01] [-7.72905502e-04 1.68766718e-05 9.99999701e-01 -3.78342190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.89, Y:-23.02, Z:-0.38 [[ 9.98812587e-01 4.87116096e-02 7.71139695e-04 2.38887045e+02] [-4.87115817e-02 9.98812885e-01 -5.48753819e-05 -2.30151769e+01] [-7.72897332e-04 1.72467879e-05 9.99999701e-01 -3.76221342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.92, Y:-23.02, Z:-0.38 [[ 9.98770336e-01 4.95703686e-02 7.71140360e-04 2.38917080e+02] [-4.95703410e-02 9.98770633e-01 -5.48660363e-05 -2.30200812e+01] [-7.72912076e-04 1.65728789e-05 9.99999701e-01 -3.78493227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88420382200002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.95, Y:-23.02, Z:-0.38 [[ 9.98695697e-01 5.10520298e-02 7.71140360e-04 2.38947383e+02] [-5.10520026e-02 9.98695995e-01 -5.48660363e-05 -2.30240404e+01] [-7.72935812e-04 1.54262147e-05 9.99999701e-01 -3.81488283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91420382200002 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:238.98, Y:-23.03, Z:-0.38 [[ 9.98421222e-01 5.61646502e-02 7.71140360e-04 2.38977054e+02] [-5.61646245e-02 9.98421520e-01 -5.48660363e-05 -2.30274773e+01] [-7.73004662e-04 1.14686062e-05 9.99999701e-01 -3.82439400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94420382200002 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:239.01, Y:-23.03, Z:-0.38 [[ 9.98238407e-01 5.93252815e-02 7.71141032e-04 2.39006461e+02] [-5.93252568e-02 9.98238704e-01 -5.48565951e-05 -2.30302841e+01] [-7.73037207e-04 9.01182038e-06 9.99999701e-01 -3.81184452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:239.04, Y:-23.04, Z:-0.38 [[ 9.97843366e-01 6.56355301e-02 7.71142378e-04 2.39035920e+02] [-6.56355073e-02 9.97843664e-01 -5.48376718e-05 -2.30372513e+01] [-7.73078835e-04 4.10508581e-06 9.99999701e-01 -3.80295760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00420382200002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:239.07, Y:-23.04, Z:-0.38 [[ 9.97635545e-01 6.87220774e-02 7.71143050e-04 2.39066450e+02] [-6.87220556e-02 9.97635843e-01 -5.48282156e-05 -2.30412061e+01] [-7.73087856e-04 1.70404126e-06 9.99999701e-01 -3.80862683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.03420382200002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:239.10, Y:-23.04, Z:-0.38 [[ 9.97458055e-01 7.12519041e-02 7.71143050e-04 2.39096990e+02] [-7.12518830e-02 9.97458353e-01 -5.48282156e-05 -2.30435077e+01] [-7.73089691e-04 -2.56549060e-07 9.99999701e-01 -3.80434395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06420382200002 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:239.13, Y:-23.04, Z:-0.38 [[ 9.97206021e-01 7.46964366e-02 7.71143050e-04 2.39126418e+02] [-7.46964165e-02 9.97206319e-01 -5.48282156e-05 -2.30445888e+01] [-7.73084194e-04 -2.92659570e-06 9.99999701e-01 -3.82182080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09420382200003 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:239.16, Y:-23.05, Z:-0.39 [[ 9.97058498e-01 7.66404339e-02 7.71143722e-04 2.39156197e+02] [-7.66404145e-02 9.97058797e-01 -5.48187595e-05 -2.30486789e+01] [-7.73076965e-04 -4.44326445e-06 9.99999701e-01 -3.85221250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12420382200003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:239.19, Y:-23.05, Z:-0.38 [[ 9.97056338e-01 7.66685320e-02 7.71145065e-04 2.39185967e+02] [-7.66685126e-02 9.97056636e-01 -5.47998605e-05 -2.30514394e+01] [-7.73076730e-04 -4.48399685e-06 9.99999701e-01 -3.84594812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.154203822 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:239.22, Y:-23.05, Z:-0.38 [[ 9.97035852e-01 7.69344892e-02 7.71145733e-04 2.39216824e+02] [-7.69344699e-02 9.97036150e-01 -5.47904599e-05 -2.30540514e+01] [-7.73075449e-04 -4.69963528e-06 9.99999701e-01 -3.82587241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.184203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:239.25, Y:-23.06, Z:-0.39 [[ 9.96962659e-01 7.78772171e-02 7.71145733e-04 2.39245995e+02] [-7.78771980e-02 9.96962958e-01 -5.47904599e-05 -2.30573894e+01] [-7.73070659e-04 -5.43062631e-06 9.99999701e-01 -3.86383820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.214203822 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:239.28, Y:-23.06, Z:-0.39 [[ 9.96968161e-01 7.78067621e-02 7.71147078e-04 2.39275121e+02] [-7.78067430e-02 9.96968459e-01 -5.47715242e-05 -2.30597192e+01] [-7.73070909e-04 -5.39497679e-06 9.99999701e-01 -3.91741248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.244203822 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:239.31, Y:-23.06, Z:-0.38 [[ 9.96984380e-01 7.75986600e-02 7.71147747e-04 2.39305005e+02] [-7.75986409e-02 9.96984678e-01 -5.47621033e-05 -2.30631638e+01] [-7.73071954e-04 -5.24305551e-06 9.99999701e-01 -3.84150019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.274203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:239.33, Y:-23.07, Z:-0.38 [[ 9.97006859e-01 7.73093032e-02 7.71148415e-04 2.39334793e+02] [-7.73092840e-02 9.97007157e-01 -5.47526878e-05 -2.30672708e+01] [-7.73073382e-04 -5.02812657e-06 9.99999701e-01 -3.82750571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.304203822 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:239.36, Y:-23.07, Z:-0.38 [[ 9.97061693e-01 7.65988686e-02 7.71149089e-04 2.39364837e+02] [-7.65988491e-02 9.97061991e-01 -5.47431988e-05 -2.30703011e+01] [-7.73076713e-04 -4.48678632e-06 9.99999701e-01 -3.83965248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.334203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:239.39, Y:-23.07, Z:-0.39 [[ 9.97106482e-01 7.60136057e-02 7.71149089e-04 2.39394373e+02] [-7.60135861e-02 9.97106781e-01 -5.47431988e-05 -2.30721426e+01] [-7.73079213e-04 -4.03300931e-06 9.99999701e-01 -3.85976786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.364203822 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:239.42, Y:-23.07, Z:-0.39 [[ 9.97117006e-01 7.58754353e-02 7.71148214e-04 2.39424461e+02] [-7.58754156e-02 9.97117304e-01 -5.47555229e-05 -2.30745632e+01] [-7.73079827e-04 -3.91352821e-06 9.99999701e-01 -3.85345720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.45, Y:-23.08, Z:-0.38 [[ 9.97213976e-01 7.45901605e-02 7.71148214e-04 2.39454150e+02] [-7.45901404e-02 9.97214274e-01 -5.47555229e-05 -2.30780662e+01] [-7.73084229e-04 -2.91708090e-06 9.99999701e-01 -3.83961065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.424203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:239.48, Y:-23.08, Z:-0.39 [[ 9.97347860e-01 7.27781023e-02 7.71147287e-04 2.39483694e+02] [-7.27780817e-02 9.97348158e-01 -5.47685742e-05 -2.30815823e+01] [-7.73088279e-04 -1.49930001e-06 9.99999701e-01 -3.85299800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.454203822 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:239.51, Y:-23.08, Z:-0.38 [[ 9.97444772e-01 7.14376063e-02 7.71146825e-04 2.39513561e+02] [-7.14375853e-02 9.97445070e-01 -5.47750843e-05 -2.30843044e+01] [-7.73089600e-04 -4.53745546e-07 9.99999701e-01 -3.83917144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.484203822 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:239.54, Y:-23.09, Z:-0.38 [[ 9.97525303e-01 7.03041623e-02 7.71147473e-04 2.39544115e+02] [-7.03041409e-02 9.97525601e-01 -5.47659500e-05 -2.30871699e+01] [-7.73089621e-04 4.15560262e-07 9.99999701e-01 -3.83452092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.514203822 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:239.58, Y:-23.09, Z:-0.38 [[ 9.97525303e-01 7.03041623e-02 7.71147473e-04 2.39575028e+02] [-7.03041409e-02 9.97525601e-01 -5.47659500e-05 -2.30893653e+01] [-7.73089621e-04 4.15560261e-07 9.99999701e-01 -3.83476050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54420382200001 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:239.61, Y:-23.09, Z:-0.38 [[ 9.97755574e-01 6.69568565e-02 7.71147473e-04 2.39605080e+02] [-6.69568342e-02 9.97755872e-01 -5.47659500e-05 -2.30922462e+01] [-7.73083875e-04 3.00943838e-06 9.99999701e-01 -3.81346756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57420382200002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:239.64, Y:-23.09, Z:-0.38 [[ 9.97844826e-01 6.56133212e-02 7.71147473e-04 2.39635439e+02] [-6.56132985e-02 9.97845124e-01 -5.47659500e-05 -2.30940516e+01] [-7.73079122e-04 4.05039056e-06 9.99999701e-01 -3.83718401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60420382200002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:239.67, Y:-23.10, Z:-0.38 [[ 9.97985922e-01 6.34311075e-02 7.71146785e-04 2.39665650e+02] [-6.34310841e-02 9.97986220e-01 -5.47756440e-05 -2.30969484e+01] [-7.73068344e-04 5.75064499e-06 9.99999701e-01 -3.82272335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63420382200002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:239.70, Y:-23.10, Z:-0.39 [[ 9.98031591e-01 6.27084460e-02 7.71146785e-04 2.39695931e+02] [-6.27084224e-02 9.98031889e-01 -5.47756440e-05 -2.31003360e+01] [-7.73063978e-04 6.31042476e-06 9.99999701e-01 -3.85701621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66420382200002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:239.73, Y:-23.10, Z:-0.38 [[ 9.98048209e-01 6.24434005e-02 7.71143230e-04 2.39726588e+02] [-6.24433768e-02 9.98048507e-01 -5.48256372e-05 -2.31033481e+01] [-7.73061849e-04 6.56584171e-06 9.99999701e-01 -3.78565758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.69420382200002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:239.76, Y:-23.11, Z:-0.38 [[ 9.98029842e-01 6.27362651e-02 7.71140271e-04 2.39757210e+02] [-6.27362415e-02 9.98030140e-01 -5.48672262e-05 -2.31055546e+01] [-7.73063398e-04 6.38068684e-06 9.99999701e-01 -3.79183107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:239.79, Y:-23.11, Z:-0.38 [[ 9.98025291e-01 6.28086210e-02 7.71139573e-04 2.39787308e+02] [-6.28085974e-02 9.98025589e-01 -5.48770426e-05 -2.31097294e+01] [-7.73063778e-04 6.33448147e-06 9.99999701e-01 -3.78936925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75420382200002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:239.82, Y:-23.11, Z:-0.39 [[ 9.97997302e-01 6.32518093e-02 7.71139573e-04 2.39817953e+02] [-6.32517858e-02 9.97997599e-01 -5.48770426e-05 -2.31116449e+01] [-7.73066515e-04 5.99118534e-06 9.99999701e-01 -3.85192730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.85, Y:-23.11, Z:-0.38 [[ 9.97997284e-01 6.32520831e-02 7.71135944e-04 2.39848521e+02] [-6.32520596e-02 9.97997582e-01 -5.49279848e-05 -2.31128365e+01] [-7.73066117e-04 6.04204302e-06 9.99999701e-01 -3.83740760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81420382200002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:239.88, Y:-23.12, Z:-0.39 [[ 9.97966998e-01 6.37281406e-02 7.71135944e-04 2.39879001e+02] [-6.37281171e-02 9.97967296e-01 -5.49279848e-05 -2.31166662e+01] [-7.73068911e-04 5.67327436e-06 9.99999701e-01 -3.86953655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84420382200003 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:239.91, Y:-23.12, Z:-0.39 [[ 9.98028816e-01 6.27525892e-02 7.71135944e-04 2.39909041e+02] [-6.27525655e-02 9.98029114e-01 -5.49279848e-05 -2.31226863e+01] [-7.73062996e-04 6.42895282e-06 9.99999701e-01 -3.85734380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87420382200003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:239.94, Y:-23.13, Z:-0.39 [[ 9.98013067e-01 6.30025743e-02 7.71135278e-04 2.39939944e+02] [-6.30025506e-02 9.98013364e-01 -5.49373320e-05 -2.31275010e+01] [-7.73064507e-04 6.24468572e-06 9.99999701e-01 -3.85027194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.904203822 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:239.97, Y:-23.13, Z:-0.39 [[ 9.98030081e-01 6.27324742e-02 7.71133941e-04 2.39970613e+02] [-6.27324505e-02 9.98030379e-01 -5.49560989e-05 -2.31318227e+01] [-7.73062631e-04 6.47271806e-06 9.99999701e-01 -3.85343296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.934203822 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:240.00, Y:-23.14, Z:-0.39 [[ 9.97947662e-01 6.40302168e-02 7.71132612e-04 2.40001680e+02] [-6.40301934e-02 9.97947960e-01 -5.49747445e-05 -2.31350935e+01] [-7.73070262e-04 5.48614747e-06 9.99999701e-01 -3.90609502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.964203822 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:240.03, Y:-23.14, Z:-0.39 [[ 9.97830017e-01 6.58381563e-02 7.71131299e-04 2.40033184e+02] [-6.58381334e-02 9.97830315e-01 -5.49931520e-05 -2.31379320e+01] [-7.73078834e-04 4.10397248e-06 9.99999701e-01 -3.87034262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.994203822 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:240.06, Y:-23.14, Z:-0.39 [[ 9.97749752e-01 6.70435531e-02 7.71129897e-04 2.40063756e+02] [-6.70435306e-02 9.97750050e-01 -5.50128014e-05 -2.31416351e+01] [-7.73083147e-04 3.18973804e-06 9.99999701e-01 -3.89617507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.024203822 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:240.09, Y:-23.15, Z:-0.39 [[ 9.97562558e-01 6.97735522e-02 7.71120775e-04 2.40094176e+02] [-6.97735305e-02 9.97562856e-01 -5.51403713e-05 -2.31474241e+01] [-7.73088782e-04 1.20215098e-06 9.99999701e-01 -3.89180644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.054203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:240.12, Y:-23.15, Z:-0.38 [[ 9.97433883e-01 7.15894844e-02 7.71119420e-04 2.40124894e+02] [-7.15894631e-02 9.97434181e-01 -5.51593080e-05 -2.31509021e+01] [-7.73089694e-04 -1.86262570e-07 9.99999701e-01 -3.80994847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.084203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:240.16, Y:-23.15, Z:-0.38 [[ 9.97254658e-01 7.40442600e-02 7.71118032e-04 2.40155261e+02] [-7.40442395e-02 9.97254956e-01 -5.51787115e-05 -2.31536905e+01] [-7.73086946e-04 -2.06962121e-06 9.99999701e-01 -3.82723829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.114203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:240.19, Y:-23.15, Z:-0.38 [[ 9.96905957e-01 7.85997322e-02 7.71117341e-04 2.40186115e+02] [-7.85997130e-02 9.96906255e-01 -5.51883622e-05 -2.31545495e+01] [-7.73069492e-04 -5.59199461e-06 9.99999701e-01 -3.81483792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.144203822 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:240.22, Y:-23.16, Z:-0.38 [[ 9.96794798e-01 7.99970962e-02 7.71117341e-04 2.40216247e+02] [-7.99970775e-02 9.96795097e-01 -5.51883622e-05 -2.31565182e+01] [-7.73060893e-04 -6.67566129e-06 9.99999701e-01 -3.84515070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.174203822 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:240.25, Y:-23.16, Z:-0.38 [[ 9.96705523e-01 8.11018262e-02 7.71116666e-04 2.40246656e+02] [-8.11018078e-02 9.96705821e-01 -5.51977992e-05 -2.31591171e+01] [-7.73053112e-04 -7.52300427e-06 9.99999701e-01 -3.77510748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.204203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:240.28, Y:-23.16, Z:-0.38 [[ 9.96718577e-01 8.09412367e-02 7.71116666e-04 2.40276428e+02] [-8.09412182e-02 9.96718875e-01 -5.51977992e-05 -2.31615092e+01] [-7.73054314e-04 -7.39845041e-06 9.99999701e-01 -3.78496900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.234203822 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:240.31, Y:-23.16, Z:-0.38 [[ 9.96850715e-01 7.92972659e-02 7.71115995e-04 2.40306357e+02] [-7.92972469e-02 9.96851014e-01 -5.52071721e-05 -2.31647451e+01] [-7.73065539e-04 -6.11406641e-06 9.99999701e-01 -3.82904170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.264203822 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:240.34, Y:-23.17, Z:-0.38 [[ 9.96941649e-01 7.81457264e-02 7.71115335e-04 2.40337322e+02] [-7.81457070e-02 9.96941947e-01 -5.52163910e-05 -2.31676495e+01] [-7.73072148e-04 -5.21183318e-06 9.99999701e-01 -3.80345858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29420382200001 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:240.37, Y:-23.17, Z:-0.38 [[ 9.97015868e-01 7.71930361e-02 7.71113948e-04 2.40367999e+02] [-7.71930164e-02 9.97016166e-01 -5.52357443e-05 -2.31703930e+01] [-7.73076887e-04 -4.45369815e-06 9.99999701e-01 -3.83011965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32420382200002 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:240.40, Y:-23.17, Z:-0.39 [[ 9.97176061e-01 7.50953295e-02 7.71104948e-04 2.40399466e+02] [-7.50953092e-02 9.97176359e-01 -5.53610990e-05 -2.31727818e+01] [-7.73084985e-04 -2.70160188e-06 9.99999701e-01 -3.85209614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35420382200002 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:240.43, Y:-23.18, Z:-0.38 [[ 9.97248099e-01 7.41325489e-02 7.71099785e-04 2.40430874e+02] [-7.41325282e-02 9.97248397e-01 -5.54329203e-05 -2.31758560e+01] [-7.73087408e-04 -1.88320214e-06 9.99999701e-01 -3.81907244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38420382200002 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:240.46, Y:-23.18, Z:-0.38 [[ 9.97373638e-01 7.24239704e-02 7.71098437e-04 2.40461704e+02] [-7.24239491e-02 9.97373936e-01 -5.54516690e-05 -2.31806233e+01] [-7.73089513e-04 -5.39961136e-07 9.99999701e-01 -3.83500594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41420382200002 meters Centerline goodness : 0.998546 Centerline is valid? [True, True] Translation: X:240.49, Y:-23.18, Z:-0.39 [[ 9.97413560e-01 7.18720851e-02 7.71089691e-04 2.40493773e+02] [-7.18720636e-02 9.97413858e-01 -5.55730174e-05 -2.31834305e+01] [-7.73089692e-04 9.47376588e-09 9.99999701e-01 -3.85415688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44420382200002 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:240.52, Y:-23.19, Z:-0.39 [[ 9.97429649e-01 7.16484566e-02 7.71079992e-04 2.40524895e+02] [-7.16484349e-02 9.97429947e-01 -5.57072745e-05 -2.31873642e+01] [-7.73089615e-04 3.17412605e-07 9.99999701e-01 -3.87898118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47420382200002 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:240.56, Y:-23.19, Z:-0.38 [[ 9.97364117e-01 7.25549685e-02 7.71074449e-04 2.40556619e+02] [-7.25549471e-02 9.97364415e-01 -5.57838922e-05 -2.31903076e+01] [-7.73089615e-04 -3.08413466e-07 9.99999701e-01 -3.82357038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50420382200002 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:240.59, Y:-23.19, Z:-0.38 [[ 9.97172239e-01 7.51460668e-02 7.71064520e-04 2.40587777e+02] [-7.51460460e-02 9.97172537e-01 -5.59207919e-05 -2.31915707e+01] [-7.73086592e-04 -2.17978865e-06 9.99999701e-01 -3.84206638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53420382200002 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:240.62, Y:-23.19, Z:-0.38 [[ 9.97050424e-01 7.67454008e-02 7.71055308e-04 2.40618796e+02] [-7.67453804e-02 9.97050723e-01 -5.60475267e-05 -2.31930906e+01] [-7.73082642e-04 -3.29272261e-06 9.99999701e-01 -3.82873211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56420382200002 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:240.65, Y:-23.19, Z:-0.38 [[ 9.96804018e-01 7.98821324e-02 7.71053955e-04 2.40650025e+02] [-7.98821129e-02 9.96804316e-01 -5.60661413e-05 -2.31947620e+01] [-7.73068593e-04 -5.70646415e-06 9.99999701e-01 -3.79394737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59420382200003 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:240.68, Y:-23.20, Z:-0.38 [[ 9.96632481e-01 8.19945281e-02 7.71052582e-04 2.40680119e+02] [-8.19945093e-02 9.96632780e-01 -5.60850048e-05 -2.31956988e+01] [-7.73054942e-04 -7.32594061e-06 9.99999701e-01 -3.80748917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62420382200003 meters Centerline goodness : 0.998345 Centerline is valid? [True, True] Translation: X:240.71, Y:-23.20, Z:-0.38 [[ 9.96457231e-01 8.40975165e-02 7.71051903e-04 2.40710076e+02] [-8.40974982e-02 9.96457529e-01 -5.60943390e-05 -2.31954564e+01] [-7.73037869e-04 -8.94792641e-06 9.99999701e-01 -3.81786546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.654203822 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:240.74, Y:-23.19, Z:-0.38 [[ 9.96195890e-01 8.71387109e-02 7.71051246e-04 2.40740739e+02] [-8.71386936e-02 9.96196188e-01 -5.61033804e-05 -2.31931102e+01] [-7.73007088e-04 -1.12984412e-05 9.99999701e-01 -3.78039901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.684203822 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:240.77, Y:-23.19, Z:-0.38 [[ 9.96094255e-01 8.82929299e-02 7.71051246e-04 2.40770916e+02] [-8.82929129e-02 9.96094553e-01 -5.61033804e-05 -2.31892655e+01] [-7.72993478e-04 -1.21941056e-05 9.99999701e-01 -3.78667206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.714203822 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:240.80, Y:-23.19, Z:-0.38 [[ 9.96110877e-01 8.81052004e-02 7.71051246e-04 2.40801951e+02] [-8.81051833e-02 9.96111175e-01 -5.61033804e-05 -2.31878459e+01] [-7.72995762e-04 -1.20484239e-05 9.99999701e-01 -3.75440951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.744203822 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:240.83, Y:-23.19, Z:-0.38 [[ 9.96197948e-01 8.71151799e-02 7.71051246e-04 2.40832249e+02] [-8.71151625e-02 9.96198246e-01 -5.61033804e-05 -2.31876383e+01] [-7.73007354e-04 -1.12801821e-05 9.99999701e-01 -3.75066088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.774203822 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:240.86, Y:-23.19, Z:-0.38 [[ 9.96553866e-01 8.29445453e-02 7.71051246e-04 2.40862354e+02] [-8.29445267e-02 9.96554164e-01 -5.61033804e-05 -2.31884425e+01] [-7.73047799e-04 -8.04443996e-06 9.99999701e-01 -3.75905580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.804203822 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:240.89, Y:-23.19, Z:-0.38 [[ 9.96775952e-01 8.02315867e-02 7.71050560e-04 2.40892810e+02] [-8.02315673e-02 9.96776250e-01 -5.61128051e-05 -2.31898730e+01] [-7.73066905e-04 -5.93070018e-06 9.99999701e-01 -3.79296939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.834203822 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:240.92, Y:-23.19, Z:-0.38 [[ 9.97245371e-01 7.41692354e-02 7.71049883e-04 2.40923135e+02] [-7.41692142e-02 9.97245669e-01 -5.61221048e-05 -2.31900502e+01] [-7.73088690e-04 -1.22065470e-06 9.99999701e-01 -3.81959283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.864203822 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:240.95, Y:-23.19, Z:-0.38 [[ 9.97432077e-01 7.16146422e-02 7.71049226e-04 2.40953238e+02] [-7.16146202e-02 9.97432375e-01 -5.61311301e-05 -2.31923191e+01] [-7.73089271e-04 7.68592178e-07 9.99999701e-01 -3.78413351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.894203822 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:240.98, Y:-23.19, Z:-0.38 [[ 9.97807133e-01 6.61840614e-02 7.71049226e-04 2.40983398e+02] [-6.61840378e-02 9.97807431e-01 -5.61311301e-05 -2.31924459e+01] [-7.73073634e-04 4.97689091e-06 9.99999701e-01 -3.81308286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.924203822 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:241.01, Y:-23.19, Z:-0.38 [[ 9.97986903e-01 6.34156747e-02 7.71048580e-04 2.41013748e+02] [-6.34156502e-02 9.97987200e-01 -5.61399997e-05 -2.31934953e+01] [-7.73056770e-04 7.13043739e-06 9.99999701e-01 -3.77999749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.954203822 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:241.04, Y:-23.20, Z:-0.37 [[ 9.98255545e-01 5.90362017e-02 7.71048580e-04 2.41044505e+02] [-5.90361760e-02 9.98255842e-01 -5.61399997e-05 -2.31981508e+01] [-7.73018042e-04 1.05223064e-05 9.99999701e-01 -3.74149886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.984203822 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:241.08, Y:-23.20, Z:-0.38 [[ 9.98511127e-01 5.45429633e-02 7.71047190e-04 2.41075670e+02] [-5.45429362e-02 9.98511425e-01 -5.61590826e-05 -2.32033726e+01] [-7.72962511e-04 1.40202912e-05 9.99999701e-01 -3.76796467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.014203822 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:241.11, Y:-23.21, Z:-0.38 [[ 9.98585891e-01 5.31566060e-02 7.71045781e-04 2.41106596e+02] [-5.31565785e-02 9.98586188e-01 -5.61784157e-05 -2.32072454e+01] [-7.72941922e-04 1.51128177e-05 9.99999701e-01 -3.76828372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04420382200001 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:241.14, Y:-23.21, Z:-0.38 [[ 9.98618500e-01 5.25404287e-02 7.71036679e-04 2.41137863e+02] [-5.25404009e-02 9.98618798e-01 -5.63030633e-05 -2.32115617e+01] [-7.72929909e-04 1.57147043e-05 9.99999701e-01 -3.75114779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07420382200002 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:241.17, Y:-23.22, Z:-0.37 [[ 9.98669557e-01 5.15608553e-02 7.71027652e-04 2.41168838e+02] [-5.15608271e-02 9.98669854e-01 -5.64264202e-05 -2.32178088e+01] [-7.72911467e-04 1.65965246e-05 9.99999701e-01 -3.73948074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10420382200002 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:241.20, Y:-23.22, Z:-0.37 [[ 9.98657800e-01 5.17880609e-02 7.71018753e-04 2.41200598e+02] [-5.17880327e-02 9.98658098e-01 -5.65477574e-05 -2.32232328e+01] [-7.72912620e-04 1.65423147e-05 9.99999701e-01 -3.71151346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13420382200002 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:241.23, Y:-23.23, Z:-0.37 [[ 9.98574022e-01 5.33790974e-02 7.71008932e-04 2.41231373e+02] [-5.33790695e-02 9.98574320e-01 -5.66813464e-05 -2.32311121e+01] [-7.72935318e-04 1.54447807e-05 9.99999701e-01 -3.72095363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16420382200002 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:241.26, Y:-23.24, Z:-0.37 [[ 9.98389484e-01 5.67260480e-02 7.71003345e-04 2.41261295e+02] [-5.67260211e-02 9.98389781e-01 -5.67572309e-05 -2.32371337e+01] [-7.72981475e-04 1.29298705e-05 9.99999701e-01 -3.74436774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.19420382200002 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:241.29, Y:-23.24, Z:-0.37 [[ 9.98281315e-01 5.85988226e-02 7.71002658e-04 2.41293384e+02] [-5.85987962e-02 9.98281613e-01 -5.67665705e-05 -2.32420582e+01] [-7.73004231e-04 1.14891790e-05 9.99999701e-01 -3.73995927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22420382200002 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:241.32, Y:-23.25, Z:-0.38 [[ 9.98173224e-01 6.04120888e-02 7.70992904e-04 2.41324238e+02] [-6.04120629e-02 9.98173522e-01 -5.68987405e-05 -2.32475147e+01] [-7.73022074e-04 1.02175275e-05 9.99999701e-01 -3.75597879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.25420382200002 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:241.36, Y:-23.26, Z:-0.37 [[ 9.97989494e-01 6.33748759e-02 7.70987610e-04 2.41355514e+02] [-6.33748508e-02 9.97989792e-01 -5.69703857e-05 -2.32565812e+01] [-7.73048255e-04 7.99462169e-06 9.99999701e-01 -3.72442810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28420382200002 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:241.39, Y:-23.26, Z:-0.37 [[ 9.97875604e-01 6.51435707e-02 7.70978603e-04 2.41386097e+02] [-6.51435461e-02 9.97875902e-01 -5.70920193e-05 -2.32633056e+01] [-7.73060146e-04 6.74645308e-06 9.99999701e-01 -3.71230885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.31420382200002 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:241.42, Y:-23.27, Z:-0.37 [[ 9.97675698e-01 6.81366876e-02 7.70973072e-04 2.41418033e+02] [-6.81366638e-02 9.97675995e-01 -5.71666038e-05 -2.32710280e+01] [-7.73076470e-04 4.50219834e-06 9.99999701e-01 -3.70928829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34420382200003 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:241.45, Y:-23.28, Z:-0.37 [[ 9.97519679e-01 7.03839182e-02 7.70963283e-04 2.41449330e+02] [-7.03838949e-02 9.97519977e-01 -5.72983168e-05 -2.32757165e+01] [-7.73084156e-04 2.89279985e-06 9.99999701e-01 -3.74676631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37420382200003 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:241.48, Y:-23.28, Z:-0.37 [[ 9.97184547e-01 7.49825573e-02 7.70954232e-04 2.41482210e+02] [-7.49825353e-02 9.97184846e-01 -5.74198513e-05 -2.32840668e+01] [-7.73089364e-04 -5.49914411e-07 9.99999701e-01 -3.70704403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.404203822 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:241.52, Y:-23.29, Z:-0.37 [[ 9.97169564e-01 7.51815511e-02 7.70942722e-04 2.41515596e+02] [-7.51815290e-02 9.97169862e-01 -5.75739652e-05 -2.32867497e+01] [-7.73089348e-04 -5.49646885e-07 9.99999701e-01 -3.70730307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.434203822 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:241.55, Y:-23.29, Z:-0.37 [[ 9.97008316e-01 7.72905072e-02 7.70931202e-04 2.41547740e+02] [-7.72904856e-02 9.97008615e-01 -5.77278100e-05 -2.32912179e+01] [-7.73086862e-04 -2.03054038e-06 9.99999701e-01 -3.73575427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.464203822 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:241.58, Y:-23.30, Z:-0.37 [[ 9.96606830e-01 8.23057187e-02 7.70921060e-04 2.41578774e+02] [-8.23056986e-02 9.96607129e-01 -5.78629381e-05 -2.32961368e+01] [-7.73067875e-04 -5.78459701e-06 9.99999701e-01 -3.73666421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.494203822 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:241.61, Y:-23.30, Z:-0.37 [[ 9.96385905e-01 8.49384131e-02 7.70915478e-04 2.41611550e+02] [-8.49383937e-02 9.96386203e-01 -5.79372125e-05 -2.32998415e+01] [-7.73050641e-04 -7.75250047e-06 9.99999701e-01 -3.69803443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.524203822 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:241.64, Y:-23.30, Z:-0.37 [[ 9.96121717e-01 8.79825628e-02 7.70904105e-04 2.41642306e+02] [-8.79825442e-02 9.96122015e-01 -5.80881491e-05 -2.33041000e+01] [-7.73025294e-04 -9.96323773e-06 9.99999701e-01 -3.71848231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.554203822 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:241.67, Y:-23.31, Z:-0.38 [[ 9.96071801e-01 8.85458849e-02 7.70894906e-04 2.41674688e+02] [-8.85458664e-02 9.96072099e-01 -5.82099778e-05 -2.33074531e+01] [-7.73021161e-04 -1.02782399e-05 9.99999701e-01 -3.75481265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.584203822 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:241.71, Y:-23.31, Z:-0.37 [[ 9.96013531e-01 8.91989467e-02 7.70885302e-04 2.41705913e+02] [-8.91989283e-02 9.96013829e-01 -5.83368859e-05 -2.33120329e+01] [-7.73016010e-04 -1.06578150e-05 9.99999701e-01 -3.74397981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.614203822 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:241.74, Y:-23.32, Z:-0.38 [[ 9.96047130e-01 8.88229676e-02 7.70883876e-04 2.41737614e+02] [-8.88229490e-02 9.96047429e-01 -5.83557253e-05 -2.33185673e+01] [-7.73020231e-04 -1.03471265e-05 9.99999701e-01 -3.77212052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.644203822 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:241.77, Y:-23.32, Z:-0.38 [[ 9.96223481e-01 8.68227063e-02 7.70873841e-04 2.41768055e+02] [-8.68226871e-02 9.96223779e-01 -5.84879782e-05 -2.33230829e+01] [-7.73040936e-04 -8.66224112e-06 9.99999701e-01 -3.78067233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.674203822 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:241.80, Y:-23.33, Z:-0.38 [[ 9.96333917e-01 8.55460744e-02 7.70868846e-04 2.41799754e+02] [-8.55460547e-02 9.96334216e-01 -5.85537491e-05 -2.33263312e+01] [-7.73052050e-04 -7.60570229e-06 9.99999701e-01 -3.76157185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.704203822 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:241.83, Y:-23.33, Z:-0.38 [[ 9.96462815e-01 8.40313277e-02 7.70859086e-04 2.41831465e+02] [-8.40313075e-02 9.96463113e-01 -5.86819580e-05 -2.33291656e+01] [-7.73063767e-04 -6.30190774e-06 9.99999701e-01 -3.78265641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.734203822 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:241.86, Y:-23.33, Z:-0.38 [[ 9.96771592e-01 8.02857370e-02 7.70848666e-04 2.41864492e+02] [-8.02857155e-02 9.96771890e-01 -5.88185109e-05 -2.33334751e+01] [-7.73082569e-04 -3.25951596e-06 9.99999701e-01 -3.75966234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.764203822 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:241.90, Y:-23.34, Z:-0.37 [[ 9.96967350e-01 7.78171484e-02 7.70837364e-04 2.41895487e+02] [-7.78171261e-02 9.96967648e-01 -5.89662574e-05 -2.33402207e+01] [-7.73088500e-04 -1.19691496e-06 9.99999701e-01 -3.72933776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79420382200001 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:241.93, Y:-23.34, Z:-0.37 [[ 9.97003591e-01 7.73514433e-02 7.70828195e-04 2.41926925e+02] [-7.73514207e-02 9.97003889e-01 -5.90858710e-05 -2.33446330e+01] [-7.73089086e-04 -7.15830474e-07 9.99999701e-01 -3.70810298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82420382200002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:241.96, Y:-23.35, Z:-0.37 [[ 9.96983186e-01 7.76139974e-02 7.70818959e-04 2.41959236e+02] [-7.76139749e-02 9.96983484e-01 -5.92061242e-05 -2.33489096e+01] [-7.73088995e-04 -7.98812974e-07 9.99999701e-01 -3.70640638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85420382200002 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:241.99, Y:-23.35, Z:-0.37 [[ 9.96829062e-01 7.95690126e-02 7.70808901e-04 2.41991590e+02] [-7.95689905e-02 9.96829360e-01 -5.93367757e-05 -2.33520093e+01] [-7.73086312e-04 -2.18386366e-06 9.99999701e-01 -3.71354118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88420382200002 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:242.02, Y:-23.35, Z:-0.37 [[ 9.96720504e-01 8.09175078e-02 7.70798779e-04 2.42022356e+02] [-8.09174860e-02 9.96720802e-01 -5.94679714e-05 -2.33518674e+01] [-7.73083177e-04 -3.09815305e-06 9.99999701e-01 -3.73979956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91420382200002 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:242.05, Y:-23.35, Z:-0.37 [[ 9.96351461e-01 8.53414990e-02 7.70797335e-04 2.42053735e+02] [-8.53414785e-02 9.96351759e-01 -5.94866841e-05 -2.33500731e+01] [-7.73061964e-04 -6.51133961e-06 9.99999701e-01 -3.69425073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94420382200002 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:242.09, Y:-23.35, Z:-0.37 [[ 9.96175668e-01 8.73695815e-02 7.70788196e-04 2.42086384e+02] [-8.73695615e-02 9.96175966e-01 -5.96048736e-05 -2.33507292e+01] [-7.73048329e-04 -7.96650191e-06 9.99999701e-01 -3.70102013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.97420382200002 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:242.12, Y:-23.35, Z:-0.37 [[ 9.95998085e-01 8.93712489e-02 7.70778309e-04 2.42118939e+02] [-8.93712294e-02 9.95998383e-01 -5.97324517e-05 -2.33494986e+01] [-7.73032313e-04 -9.39199752e-06 9.99999701e-01 -3.72841558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00420382200002 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:242.15, Y:-23.35, Z:-0.38 [[ 9.95995806e-01 8.93966508e-02 7.70768272e-04 2.42151347e+02] [-8.93966312e-02 9.95996104e-01 -5.98616818e-05 -2.33502724e+01] [-7.73033630e-04 -9.28210298e-06 9.99999701e-01 -3.75343554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03420382200002 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:242.18, Y:-23.35, Z:-0.37 [[ 9.96165973e-01 8.74800502e-02 7.70757548e-04 2.42184702e+02] [-8.74800299e-02 9.96166272e-01 -5.99994397e-05 -2.33499905e+01] [-7.73051427e-04 -7.65649315e-06 9.99999701e-01 -3.74637832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06420382200002 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:242.22, Y:-23.35, Z:-0.37 [[ 9.96293347e-01 8.60172760e-02 7.70746156e-04 2.42216558e+02] [-8.60172553e-02 9.96293646e-01 -6.01454317e-05 -2.33505141e+01] [-7.73063044e-04 -6.37497531e-06 9.99999701e-01 -3.74703979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09420382200003 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:242.25, Y:-23.35, Z:-0.37 [[ 9.96540774e-01 8.31016940e-02 7.70735450e-04 2.42249471e+02] [-8.31016723e-02 9.96541072e-01 -6.02823134e-05 -2.33463764e+01] [-7.73079094e-04 -3.97562147e-06 9.99999701e-01 -3.68870613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12420382200003 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:242.28, Y:-23.35, Z:-0.37 [[ 9.96629773e-01 8.20274438e-02 7.70724954e-04 2.42281175e+02] [-8.20274216e-02 9.96630071e-01 -6.04162120e-05 -2.33461794e+01] [-7.73083453e-04 -3.00798501e-06 9.99999701e-01 -3.71127805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.154203822 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:242.31, Y:-23.34, Z:-0.38 [[ 9.96788423e-01 8.00765024e-02 7.70715238e-04 2.42312749e+02] [-8.00764795e-02 9.96788721e-01 -6.05399039e-05 -2.33446771e+01] [-7.73088079e-04 -1.37068762e-06 9.99999701e-01 -3.75574833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.184203822 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:242.34, Y:-23.35, Z:-0.37 [[ 9.96810168e-01 7.98053538e-02 7.70705773e-04 2.42344873e+02] [-7.98053307e-02 9.96810466e-01 -6.06601565e-05 -2.33467525e+01] [-7.73088586e-04 -1.03976832e-06 9.99999701e-01 -3.71324014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.214203822 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:242.38, Y:-23.35, Z:-0.37 [[ 9.96931245e-01 7.82783398e-02 7.70695443e-04 2.42377538e+02] [-7.82783162e-02 9.96931543e-01 -6.07911114e-05 -2.33454184e+01] [-7.73089225e-04 2.75816778e-07 9.99999701e-01 -3.72228539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.244203822 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:242.41, Y:-23.35, Z:-0.37 [[ 9.96999796e-01 7.74003474e-02 7.70684379e-04 2.42409737e+02] [-7.74003235e-02 9.97000093e-01 -6.09310566e-05 -2.33462145e+01] [-7.73088483e-04 1.09703072e-06 9.99999701e-01 -3.70515553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.274203822 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:242.44, Y:-23.34, Z:-0.37 [[ 9.97130498e-01 7.56979213e-02 7.70673950e-04 2.42441524e+02] [-7.56978968e-02 9.97130796e-01 -6.10626794e-05 -2.33446444e+01] [-7.73085048e-04 2.54906285e-06 9.99999701e-01 -3.71860408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.304203822 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:242.47, Y:-23.35, Z:-0.37 [[ 9.97167744e-01 7.52056882e-02 7.70664295e-04 2.42472625e+02] [-7.52056633e-02 9.97168042e-01 -6.11842983e-05 -2.33451365e+01] [-7.73083213e-04 3.05268929e-06 9.99999701e-01 -3.72717322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.334203822 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:242.50, Y:-23.35, Z:-0.37 [[ 9.97172115e-01 7.51477101e-02 7.70654827e-04 2.42503553e+02] [-7.51476851e-02 9.97172413e-01 -6.13033255e-05 -2.33455305e+01] [-7.73082538e-04 3.21704051e-06 9.99999701e-01 -3.74881112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.364203822 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:242.53, Y:-23.35, Z:-0.38 [[ 9.97179343e-01 7.50517431e-02 7.70645387e-04 2.42534490e+02] [-7.50517181e-02 9.97179641e-01 -6.14217562e-05 -2.33461146e+01] [-7.73081700e-04 3.41024611e-06 9.99999701e-01 -3.77019467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.394203822 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:242.57, Y:-23.35, Z:-0.37 [[ 9.97135453e-01 7.56326239e-02 7.70643948e-04 2.42566083e+02] [-7.56325990e-02 9.97135751e-01 -6.14398052e-05 -2.33468795e+01] [-7.73083486e-04 2.97800327e-06 9.99999701e-01 -3.73169622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.424203822 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:242.60, Y:-23.35, Z:-0.37 [[ 9.97152010e-01 7.54140257e-02 7.70642495e-04 2.42596455e+02] [-7.54140007e-02 9.97152308e-01 -6.14580336e-05 -2.33484503e+01] [-7.73082740e-04 3.16576814e-06 9.99999701e-01 -3.72763437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.454203822 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:242.63, Y:-23.35, Z:-0.37 [[ 9.97255895e-01 7.40275998e-02 7.70641770e-04 2.42627243e+02] [-7.40275744e-02 9.97256193e-01 -6.14671141e-05 -2.33485300e+01] [-7.73077541e-04 4.24970086e-06 9.99999701e-01 -3.72945354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.484203822 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:242.66, Y:-23.35, Z:-0.37 [[ 9.97315051e-01 7.32263292e-02 7.70641053e-04 2.42658250e+02] [-7.32263036e-02 9.97315349e-01 -6.14761110e-05 -2.33499747e+01] [-7.73073820e-04 4.87985512e-06 9.99999701e-01 -3.74520815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.514203822 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:242.69, Y:-23.35, Z:-0.38 [[ 9.97485769e-01 7.08628662e-02 7.70639625e-04 2.42689139e+02] [-7.08628399e-02 9.97486067e-01 -6.14940048e-05 -2.33525740e+01] [-7.73059930e-04 6.72968240e-06 9.99999701e-01 -3.75886793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54420382200001 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:242.72, Y:-23.36, Z:-0.37 [[ 9.97544891e-01 7.00256850e-02 7.70638199e-04 2.42720005e+02] [-7.00256584e-02 9.97545189e-01 -6.15118632e-05 -2.33563976e+01] [-7.73053838e-04 7.39639761e-06 9.99999701e-01 -3.72529999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57420382200002 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:242.75, Y:-23.36, Z:-0.38 [[ 9.97604127e-01 6.91766693e-02 7.70636696e-04 2.42750741e+02] [-6.91766424e-02 9.97604425e-01 -6.15306922e-05 -2.33588606e+01] [-7.73047066e-04 8.07321331e-06 9.99999701e-01 -3.80254467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60420382200002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:242.78, Y:-23.36, Z:-0.37 [[ 9.97579367e-01 6.95328186e-02 7.70626958e-04 2.42782054e+02] [-6.95327918e-02 9.97579665e-01 -6.16524181e-05 -2.33605032e+01] [-7.73048648e-04 7.91933646e-06 9.99999701e-01 -3.73560256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63420382200002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:242.81, Y:-23.36, Z:-0.38 [[ 9.97456247e-01 7.12772120e-02 7.70625461e-04 2.42812258e+02] [-7.12771856e-02 9.97456545e-01 -6.16711193e-05 -2.33590622e+01] [-7.73061155e-04 6.58622914e-06 9.99999701e-01 -3.78372045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66420382200002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:242.84, Y:-23.36, Z:-0.37 [[ 9.97335446e-01 7.29480254e-02 7.70624717e-04 2.42843871e+02] [-7.29479995e-02 9.97335744e-01 -6.16804198e-05 -2.33594761e+01] [-7.73071040e-04 5.30053751e-06 9.99999701e-01 -3.72084623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69420382200002 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:242.87, Y:-23.36, Z:-0.38 [[ 9.97105105e-01 7.60316775e-02 7.70623199e-04 2.42873923e+02] [-7.60316526e-02 9.97105403e-01 -6.16993723e-05 -2.33592956e+01] [-7.73083662e-04 2.92900372e-06 9.99999701e-01 -3.76130760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72420382200002 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:242.90, Y:-23.36, Z:-0.38 [[ 9.96997202e-01 7.74337513e-02 7.70620115e-04 2.42904037e+02] [-7.74337267e-02 9.96997500e-01 -6.17378675e-05 -2.33601481e+01] [-7.73086923e-04 1.88049378e-06 9.99999701e-01 -3.75885119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75420382200002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:242.94, Y:-23.36, Z:-0.37 [[ 9.96836447e-01 7.94764408e-02 7.70619423e-04 2.42935127e+02] [-7.94764169e-02 9.96836745e-01 -6.17465017e-05 -2.33583770e+01] [-7.73089149e-04 3.05092837e-07 9.99999701e-01 -3.68670597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78420382200002 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:242.96, Y:-23.36, Z:-0.37 [[ 9.96772032e-01 8.02802758e-02 7.70619423e-04 2.42964239e+02] [-8.02802521e-02 9.96772330e-01 -6.17465017e-05 -2.33587867e+01] [-7.73089144e-04 -3.18335595e-07 9.99999701e-01 -3.74188295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81420382200002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:242.99, Y:-23.36, Z:-0.38 [[ 9.96683650e-01 8.13701889e-02 7.70618541e-04 2.42993844e+02] [-8.13701655e-02 9.96683948e-01 -6.17575158e-05 -2.33553654e+01] [-7.73088350e-04 -1.15265194e-06 9.99999701e-01 -3.77953227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84420382200003 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:243.02, Y:-23.35, Z:-0.38 [[ 9.96574784e-01 8.26928437e-02 7.70619231e-04 2.43024015e+02] [-8.26928206e-02 9.96575082e-01 -6.17488954e-05 -2.33510120e+01] [-7.73086115e-04 -2.18728583e-06 9.99999701e-01 -3.77663915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87420382200003 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:243.05, Y:-23.35, Z:-0.38 [[ 9.96517817e-01 8.33765349e-02 7.70620672e-04 2.43053784e+02] [-8.33765121e-02 9.96518115e-01 -6.17309058e-05 -2.33502037e+01] [-7.73084369e-04 -2.73571631e-06 9.99999701e-01 -3.83979941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.904203822 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:243.08, Y:-23.35, Z:-0.38 [[ 9.96489795e-01 8.37107825e-02 7.70621390e-04 2.43083696e+02] [-8.37107598e-02 9.96490093e-01 -6.17219511e-05 -2.33494900e+01] [-7.73083373e-04 -3.00400771e-06 9.99999701e-01 -3.77934737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.934203822 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:243.11, Y:-23.35, Z:-0.38 [[ 9.96583508e-01 8.25876311e-02 7.70622830e-04 2.43112348e+02] [-8.25876081e-02 9.96583806e-01 -6.17039676e-05 -2.33473011e+01] [-7.73086217e-04 -2.15073971e-06 9.99999701e-01 -3.79020842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.964203822 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:243.14, Y:-23.35, Z:-0.38 [[ 9.96664523e-01 8.16041350e-02 7.70624974e-04 2.43141941e+02] [-8.16041117e-02 9.96664821e-01 -6.16771746e-05 -2.33485020e+01] [-7.73087914e-04 -1.41471470e-06 9.99999701e-01 -3.77517654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.994203822 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:243.17, Y:-23.35, Z:-0.37 [[ 9.96907536e-01 7.85797105e-02 7.70626418e-04 2.43172203e+02] [-7.85796864e-02 9.96907834e-01 -6.16591267e-05 -2.33461555e+01] [-7.73088669e-04 9.12865841e-07 9.99999701e-01 -3.74995188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.024203822 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:243.20, Y:-23.34, Z:-0.37 [[ 9.97184037e-01 7.49893548e-02 7.70627909e-04 2.43202503e+02] [-7.49893296e-02 9.97184334e-01 -6.16404835e-05 -2.33424169e+01] [-7.73080459e-04 3.67803589e-06 9.99999701e-01 -3.73124583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.054203822 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:243.23, Y:-23.34, Z:-0.37 [[ 9.97308361e-01 7.33173893e-02 7.70629421e-04 2.43232578e+02] [-7.33173636e-02 9.97308659e-01 -6.16215782e-05 -2.33423421e+01] [-7.73073327e-04 4.95519770e-06 9.99999701e-01 -3.72302420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.084203822 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:243.26, Y:-23.34, Z:-0.37 [[ 9.97418188e-01 7.18078314e-02 7.70630935e-04 2.43261298e+02] [-7.18078052e-02 9.97418486e-01 -6.16026387e-05 -2.33428231e+01] [-7.73065092e-04 6.10627613e-06 9.99999701e-01 -3.74551976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.114203822 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.29, Y:-23.34, Z:-0.37 [[ 9.97587557e-01 6.94152169e-02 7.70632505e-04 2.43290568e+02] [-6.94151901e-02 9.97587855e-01 -6.15829869e-05 -2.33436040e+01] [-7.73048424e-04 7.94081960e-06 9.99999701e-01 -3.74818403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.144203822 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:243.32, Y:-23.35, Z:-0.38 [[ 9.97632664e-01 6.87639011e-02 7.70633228e-04 2.43320256e+02] [-6.87638741e-02 9.97632961e-01 -6.15739380e-05 -2.33452084e+01] [-7.73043174e-04 8.43644556e-06 9.99999701e-01 -3.75157077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.174203822 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:243.35, Y:-23.34, Z:-0.37 [[ 9.97620653e-01 6.89379335e-02 7.70634660e-04 2.43350626e+02] [-6.89379066e-02 9.97620951e-01 -6.15560182e-05 -2.33433889e+01] [-7.73044827e-04 8.28361493e-06 9.99999701e-01 -3.73329762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.204203822 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:243.38, Y:-23.34, Z:-0.37 [[ 9.97589432e-01 6.93882608e-02 7.70636098e-04 2.43379269e+02] [-6.93882339e-02 9.97589730e-01 -6.15380123e-05 -2.33432531e+01] [-7.73048672e-04 7.91659293e-06 9.99999701e-01 -3.73815732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.234203822 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:243.41, Y:-23.34, Z:-0.37 [[ 9.97521332e-01 7.03604833e-02 7.70638241e-04 2.43409278e+02] [-7.03604567e-02 9.97521630e-01 -6.15111639e-05 -2.33428024e+01] [-7.73056269e-04 7.13623956e-06 9.99999701e-01 -3.74774188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.264203822 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:243.44, Y:-23.34, Z:-0.38 [[ 9.97531208e-01 7.02203319e-02 7.70639696e-04 2.43438251e+02] [-7.02203053e-02 9.97531506e-01 -6.14929312e-05 -2.33445085e+01] [-7.73055430e-04 7.22656329e-06 9.99999701e-01 -3.78013013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29420382200001 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:243.47, Y:-23.34, Z:-0.38 [[ 9.97597115e-01 6.92777210e-02 7.70641858e-04 2.43467634e+02] [-6.92776942e-02 9.97597412e-01 -6.14658163e-05 -2.33436984e+01] [-7.73048535e-04 7.92983002e-06 9.99999701e-01 -3.78071575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32420382200002 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:243.50, Y:-23.35, Z:-0.38 [[ 9.97598732e-01 6.92544265e-02 7.70643541e-04 2.43497696e+02] [-6.92543997e-02 9.97599030e-01 -6.14447086e-05 -2.33460498e+01] [-7.73048567e-04 7.92670760e-06 9.99999701e-01 -3.78094888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35420382200002 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:243.53, Y:-23.35, Z:-0.37 [[ 9.97647076e-01 6.85544841e-02 7.70644975e-04 2.43527716e+02] [-6.85544571e-02 9.97647374e-01 -6.14267136e-05 -2.33470019e+01] [-7.73043013e-04 8.45103332e-06 9.99999701e-01 -3.74441581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38420382200002 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:243.56, Y:-23.35, Z:-0.37 [[ 9.97754672e-01 6.69702964e-02 7.70646427e-04 2.43557211e+02] [-6.69702690e-02 9.97754970e-01 -6.14084972e-05 -2.33465883e+01] [-7.73028848e-04 9.66021651e-06 9.99999701e-01 -3.71852170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41420382200002 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:243.59, Y:-23.35, Z:-0.37 [[ 9.97808655e-01 6.61611254e-02 7.70647916e-04 2.43586102e+02] [-6.61610977e-02 9.97808952e-01 -6.13898030e-05 -2.33477798e+01] [-7.73021008e-04 1.02683646e-05 9.99999701e-01 -3.74795580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44420382200002 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:243.62, Y:-23.35, Z:-0.37 [[ 9.97925075e-01 6.43812904e-02 7.70650138e-04 2.43615851e+02] [-6.43812622e-02 9.97925373e-01 -6.13618972e-05 -2.33502441e+01] [-7.73001884e-04 1.16191473e-05 9.99999701e-01 -3.72732683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47420382200002 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:243.65, Y:-23.35, Z:-0.37 [[ 9.97986622e-01 6.34200950e-02 7.70651621e-04 2.43645133e+02] [-6.34200665e-02 9.97986919e-01 -6.13432653e-05 -2.33528965e+01] [-7.72990633e-04 1.23449810e-05 9.99999701e-01 -3.74310789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50420382200002 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:243.67, Y:-23.35, Z:-0.38 [[ 9.98095391e-01 6.16846609e-02 7.70653099e-04 2.43674875e+02] [-6.16846320e-02 9.98095688e-01 -6.13246954e-05 -2.33536766e+01] [-7.72968328e-04 1.36704431e-05 9.99999701e-01 -3.75289641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53420382200002 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:243.70, Y:-23.36, Z:-0.38 [[ 9.98129043e-01 6.11377170e-02 7.70654598e-04 2.43703222e+02] [-6.11376879e-02 9.98129340e-01 -6.13058493e-05 -2.33552266e+01] [-7.72961065e-04 1.40751083e-05 9.99999701e-01 -3.81646252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56420382200002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:243.73, Y:-23.36, Z:-0.37 [[ 9.98228075e-01 5.94988740e-02 7.70656836e-04 2.43732394e+02] [-5.94988444e-02 9.98228373e-01 -6.12777016e-05 -2.33577099e+01] [-7.72937474e-04 1.53159309e-05 9.99999701e-01 -3.73081173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59420382200003 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:243.76, Y:-23.36, Z:-0.37 [[ 9.98264584e-01 5.88831636e-02 7.70658811e-04 2.43760634e+02] [-5.88831339e-02 9.98264881e-01 -6.12528548e-05 -2.33602044e+01] [-7.72928388e-04 1.57677496e-05 9.99999701e-01 -3.72477547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62420382200003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:243.79, Y:-23.37, Z:-0.37 [[ 9.98339874e-01 5.75925494e-02 7.70661014e-04 2.43790305e+02] [-5.75925192e-02 9.98340171e-01 -6.12251276e-05 -2.33659023e+01] [-7.72907960e-04 1.67391769e-05 9.99999701e-01 -3.67742077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.654203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:243.82, Y:-23.37, Z:-0.37 [[ 9.98381473e-01 5.68668605e-02 7.70662504e-04 2.43818955e+02] [-5.68668302e-02 9.98381771e-01 -6.12063688e-05 -2.33693466e+01] [-7.72896009e-04 1.72821710e-05 9.99999701e-01 -3.70124545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.684203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.85, Y:-23.37, Z:-0.37 [[ 9.98415257e-01 5.62706065e-02 7.70664728e-04 2.43848691e+02] [-5.62705760e-02 9.98415554e-01 -6.11783493e-05 -2.33732160e+01] [-7.72886194e-04 1.77156491e-05 9.99999701e-01 -3.72715483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.714203822 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:243.88, Y:-23.38, Z:-0.37 [[ 9.98442189e-01 5.57906898e-02 7.70666170e-04 2.43878582e+02] [-5.57906592e-02 9.98442486e-01 -6.11601804e-05 -2.33777358e+01] [-7.72878016e-04 1.80689308e-05 9.99999701e-01 -3.71417984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.744203822 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:243.91, Y:-23.38, Z:-0.37 [[ 9.98453746e-01 5.55834803e-02 7.70668670e-04 2.43907895e+02] [-5.55834497e-02 9.98454043e-01 -6.11286575e-05 -2.33825386e+01] [-7.72874993e-04 1.81977139e-05 9.99999701e-01 -3.71940561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.774203822 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:243.94, Y:-23.39, Z:-0.37 [[ 9.98434162e-01 5.59341609e-02 7.70668153e-04 2.43936916e+02] [-5.59341304e-02 9.98434459e-01 -6.11351825e-05 -2.33890615e+01] [-7.72881185e-04 1.79328018e-05 9.99999701e-01 -3.73182055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.804203822 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:243.97, Y:-23.40, Z:-0.37 [[ 9.98327187e-01 5.78120537e-02 7.70668893e-04 2.43966248e+02] [-5.78120237e-02 9.98327484e-01 -6.11258433e-05 -2.33959238e+01] [-7.72913748e-04 1.64696628e-05 9.99999701e-01 -3.70769739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.834203822 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:244.00, Y:-23.40, Z:-0.37 [[ 9.98235525e-01 5.93737576e-02 7.70670307e-04 2.43996013e+02] [-5.93737282e-02 9.98235822e-01 -6.11080176e-05 -2.34004120e+01] [-7.72938920e-04 1.52426247e-05 9.99999701e-01 -3.66803210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.864203822 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:244.03, Y:-23.41, Z:-0.36 [[ 9.98063079e-01 6.22052683e-02 7.70671048e-04 2.44025404e+02] [-6.22052396e-02 9.98063377e-01 -6.10986636e-05 -2.34059174e+01] [-7.72979208e-04 1.30405431e-05 9.99999701e-01 -3.64732722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.894203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.06, Y:-23.41, Z:-0.37 [[ 9.97989406e-01 6.33762707e-02 7.70672541e-04 2.44055625e+02] [-6.33762425e-02 9.97989703e-01 -6.10798279e-05 -2.34116572e+01] [-7.72994273e-04 1.21146913e-05 9.99999701e-01 -3.67001031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.924203822 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:244.09, Y:-23.42, Z:-0.37 [[ 9.97952940e-01 6.39479161e-02 7.70672541e-04 2.44085870e+02] [-6.39478880e-02 9.97953237e-01 -6.10798279e-05 -2.34176786e+01] [-7.73001085e-04 1.16719124e-05 9.99999701e-01 -3.68274120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.954203822 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.12, Y:-23.42, Z:-0.37 [[ 9.97823055e-01 6.59435931e-02 7.70672541e-04 2.44115178e+02] [-6.59435656e-02 9.97823352e-01 -6.10798279e-05 -2.34242123e+01] [-7.73022882e-04 1.01259652e-05 9.99999701e-01 -3.71621702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.984203822 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:244.14, Y:-23.43, Z:-0.37 [[ 9.97674496e-01 6.81542827e-02 7.70673283e-04 2.44144588e+02] [-6.81542559e-02 9.97674794e-01 -6.10704706e-05 -2.34318290e+01] [-7.73043522e-04 8.40378684e-06 9.99999701e-01 -3.71216438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.014203822 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:244.17, Y:-23.44, Z:-0.37 [[ 9.97619526e-01 6.89542438e-02 7.70673992e-04 2.44173864e+02] [-6.89542172e-02 9.97619823e-01 -6.10615152e-05 -2.34370829e+01] [-7.73050103e-04 7.77493799e-06 9.99999701e-01 -3.71185803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04420382200001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:244.20, Y:-23.44, Z:-0.37 [[ 9.97487457e-01 7.08391041e-02 7.70674699e-04 2.44204070e+02] [-7.08390781e-02 9.97487755e-01 -6.10525994e-05 -2.34442991e+01] [-7.73063486e-04 6.30531694e-06 9.99999701e-01 -3.68463379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07420382200002 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:244.23, Y:-23.45, Z:-0.37 [[ 9.97399534e-01 7.20664635e-02 7.70674699e-04 2.44232927e+02] [-7.20664378e-02 9.97399832e-01 -6.10525994e-05 -2.34499647e+01] [-7.73070660e-04 5.35405394e-06 9.99999701e-01 -3.72174434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10420382200002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.26, Y:-23.46, Z:-0.37 [[ 9.97225808e-01 7.44318021e-02 7.70675409e-04 2.44263108e+02] [-7.44317771e-02 9.97226106e-01 -6.10436280e-05 -2.34594992e+01] [-7.73081225e-04 3.51154101e-06 9.99999701e-01 -3.70526272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13420382200002 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:244.29, Y:-23.46, Z:-0.37 [[ 9.97110503e-01 7.59608513e-02 7.70675409e-04 2.44293771e+02] [-7.59608268e-02 9.97110801e-01 -6.10436280e-05 -2.34633997e+01] [-7.73085700e-04 2.32610136e-06 9.99999701e-01 -3.69437963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16420382200002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.32, Y:-23.47, Z:-0.37 [[ 9.96793757e-01 8.00100713e-02 7.70675409e-04 2.44323249e+02] [-8.00100480e-02 9.96794055e-01 -6.10436280e-05 -2.34666295e+01] [-7.73088771e-04 -8.13869140e-07 9.99999701e-01 -3.71983935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19420382200002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.35, Y:-23.47, Z:-0.37 [[ 9.96636254e-01 8.19486671e-02 7.70674663e-04 2.44353761e+02] [-8.19486444e-02 9.96636552e-01 -6.10530509e-05 -2.34708756e+01] [-7.73085754e-04 -2.30805996e-06 9.99999701e-01 -3.72191787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22420382200002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.38, Y:-23.48, Z:-0.37 [[ 9.96284641e-01 8.61180641e-02 7.70674663e-04 2.44384093e+02] [-8.61180427e-02 9.96284939e-01 -6.10530509e-05 -2.34781108e+01] [-7.73069330e-04 -5.54277662e-06 9.99999701e-01 -3.71913857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25420382200002 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:244.41, Y:-23.48, Z:-0.37 [[ 9.96109318e-01 8.81228305e-02 7.70674663e-04 2.44414799e+02] [-8.81228096e-02 9.96109616e-01 -6.10530509e-05 -2.34817563e+01] [-7.73056610e-04 -7.09850372e-06 9.99999701e-01 -3.68451420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28420382200002 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:244.44, Y:-23.48, Z:-0.37 [[ 9.95771940e-01 9.18566821e-02 7.70674663e-04 2.44443967e+02] [-9.18566624e-02 9.95772238e-01 -6.10530509e-05 -2.34849014e+01] [-7.73024564e-04 -9.99668736e-06 9.99999701e-01 -3.68386341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.31420382200002 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:244.47, Y:-23.49, Z:-0.37 [[ 9.95672327e-01 9.29302060e-02 7.70675391e-04 2.44474345e+02] [-9.29301866e-02 9.95672625e-01 -6.10438530e-05 -2.34873116e+01] [-7.73013208e-04 -1.08393327e-05 9.99999701e-01 -3.68619958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34420382200003 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:244.50, Y:-23.49, Z:-0.37 [[ 9.95653129e-01 9.31356730e-02 7.70675391e-04 2.44504893e+02] [-9.31356537e-02 9.95653427e-01 -6.10438531e-05 -2.34894761e+01] [-7.73010955e-04 -1.09988531e-05 9.99999701e-01 -3.68326148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37420382200003 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.53, Y:-23.49, Z:-0.37 [[ 9.95718588e-01 9.24332189e-02 7.70675391e-04 2.44534556e+02] [-9.24331993e-02 9.95718886e-01 -6.10438531e-05 -2.34907175e+01] [-7.73018522e-04 -1.04534929e-05 9.99999701e-01 -3.70175784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.404203822 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:244.56, Y:-23.49, Z:-0.37 [[ 9.95965559e-01 8.97329958e-02 7.70676112e-04 2.44564883e+02] [-8.97329754e-02 9.95965858e-01 -6.10347497e-05 -2.34924522e+01] [-7.73043926e-04 -8.36655201e-06 9.99999701e-01 -3.73541375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.434203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.60, Y:-23.49, Z:-0.37 [[ 9.96145569e-01 8.77120885e-02 7.70676112e-04 2.44595510e+02] [-8.77120676e-02 9.96145868e-01 -6.10347497e-05 -2.34948535e+01] [-7.73059310e-04 -6.79809977e-06 9.99999701e-01 -3.71479584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.464203822 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:244.63, Y:-23.50, Z:-0.37 [[ 9.96327340e-01 8.56226443e-02 7.70676112e-04 2.44626188e+02] [-8.56226227e-02 9.96327638e-01 -6.10347497e-05 -2.34972705e+01] [-7.73071867e-04 -5.17672016e-06 9.99999701e-01 -3.70402399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.494203822 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:244.66, Y:-23.50, Z:-0.37 [[ 9.96680293e-01 8.14113033e-02 7.70675382e-04 2.44656819e+02] [-8.14112804e-02 9.96680591e-01 -6.10439717e-05 -2.35003524e+01] [-7.73086864e-04 -1.90034607e-06 9.99999701e-01 -3.72244726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.524203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.69, Y:-23.50, Z:-0.37 [[ 9.96886860e-01 7.88415812e-02 7.70674657e-04 2.44687959e+02] [-7.88415575e-02 9.96887158e-01 -6.10531209e-05 -2.35034475e+01] [-7.73089193e-04 1.01863685e-07 9.99999701e-01 -3.74605373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.554203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:244.72, Y:-23.51, Z:-0.38 [[ 9.97296498e-01 7.34785713e-02 7.70673242e-04 2.44719258e+02] [-7.34785460e-02 9.97296796e-01 -6.10709789e-05 -2.35066743e+01] [-7.73077363e-04 4.27792419e-06 9.99999701e-01 -3.75425911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.584203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.75, Y:-23.51, Z:-0.37 [[ 9.97482759e-01 7.09052355e-02 7.70664095e-04 2.44750439e+02] [-7.09052093e-02 9.97483056e-01 -6.11861869e-05 -2.35088863e+01] [-7.73062798e-04 6.38806754e-06 9.99999701e-01 -3.74367017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.614203822 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:244.78, Y:-23.51, Z:-0.37 [[ 9.97799124e-01 6.63047060e-02 7.70662702e-04 2.44781817e+02] [-6.63046785e-02 9.97799422e-01 -6.12037246e-05 -2.35118227e+01] [-7.73024894e-04 9.97048013e-06 9.99999701e-01 -3.73740878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.644203822 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:244.81, Y:-23.52, Z:-0.38 [[ 9.97912584e-01 6.45746067e-02 7.70661280e-04 2.44812750e+02] [-6.45745786e-02 9.97912882e-01 -6.12216250e-05 -2.35152932e+01] [-7.73006182e-04 1.13287026e-05 9.99999701e-01 -3.75168162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.674203822 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.84, Y:-23.52, Z:-0.37 [[ 9.98029754e-01 6.27376720e-02 7.70659862e-04 2.44843164e+02] [-6.27376434e-02 9.98030052e-01 -6.12394669e-05 -2.35218768e+01] [-7.72983724e-04 1.27694265e-05 9.99999701e-01 -3.73107723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.704203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.87, Y:-23.52, Z:-0.37 [[ 9.98028421e-01 6.27588720e-02 7.70650670e-04 2.44874475e+02] [-6.27588434e-02 9.98028719e-01 -6.13549301e-05 -2.35245339e+01] [-7.72982067e-04 1.28688193e-05 9.99999701e-01 -3.74626460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.734203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:244.91, Y:-23.53, Z:-0.37 [[ 9.97938266e-01 6.41764988e-02 7.70649271e-04 2.44905998e+02] [-6.41764705e-02 9.97938564e-01 -6.13724922e-05 -2.35267662e+01] [-7.72999299e-04 1.17884082e-05 9.99999701e-01 -3.73896810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.764203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.94, Y:-23.53, Z:-0.37 [[ 9.97843810e-01 6.56287868e-02 7.70647839e-04 2.44937029e+02] [-6.56287590e-02 9.97844107e-01 -6.13904770e-05 -2.35290630e+01] [-7.73015387e-04 1.06814462e-05 9.99999701e-01 -3.71527894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79420382200001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.97, Y:-23.53, Z:-0.37 [[ 9.97731256e-01 6.73182493e-02 7.70646391e-04 2.44967215e+02] [-6.73182219e-02 9.97731554e-01 -6.14086449e-05 -2.35307891e+01] [-7.73032143e-04 9.39077963e-06 9.99999701e-01 -3.70286852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82420382200002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.00, Y:-23.53, Z:-0.37 [[ 9.97498347e-01 7.06856028e-02 7.70645670e-04 2.44997183e+02] [-7.06855765e-02 9.97498644e-01 -6.14176928e-05 -2.35319081e+01] [-7.73059358e-04 6.79051360e-06 9.99999701e-01 -3.72549715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85420382200002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.03, Y:-23.54, Z:-0.38 [[ 9.97368503e-01 7.24946504e-02 7.70644954e-04 2.45027864e+02] [-7.24946246e-02 9.97368801e-01 -6.14266683e-05 -2.35372925e+01] [-7.73070339e-04 5.39740754e-06 9.99999701e-01 -3.75099509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88420382200002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:245.06, Y:-23.54, Z:-0.38 [[ 9.97361650e-01 7.25888730e-02 7.70644240e-04 2.45058218e+02] [-7.25888472e-02 9.97361948e-01 -6.14356336e-05 -2.35410048e+01] [-7.73070784e-04 5.33336802e-06 9.99999701e-01 -3.76485390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91420382200002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.09, Y:-23.54, Z:-0.37 [[ 9.97401611e-01 7.20377210e-02 7.70643528e-04 2.45088866e+02] [-7.20376951e-02 9.97401908e-01 -6.14445614e-05 -2.35425791e+01] [-7.73067652e-04 5.76952106e-06 9.99999701e-01 -3.74836390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94420382200002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:245.12, Y:-23.54, Z:-0.37 [[ 9.97443462e-01 7.14559049e-02 7.70638575e-04 2.45120097e+02] [-7.14558787e-02 9.97443760e-01 -6.15066145e-05 -2.35441171e+01] [-7.73063649e-04 6.28271395e-06 9.99999701e-01 -3.74403189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97420382200002 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:245.15, Y:-23.55, Z:-0.38 [[ 9.97468089e-01 7.11113044e-02 7.70637176e-04 2.45151598e+02] [-7.11112781e-02 9.97468387e-01 -6.15241469e-05 -2.35458074e+01] [-7.73061283e-04 6.56737875e-06 9.99999701e-01 -3.75132418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00420382200002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.18, Y:-23.55, Z:-0.38 [[ 9.97410361e-01 7.19164673e-02 7.70635780e-04 2.45182809e+02] [-7.19164412e-02 9.97410659e-01 -6.15416279e-05 -2.35464162e+01] [-7.73066197e-04 5.96087453e-06 9.99999701e-01 -3.75445650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03420382200002 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:245.21, Y:-23.55, Z:-0.38 [[ 9.97322275e-01 7.31278767e-02 7.70634385e-04 2.45212932e+02] [-7.31278510e-02 9.97322573e-01 -6.15590833e-05 -2.35495754e+01] [-7.73072753e-04 5.03940849e-06 9.99999701e-01 -3.76313574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06420382200002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:245.24, Y:-23.55, Z:-0.38 [[ 9.97124702e-01 7.57742376e-02 7.70633692e-04 2.45243491e+02] [-7.57742126e-02 9.97125000e-01 -6.15677547e-05 -2.35545185e+01] [-7.73083370e-04 2.99656781e-06 9.99999701e-01 -3.76105770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09420382200003 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:245.27, Y:-23.56, Z:-0.38 [[ 9.97033255e-01 7.69681354e-02 7.70633692e-04 2.45273788e+02] [-7.69681108e-02 9.97033553e-01 -6.15677547e-05 -2.35556869e+01] [-7.73086404e-04 2.07087952e-06 9.99999701e-01 -3.76612935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12420382200003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.30, Y:-23.55, Z:-0.38 [[ 9.96976222e-01 7.77034005e-02 7.70630493e-04 2.45304544e+02] [-7.77033761e-02 9.96976520e-01 -6.16077810e-05 -2.35530416e+01] [-7.73087641e-04 1.54090182e-06 9.99999701e-01 -3.77485476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.154203822 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:245.34, Y:-23.55, Z:-0.38 [[ 9.97002071e-01 7.73710284e-02 7.70630493e-04 2.45335056e+02] [-7.73710039e-02 9.97002369e-01 -6.16077810e-05 -2.35545268e+01] [-7.73087084e-04 1.79863042e-06 9.99999701e-01 -3.77050068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.184203822 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:245.37, Y:-23.56, Z:-0.38 [[ 9.97002071e-01 7.73710284e-02 7.70630493e-04 2.45365950e+02] [-7.73710039e-02 9.97002369e-01 -6.16077810e-05 -2.35569967e+01] [-7.73087084e-04 1.79863042e-06 9.99999701e-01 -3.77074028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.214203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:245.40, Y:-23.56, Z:-0.38 [[ 9.97204647e-01 7.47147770e-02 7.70630493e-04 2.45396108e+02] [-7.47147517e-02 9.97204945e-01 -6.16077810e-05 -2.35581600e+01] [-7.73079549e-04 3.85809961e-06 9.99999701e-01 -3.77592191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.244203822 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:245.43, Y:-23.56, Z:-0.38 [[ 9.97368480e-01 7.24949715e-02 7.70627321e-04 2.45426677e+02] [-7.24949455e-02 9.97368778e-01 -6.16474211e-05 -2.35602146e+01] [-7.73068758e-04 5.61860905e-06 9.99999701e-01 -3.78615342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.274203822 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:245.46, Y:-23.56, Z:-0.38 [[ 9.97732778e-01 6.72956939e-02 7.70626643e-04 2.45457947e+02] [-6.72956664e-02 9.97733075e-01 -6.16559029e-05 -2.35632775e+01] [-7.73028867e-04 9.65628181e-06 9.99999701e-01 -3.81728653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.304203822 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:245.49, Y:-23.57, Z:-0.38 [[ 9.97907068e-01 6.46598034e-02 7.70617881e-04 2.45488657e+02] [-6.46597750e-02 9.97907365e-01 -6.17652160e-05 -2.35666089e+01] [-7.72998986e-04 1.18079668e-05 9.99999701e-01 -3.81394030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.334203822 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:245.52, Y:-23.57, Z:-0.38 [[ 9.98149269e-01 6.08066047e-02 7.70616542e-04 2.45519932e+02] [-6.08065751e-02 9.98149566e-01 -6.17819247e-05 -2.35701266e+01] [-7.72947316e-04 1.48090303e-05 9.99999701e-01 -3.75214915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.364203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:245.55, Y:-23.57, Z:-0.37 [[ 9.98205746e-01 5.98723274e-02 7.70615043e-04 2.45551311e+02] [-5.98722976e-02 9.98206043e-01 -6.18006202e-05 -2.35727993e+01] [-7.72932739e-04 1.55512411e-05 9.99999701e-01 -3.74458449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.394203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:245.58, Y:-23.57, Z:-0.38 [[ 9.98255848e-01 5.90310726e-02 7.70609259e-04 2.45582652e+02] [-5.90310424e-02 9.98256146e-01 -6.18726581e-05 -2.35741369e+01] [-7.72917838e-04 1.62748750e-05 9.99999701e-01 -3.82145711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.424203822 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:245.61, Y:-23.58, Z:-0.37 [[ 9.98263259e-01 5.89056168e-02 7.70599592e-04 2.45614033e+02] [-5.89055865e-02 9.98263556e-01 -6.19928181e-05 -2.35768155e+01] [-7.72913214e-04 1.64925317e-05 9.99999701e-01 -3.73393368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.454203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.64, Y:-23.58, Z:-0.37 [[ 9.98277416e-01 5.86652108e-02 7.70598096e-04 2.45644427e+02] [-5.86651804e-02 9.98277713e-01 -6.20114045e-05 -2.35819598e+01] [-7.72908818e-04 1.66973083e-05 9.99999701e-01 -3.69953168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.484203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.68, Y:-23.59, Z:-0.38 [[ 9.98271990e-01 5.87574634e-02 7.70596597e-04 2.45675652e+02] [-5.87574330e-02 9.98272288e-01 -6.20300260e-05 -2.35853699e+01] [-7.72909955e-04 1.66445596e-05 9.99999701e-01 -3.75458789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.514203822 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.71, Y:-23.59, Z:-0.37 [[ 9.98273867e-01 5.87255625e-02 7.70587041e-04 2.45707219e+02] [-5.87255320e-02 9.98274165e-01 -6.21485216e-05 -2.35888671e+01] [-7.72906841e-04 1.67881111e-05 9.99999701e-01 -3.69436717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54420382200001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:245.74, Y:-23.59, Z:-0.37 [[ 9.98271487e-01 5.87660193e-02 7.70585583e-04 2.45738572e+02] [-5.87659888e-02 9.98271784e-01 -6.21665916e-05 -2.35925237e+01] [-7.72907128e-04 1.67749121e-05 9.99999701e-01 -3.70721689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57420382200002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.77, Y:-23.60, Z:-0.37 [[ 9.98225564e-01 5.95409856e-02 7.70584114e-04 2.45769422e+02] [-5.95409553e-02 9.98225862e-01 -6.21847921e-05 -2.35983723e+01] [-7.72919535e-04 1.61931348e-05 9.99999701e-01 -3.70917178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60420382200002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.80, Y:-23.60, Z:-0.37 [[ 9.98156208e-01 6.06925962e-02 7.70574592e-04 2.45801027e+02] [-6.06925661e-02 9.98156505e-01 -6.23025572e-05 -2.36021956e+01] [-7.72935346e-04 1.54195348e-05 9.99999701e-01 -3.69761306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63420382200002 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:245.83, Y:-23.61, Z:-0.37 [[ 9.97962275e-01 6.38020643e-02 7.70573138e-04 2.45831962e+02] [-6.38020352e-02 9.97962573e-01 -6.23205452e-05 -2.36050229e+01] [-7.72979330e-04 1.30294186e-05 9.99999701e-01 -3.71385706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66420382200002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.86, Y:-23.61, Z:-0.37 [[ 9.97844199e-01 6.56228705e-02 7.70571685e-04 2.45862702e+02] [-6.56228419e-02 9.97844496e-01 -6.23384974e-05 -2.36073653e+01] [-7.73001546e-04 1.16370041e-05 9.99999701e-01 -3.72768027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.69420382200002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.89, Y:-23.61, Z:-0.37 [[ 9.97541375e-01 7.00757525e-02 7.70570234e-04 2.45894170e+02] [-7.00757252e-02 9.97541673e-01 -6.23564324e-05 -2.36097886e+01] [-7.73045594e-04 8.20485331e-06 9.99999701e-01 -3.73744203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72420382200002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.92, Y:-23.61, Z:-0.38 [[ 9.97378078e-01 7.23628058e-02 7.70568790e-04 2.45924258e+02] [-7.23627792e-02 9.97378376e-01 -6.23742733e-05 -2.36129776e+01] [-7.73062225e-04 6.45023369e-06 9.99999701e-01 -3.75515330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.75420382200002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.95, Y:-23.62, Z:-0.38 [[ 9.97082993e-01 7.63211075e-02 7.70568074e-04 2.45953900e+02] [-7.63210820e-02 9.97083291e-01 -6.23831195e-05 -2.36182364e+01] [-7.73081699e-04 3.39055837e-06 9.99999701e-01 -3.75891885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78420382200002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.99, Y:-23.62, Z:-0.38 [[ 9.96964794e-01 7.78498929e-02 7.70567360e-04 2.45985012e+02] [-7.78498679e-02 9.96965092e-01 -6.23919395e-05 -2.36211175e+01] [-7.73085964e-04 2.21400000e-06 9.99999701e-01 -3.75060890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81420382200002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:246.02, Y:-23.62, Z:-0.37 [[ 9.96784838e-01 8.01211177e-02 7.70565936e-04 2.46015484e+02] [-8.01210934e-02 9.96785136e-01 -6.24095198e-05 -2.36191266e+01] [-7.73088991e-04 4.70277742e-07 9.99999701e-01 -3.74251353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84420382200003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.05, Y:-23.62, Z:-0.38 [[ 9.96731749e-01 8.07788701e-02 7.70565226e-04 2.46046720e+02] [-8.07788460e-02 9.96732047e-01 -6.24182761e-05 -2.36197074e+01] [-7.73089134e-04 -3.10921691e-08 9.99999701e-01 -3.76094703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87420382200003 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:246.08, Y:-23.62, Z:-0.38 [[ 9.96750485e-01 8.05473573e-02 7.70563814e-04 2.46077444e+02] [-8.05473331e-02 9.96750783e-01 -6.24357055e-05 -2.36229542e+01] [-7.73089116e-04 1.65959590e-07 9.99999701e-01 -3.79563744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.904203822 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:246.11, Y:-23.63, Z:-0.38 [[ 9.96792816e-01 8.00218002e-02 7.70562408e-04 2.46107519e+02] [-8.00217758e-02 9.96793114e-01 -6.24530542e-05 -2.36261098e+01] [-7.73088908e-04 5.90983479e-07 9.99999701e-01 -3.79558415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.934203822 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:246.14, Y:-23.63, Z:-0.38 [[ 9.96860937e-01 7.91686729e-02 7.70559194e-04 2.46137468e+02] [-7.91686483e-02 9.96861235e-01 -6.24926829e-05 -2.36288002e+01] [-7.73088052e-04 1.29238456e-06 9.99999701e-01 -3.78115637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.964203822 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:246.17, Y:-23.63, Z:-0.38 [[ 9.97046875e-01 7.67914988e-02 7.70558498e-04 2.46167936e+02] [-7.67914735e-02 9.97047173e-01 -6.25012655e-05 -2.36324825e+01] [-7.73082738e-04 3.14436901e-06 9.99999701e-01 -3.76175819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.994203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:246.20, Y:-23.63, Z:-0.37 [[ 9.97199923e-01 7.47778047e-02 7.70553665e-04 2.46198783e+02] [-7.47777787e-02 9.97200221e-01 -6.25607920e-05 -2.36346166e+01] [-7.73074444e-04 4.76532549e-06 9.99999701e-01 -3.74334263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.024203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.23, Y:-23.64, Z:-0.37 [[ 9.97248193e-01 7.41312908e-02 7.70552288e-04 2.46230288e+02] [-7.41312646e-02 9.97248490e-01 -6.25777478e-05 -2.36363979e+01] [-7.73071075e-04 5.28353031e-06 9.99999701e-01 -3.69852549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.054203822 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:246.26, Y:-23.64, Z:-0.37 [[ 9.97306348e-01 7.33447657e-02 7.70550805e-04 2.46260536e+02] [-7.33447392e-02 9.97306646e-01 -6.25960070e-05 -2.36389974e+01] [-7.73066528e-04 5.91154732e-06 9.99999701e-01 -3.74846667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.084203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.29, Y:-23.64, Z:-0.37 [[ 9.97321022e-01 7.31449633e-02 7.70550067e-04 2.46291341e+02] [-7.31449367e-02 9.97321319e-01 -6.26050833e-05 -2.36430218e+01] [-7.73065256e-04 6.07552967e-06 9.99999701e-01 -3.71796675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.114203822 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.32, Y:-23.64, Z:-0.37 [[ 9.97303713e-01 7.33805847e-02 7.70548599e-04 2.46321516e+02] [-7.33805583e-02 9.97304011e-01 -6.26231474e-05 -2.36445196e+01] [-7.73066532e-04 5.91101107e-06 9.99999701e-01 -3.71102625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.144203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.35, Y:-23.65, Z:-0.37 [[ 9.97294002e-01 7.35124464e-02 7.70545265e-04 2.46352552e+02] [-7.35124199e-02 9.97294300e-01 -6.26641453e-05 -2.36462616e+01] [-7.73066995e-04 5.84992922e-06 9.99999701e-01 -3.70650210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.174203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:246.38, Y:-23.65, Z:-0.37 [[ 9.97310588e-01 7.32870842e-02 7.70543802e-04 2.46383330e+02] [-7.32870577e-02 9.97310886e-01 -6.26821289e-05 -2.36483544e+01] [-7.73065513e-04 6.04266276e-06 9.99999701e-01 -3.71441698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.204203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.41, Y:-23.65, Z:-0.37 [[ 9.97393281e-01 7.21529547e-02 7.70542350e-04 2.46414547e+02] [-7.21529278e-02 9.97393579e-01 -6.26999790e-05 -2.36520757e+01] [-7.73057981e-04 6.93965126e-06 9.99999701e-01 -3.70239458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.234203822 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:246.45, Y:-23.66, Z:-0.38 [[ 9.97442268e-01 7.14725769e-02 7.70540843e-04 2.46445763e+02] [-7.14725498e-02 9.97442565e-01 -6.27184946e-05 -2.36566153e+01] [-7.73052887e-04 7.48555872e-06 9.99999701e-01 -3.79332248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.264203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:246.48, Y:-23.66, Z:-0.37 [[ 9.97495884e-01 7.07203509e-02 7.70531110e-04 2.46476649e+02] [-7.07203235e-02 9.97496181e-01 -6.28378444e-05 -2.36599283e+01] [-7.73045754e-04 8.18828179e-06 9.99999701e-01 -3.69867898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29420382200001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:246.51, Y:-23.66, Z:-0.37 [[ 9.97538655e-01 7.01144608e-02 7.70529581e-04 2.46507610e+02] [-7.01144331e-02 9.97538953e-01 -6.28565833e-05 -2.36610801e+01] [-7.73040427e-04 8.67662682e-06 9.99999701e-01 -3.67452492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.54, Y:-23.66, Z:-0.37 [[ 9.97564293e-01 6.97487480e-02 7.70523989e-04 2.46538657e+02] [-6.97487202e-02 9.97564590e-01 -6.29250583e-05 -2.36636352e+01] [-7.73036391e-04 9.02872916e-06 9.99999701e-01 -3.67658619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35420382200002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:246.57, Y:-23.67, Z:-0.37 [[ 9.97581909e-01 6.94963424e-02 7.70522473e-04 2.46570229e+02] [-6.94963145e-02 9.97582206e-01 -6.29436140e-05 -2.36693843e+01] [-7.73033860e-04 9.24293850e-06 9.99999701e-01 -3.72088863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38420382200002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:246.60, Y:-23.67, Z:-0.37 [[ 9.97601319e-01 6.92171520e-02 7.70519237e-04 2.46601705e+02] [-6.92171240e-02 9.97601617e-01 -6.29832065e-05 -2.36732643e+01] [-7.73030754e-04 9.49900438e-06 9.99999701e-01 -3.73696045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41420382200002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:246.63, Y:-23.68, Z:-0.37 [[ 9.97617971e-01 6.89767308e-02 7.70517735e-04 2.46633996e+02] [-6.89767027e-02 9.97618269e-01 -6.30015711e-05 -2.36769409e+01] [-7.73028212e-04 9.70372683e-06 9.99999701e-01 -3.74341670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44420382200002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:246.67, Y:-23.68, Z:-0.37 [[ 9.97693461e-01 6.78761004e-02 7.70507224e-04 2.46665330e+02] [-6.78760719e-02 9.97693758e-01 -6.31298573e-05 -2.36803354e+01] [-7.73015257e-04 1.06852421e-05 9.99999701e-01 -3.73576276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.47420382200002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:246.70, Y:-23.68, Z:-0.37 [[ 9.97670292e-01 6.82158023e-02 7.70501450e-04 2.46696779e+02] [-6.82157738e-02 9.97670589e-01 -6.32002513e-05 -2.36823952e+01] [-7.73017892e-04 1.04926605e-05 9.99999701e-01 -3.73616816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50420382200002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:246.73, Y:-23.69, Z:-0.37 [[ 9.97639052e-01 6.86711591e-02 7.70491765e-04 2.46727941e+02] [-6.86711306e-02 9.97639350e-01 -6.33181096e-05 -2.36854948e+01] [-7.73021031e-04 1.02580782e-05 9.99999701e-01 -3.73785294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.53420382200002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.76, Y:-23.69, Z:-0.37 [[ 9.97629444e-01 6.88105982e-02 7.70489556e-04 2.46759553e+02] [-6.88105698e-02 9.97629742e-01 -6.33449734e-05 -2.36889542e+01] [-7.73022102e-04 1.01769852e-05 9.99999701e-01 -3.73971675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56420382200002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:246.79, Y:-23.69, Z:-0.37 [[ 9.97613818e-01 6.90367823e-02 7.70488080e-04 2.46790602e+02] [-6.90367540e-02 9.97614115e-01 -6.33629224e-05 -2.36934596e+01] [-7.73024156e-04 1.00197309e-05 9.99999701e-01 -3.74427934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59420382200003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:246.82, Y:-23.70, Z:-0.38 [[ 9.97558629e-01 6.98297106e-02 7.70478569e-04 2.46821808e+02] [-6.98296824e-02 9.97558926e-01 -6.34783598e-05 -2.36999710e+01] [-7.73030450e-04 9.52111178e-06 9.99999701e-01 -3.75345287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62420382200003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.85, Y:-23.70, Z:-0.38 [[ 9.97483282e-01 7.08978774e-02 7.70469089e-04 2.46853447e+02] [-7.08978495e-02 9.97483579e-01 -6.35932203e-05 -2.37036379e+01] [-7.73038889e-04 8.80857259e-06 9.99999701e-01 -3.76605526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65420382200003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:246.89, Y:-23.71, Z:-0.38 [[ 9.97412630e-01 7.18849899e-02 7.70458906e-04 2.46885283e+02] [-7.18849621e-02 9.97412928e-01 -6.37163521e-05 -2.37056697e+01] [-7.73045922e-04 8.16708511e-06 9.99999701e-01 -3.77305021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.684203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:246.92, Y:-23.71, Z:-0.37 [[ 9.97236264e-01 7.42915875e-02 7.70448669e-04 2.46917032e+02] [-7.42915603e-02 9.97236562e-01 -6.38398955e-05 -2.37118265e+01] [-7.73062349e-04 6.42562507e-06 9.99999701e-01 -3.71930541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.714203822 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.95, Y:-23.72, Z:-0.37 [[ 9.97174023e-01 7.51223919e-02 7.70437835e-04 2.46947804e+02] [-7.51223649e-02 9.97174321e-01 -6.39703834e-05 -2.37156301e+01] [-7.73066433e-04 5.91249247e-06 9.99999701e-01 -3.74507897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.744203822 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:246.98, Y:-23.72, Z:-0.38 [[ 9.97015189e-01 7.72018143e-02 7.70427781e-04 2.46979336e+02] [-7.72017879e-02 9.97015486e-01 -6.40912404e-05 -2.37217313e+01] [-7.73076388e-04 4.42153807e-06 9.99999701e-01 -3.75515012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.774203822 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:247.01, Y:-23.73, Z:-0.38 [[ 9.96940272e-01 7.81632976e-02 7.70417680e-04 2.47010674e+02] [-7.81632713e-02 9.96940569e-01 -6.42124282e-05 -2.37267362e+01] [-7.73079696e-04 3.79758947e-06 9.99999701e-01 -3.76930903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.804203822 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:247.04, Y:-23.73, Z:-0.38 [[ 9.96737507e-01 8.07077979e-02 7.70407585e-04 2.47041805e+02] [-8.07077723e-02 9.96737805e-01 -6.43333202e-05 -2.37308243e+01] [-7.73086565e-04 1.94555326e-06 9.99999701e-01 -3.77635382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.834203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:247.07, Y:-23.73, Z:-0.37 [[ 9.96594624e-01 8.24533962e-02 7.70406149e-04 2.47074269e+02] [-8.24533711e-02 9.96594921e-01 -6.43505084e-05 -2.37337808e+01] [-7.73088774e-04 6.08786618e-07 9.99999701e-01 -3.74310083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.864203822 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:247.10, Y:-23.74, Z:-0.38 [[ 9.96449331e-01 8.41910776e-02 7.70395466e-04 2.47104843e+02] [-8.41910530e-02 9.96449629e-01 -6.44781576e-05 -2.37372523e+01] [-7.73088761e-04 -6.11188410e-07 9.99999701e-01 -3.79053759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.894203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:247.14, Y:-23.74, Z:-0.37 [[ 9.96154938e-01 8.76056244e-02 7.70385604e-04 2.47137050e+02] [-8.76056007e-02 9.96155236e-01 -6.45957719e-05 -2.37426384e+01] [-7.73082606e-04 -3.14269641e-06 9.99999701e-01 -3.73419156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.924203822 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:247.17, Y:-23.75, Z:-0.38 [[ 9.95896979e-01 9.04909581e-02 7.70374631e-04 2.47168655e+02] [-9.04909351e-02 9.95897277e-01 -6.47263699e-05 -2.37454919e+01] [-7.73071149e-04 -5.25112452e-06 9.99999701e-01 -3.76327217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.954203822 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:247.20, Y:-23.75, Z:-0.37 [[ 9.95767779e-01 9.19017827e-02 7.70362925e-04 2.47200932e+02] [-9.19017600e-02 9.95768077e-01 -6.48653892e-05 -2.37480764e+01] [-7.73064053e-04 -6.20684415e-06 9.99999701e-01 -3.74513011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.984203822 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:247.23, Y:-23.75, Z:-0.38 [[ 9.95666420e-01 9.29934747e-02 7.70351973e-04 2.47231761e+02] [-9.29934522e-02 9.95666718e-01 -6.49952025e-05 -2.37501310e+01] [-7.73057950e-04 -6.92414880e-06 9.99999701e-01 -3.75690977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.014203822 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:247.26, Y:-23.75, Z:-0.37 [[ 9.95480622e-01 9.49617693e-02 7.70345753e-04 2.47263009e+02] [-9.49617474e-02 9.95480920e-01 -6.50688419e-05 -2.37502195e+01] [-7.73043551e-04 -8.37860759e-06 9.99999701e-01 -3.74952802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04420382200001 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:247.29, Y:-23.75, Z:-0.38 [[ 9.95391881e-01 9.58874877e-02 7.70344216e-04 2.47293840e+02] [-9.58874661e-02 9.95392179e-01 -6.50870316e-05 -2.37520478e+01] [-7.73035640e-04 -9.07925206e-06 9.99999701e-01 -3.79098003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07420382200002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:247.33, Y:-23.75, Z:-0.37 [[ 9.95351214e-01 9.63087091e-02 7.70334236e-04 2.47326197e+02] [-9.63086875e-02 9.95351512e-01 -6.52049390e-05 -2.37540163e+01] [-7.73033150e-04 -9.28806399e-06 9.99999701e-01 -3.74761962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10420382200002 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:247.36, Y:-23.76, Z:-0.38 [[ 9.95397978e-01 9.58241769e-02 7.70323332e-04 2.47357437e+02] [-9.58241550e-02 9.95398276e-01 -6.53335063e-05 -2.37576523e+01] [-7.73039045e-04 -8.78274229e-06 9.99999701e-01 -3.78733462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13420382200002 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:247.39, Y:-23.76, Z:-0.38 [[ 9.95382881e-01 9.59808654e-02 7.70313250e-04 2.47389970e+02] [-9.59808435e-02 9.95383179e-01 -6.54521576e-05 -2.37605772e+01] [-7.73039006e-04 -8.78535825e-06 9.99999701e-01 -3.78758722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16420382200002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:247.42, Y:-23.76, Z:-0.38 [[ 9.95460112e-01 9.51765342e-02 7.70302928e-04 2.47421737e+02] [-9.51765119e-02 9.95460410e-01 -6.55734141e-05 -2.37641262e+01] [-7.73047118e-04 -8.03902767e-06 9.99999701e-01 -3.76883892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19420382200002 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:247.45, Y:-23.76, Z:-0.37 [[ 9.95725120e-01 9.23628280e-02 7.70292224e-04 2.47454434e+02] [-9.23628048e-02 9.95725418e-01 -6.56989090e-05 -2.37633825e+01] [-7.73067684e-04 -5.72829629e-06 9.99999701e-01 -3.73935274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22420382200002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:247.49, Y:-23.76, Z:-0.37 [[ 9.95876276e-01 9.07185181e-02 7.70281462e-04 2.47486097e+02] [-9.07184943e-02 9.95876574e-01 -6.58248501e-05 -2.37633928e+01] [-7.73076796e-04 -4.32536785e-06 9.99999701e-01 -3.74271459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.25420382200002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:247.52, Y:-23.76, Z:-0.37 [[ 9.96185401e-01 8.72585420e-02 7.70271456e-04 2.47518624e+02] [-8.72585171e-02 9.96185699e-01 -6.59417291e-05 -2.37646047e+01] [-7.73087388e-04 -1.52255711e-06 9.99999701e-01 -3.73587947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28420382200002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:247.55, Y:-23.77, Z:-0.37 [[ 9.96354839e-01 8.53020578e-02 7.70260383e-04 2.47549936e+02] [-8.53020322e-02 9.96355137e-01 -6.60708147e-05 -2.37679369e+01] [-7.73088866e-04 1.25199902e-07 9.99999701e-01 -3.73779305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.58, Y:-23.77, Z:-0.37 [[ 9.96720083e-01 8.09226925e-02 7.70254060e-04 2.47582168e+02] [-8.09226656e-02 9.96720381e-01 -6.61444454e-05 -2.37711499e+01] [-7.73080507e-04 3.59648537e-06 9.99999701e-01 -3.71617316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34420382200003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:247.61, Y:-23.77, Z:-0.37 [[ 9.96924291e-01 7.83668593e-02 7.70243006e-04 2.47613728e+02] [-7.83668315e-02 9.96924589e-01 -6.62729210e-05 -2.37733456e+01] [-7.73067793e-04 5.70758094e-06 9.99999701e-01 -3.72198669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37420382200003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:247.65, Y:-23.78, Z:-0.37 [[ 9.97134690e-01 7.56426874e-02 7.70232768e-04 2.47645489e+02] [-7.56426587e-02 9.97134988e-01 -6.63917008e-05 -2.37753717e+01] [-7.73048088e-04 7.93901361e-06 9.99999701e-01 -3.71887539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40420382200003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:247.68, Y:-23.78, Z:-0.37 [[ 9.97612441e-01 6.90566730e-02 7.70221804e-04 2.47676441e+02] [-6.90566422e-02 9.97612738e-01 -6.65186515e-05 -2.37769666e+01] [-7.72976640e-04 1.31709028e-05 9.99999701e-01 -3.69029663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.434203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:247.71, Y:-23.78, Z:-0.37 [[ 9.98073557e-01 6.20369410e-02 7.70216008e-04 2.47707146e+02] [-6.20369081e-02 9.98073854e-01 -6.65857000e-05 -2.37835350e+01] [-7.72863232e-04 1.86756068e-05 9.99999701e-01 -3.67840033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.464203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.74, Y:-23.79, Z:-0.37 [[ 9.98267577e-01 5.88324083e-02 7.70205976e-04 2.47738450e+02] [-5.88323744e-02 9.98267874e-01 -6.67015361e-05 -2.37900529e+01] [-7.72796094e-04 2.12729345e-05 9.99999701e-01 -3.68980653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.494203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:247.77, Y:-23.80, Z:-0.37 [[ 9.98418330e-01 5.62160569e-02 7.70195234e-04 2.47769990e+02] [-5.62160220e-02 9.98418627e-01 -6.68253459e-05 -2.37970060e+01] [-7.72733925e-04 2.34223380e-05 9.99999701e-01 -3.70241235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.524203822 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:247.80, Y:-23.80, Z:-0.38 [[ 9.98603815e-01 5.28188154e-02 7.70184295e-04 2.47800649e+02] [-5.28187794e-02 9.98604112e-01 -6.69511774e-05 -2.38031711e+01] [-7.72645486e-04 2.61775067e-05 9.99999701e-01 -3.76228957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.554203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:247.83, Y:-23.81, Z:-0.38 [[ 9.98622843e-01 5.24578298e-02 7.70182717e-04 2.47832312e+02] [-5.24577937e-02 9.98623140e-01 -6.69693271e-05 -2.38086426e+01] [-7.72635349e-04 2.64750137e-05 9.99999701e-01 -3.76825592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.584203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:247.86, Y:-23.82, Z:-0.37 [[ 9.98558283e-01 5.36727406e-02 7.70170953e-04 2.47863796e+02] [-5.36727048e-02 9.98558579e-01 -6.71043407e-05 -2.38152546e+01] [-7.72662487e-04 2.56704370e-05 9.99999701e-01 -3.73927589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.614203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:247.90, Y:-23.82, Z:-0.37 [[ 9.98482616e-01 5.50624403e-02 7.70160055e-04 2.47895738e+02] [-5.50624048e-02 9.98482913e-01 -6.72291850e-05 -2.38221151e+01] [-7.72693458e-04 2.47203077e-05 9.99999701e-01 -3.70990828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.644203822 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:247.93, Y:-23.83, Z:-0.37 [[ 9.98400449e-01 5.65327279e-02 7.70149128e-04 2.47926763e+02] [-5.65326928e-02 9.98400746e-01 -6.73541380e-05 -2.38270342e+01] [-7.72725177e-04 2.37077976e-05 9.99999701e-01 -3.72188265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.674203822 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:247.96, Y:-23.84, Z:-0.37 [[ 9.98170557e-01 6.04561505e-02 7.70138980e-04 2.47957745e+02] [-6.04561164e-02 9.98170854e-01 -6.74699641e-05 -2.38350425e+01] [-7.72809258e-04 2.07869198e-05 9.99999701e-01 -3.71325274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.704203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:247.99, Y:-23.84, Z:-0.37 [[ 9.97982046e-01 6.34920676e-02 7.70131201e-04 2.47990593e+02] [-6.34920343e-02 9.97982343e-01 -6.75586446e-05 -2.38386256e+01] [-7.72866778e-04 1.85251177e-05 9.99999701e-01 -3.70492393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.734203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.02, Y:-23.84, Z:-0.37 [[ 9.97476461e-01 7.09937847e-02 7.70118528e-04 2.48021856e+02] [-7.09937536e-02 9.97476758e-01 -6.77027989e-05 -2.38423282e+01] [-7.72981810e-04 1.28583431e-05 9.99999701e-01 -3.70314909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.764203822 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:248.05, Y:-23.85, Z:-0.37 [[ 9.97181106e-01 7.50283256e-02 7.70108266e-04 2.48054090e+02] [-7.50282956e-02 9.97181403e-01 -6.78193253e-05 -2.38472254e+01] [-7.73026012e-04 9.84823909e-06 9.99999701e-01 -3.71087541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79420382200001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:248.09, Y:-23.85, Z:-0.37 [[ 9.96547189e-01 8.30247332e-02 7.70097197e-04 2.48085754e+02] [-8.30247055e-02 9.96547487e-01 -6.79447884e-05 -2.38513772e+01] [-7.73079524e-04 3.77309502e-06 9.99999701e-01 -3.70995416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82420382200002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:248.12, Y:-23.86, Z:-0.37 [[ 9.96230636e-01 8.67405708e-02 7.70085446e-04 2.48116818e+02] [-8.67405441e-02 9.96230934e-01 -6.80777147e-05 -2.38551792e+01] [-7.73088042e-04 1.02347444e-06 9.99999701e-01 -3.73762746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:248.15, Y:-23.86, Z:-0.37 [[ 9.95914971e-01 9.02927313e-02 7.70078999e-04 2.48149245e+02] [-9.02927056e-02 9.95915269e-01 -6.81505638e-05 -2.38581717e+01] [-7.73086934e-04 -1.66034953e-06 9.99999701e-01 -3.73172128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.18, Y:-23.86, Z:-0.37 [[ 9.95365926e-01 9.61565369e-02 7.70066623e-04 2.48181711e+02] [-9.61565128e-02 9.95366224e-01 -6.82901162e-05 -2.38592295e+01] [-7.73064848e-04 -6.07326637e-06 9.99999701e-01 -3.69648653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:248.21, Y:-23.86, Z:-0.37 [[ 9.95003121e-01 9.98408545e-02 7.70055353e-04 2.48213344e+02] [-9.98408314e-02 9.95003419e-01 -6.84169632e-05 -2.38574348e+01] [-7.73038517e-04 -8.80787474e-06 9.99999701e-01 -3.71941027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94420382200002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:248.25, Y:-23.86, Z:-0.37 [[ 9.94901886e-01 1.00844652e-01 7.70049207e-04 2.48246176e+02] [-1.00844629e-01 9.94902184e-01 -6.84860697e-05 -2.38599241e+01] [-7.73030092e-04 -9.51840652e-06 9.99999701e-01 -3.72519249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.97420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.28, Y:-23.86, Z:-0.37 [[ 9.94874278e-01 1.01116652e-01 7.70037053e-04 2.48279047e+02] [-1.01116630e-01 9.94874576e-01 -6.86224519e-05 -2.38631093e+01] [-7.73029160e-04 -9.59283920e-06 9.99999701e-01 -3.68655585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00420382200002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:248.31, Y:-23.86, Z:-0.37 [[ 9.94943971e-01 1.00428592e-01 7.70023850e-04 2.48312509e+02] [-1.00428568e-01 9.94944269e-01 -6.87702883e-05 -2.38634905e+01] [-7.73037320e-04 -8.90980922e-06 9.99999701e-01 -3.70418194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.34, Y:-23.87, Z:-0.37 [[ 9.95016511e-01 9.97073234e-02 7.70010618e-04 2.48344501e+02] [-9.97072999e-02 9.95016809e-01 -6.89181221e-05 -2.38656108e+01] [-7.73045150e-04 -8.20101027e-06 9.99999701e-01 -3.71784532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.38, Y:-23.87, Z:-0.37 [[ 9.95282070e-01 9.70206592e-02 7.70002382e-04 2.48376083e+02] [-9.70206348e-02 9.95282368e-01 -6.90100217e-05 -2.38679360e+01] [-7.73065192e-04 -6.02168268e-06 9.99999701e-01 -3.69254189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.41, Y:-23.87, Z:-0.37 [[ 9.95464717e-01 9.51283528e-02 7.70041567e-04 2.48407426e+02] [-9.51283282e-02 9.95465015e-01 -6.85732646e-05 -2.38697660e+01] [-7.73072702e-04 -4.99050150e-06 9.99999701e-01 -3.69437760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.44, Y:-23.87, Z:-0.37 [[ 9.95769612e-01 9.18819137e-02 7.69988202e-04 2.48439827e+02] [-9.18818877e-02 9.95769910e-01 -6.91673411e-05 -2.38670583e+01] [-7.73086310e-04 -1.87323301e-06 9.99999701e-01 -3.70723115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.47, Y:-23.87, Z:-0.37 [[ 9.95930896e-01 9.01169118e-02 7.69975674e-04 2.48471560e+02] [-9.01168852e-02 9.95931194e-01 -6.93065241e-05 -2.38671929e+01] [-7.73088482e-04 -3.63300757e-07 9.99999701e-01 -3.71047069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.50, Y:-23.87, Z:-0.37 [[ 9.96316743e-01 8.57458697e-02 7.69963413e-04 2.48504925e+02] [-8.57458417e-02 9.96317041e-01 -6.94424724e-05 -2.38689323e+01] [-7.73082074e-04 3.16553710e-06 9.99999701e-01 -3.68643021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.214203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:248.54, Y:-23.87, Z:-0.37 [[ 9.96504738e-01 8.35327173e-02 7.69949797e-04 2.48535995e+02] [-8.35326885e-02 9.96505035e-01 -6.95931071e-05 -2.38722461e+01] [-7.73072151e-04 5.03388437e-06 9.99999701e-01 -3.71313507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.57, Y:-23.88, Z:-0.37 [[ 9.96818972e-01 7.96953161e-02 7.69938766e-04 2.48568155e+02] [-7.96952861e-02 9.96819270e-01 -6.97149330e-05 -2.38765878e+01] [-7.73045752e-04 8.13267763e-06 9.99999701e-01 -3.72421861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.60, Y:-23.88, Z:-0.37 [[ 9.96953055e-01 7.80000904e-02 7.69927217e-04 2.48601368e+02] [-7.80000597e-02 9.96953352e-01 -6.98422553e-05 -2.38799087e+01] [-7.73029222e-04 9.57508087e-06 9.99999701e-01 -3.70382696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.304203822 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:248.63, Y:-23.88, Z:-0.37 [[ 9.97166721e-01 7.52192653e-02 7.69913417e-04 2.48633745e+02] [-7.52192337e-02 9.97167018e-01 -6.99940432e-05 -2.38802731e+01] [-7.72997167e-04 1.18834333e-05 9.99999701e-01 -3.71866988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.67, Y:-23.88, Z:-0.37 [[ 9.97243817e-01 7.41901366e-02 7.69900548e-04 2.48666059e+02] [-7.41901046e-02 9.97244114e-01 -7.01353164e-05 -2.38826450e+01] [-7.72982139e-04 1.28230085e-05 9.99999701e-01 -3.70518431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.70, Y:-23.88, Z:-0.37 [[ 9.97333436e-01 7.29755121e-02 7.69887800e-04 2.48697029e+02] [-7.29754796e-02 9.97333733e-01 -7.02749753e-05 -2.38845600e+01] [-7.72963426e-04 1.39046512e-05 9.99999701e-01 -3.72220169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.73, Y:-23.89, Z:-0.37 [[ 9.97351412e-01 7.27294130e-02 7.69876823e-04 2.48730102e+02] [-7.27293804e-02 9.97351709e-01 -7.03950226e-05 -2.38883167e+01] [-7.72957754e-04 1.42159109e-05 9.99999701e-01 -3.71935865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.76, Y:-23.89, Z:-0.37 [[ 9.97316691e-01 7.32039937e-02 7.69863294e-04 2.48761198e+02] [-7.32039610e-02 9.97316988e-01 -7.05426679e-05 -2.38936269e+01] [-7.72961747e-04 1.39963376e-05 9.99999701e-01 -3.74037211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.79, Y:-23.90, Z:-0.37 [[ 9.97273051e-01 7.37961250e-02 7.69852371e-04 2.48794007e+02] [-7.37960925e-02 9.97273349e-01 -7.06616792e-05 -2.38975305e+01] [-7.72967810e-04 1.36568917e-05 9.99999701e-01 -3.73569718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.83, Y:-23.90, Z:-0.37 [[ 9.97216282e-01 7.45593290e-02 7.69838927e-04 2.48825243e+02] [-7.45592965e-02 9.97216579e-01 -7.08078475e-05 -2.39011030e+01] [-7.72975527e-04 1.32120896e-05 9.99999701e-01 -3.72604733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.86, Y:-23.90, Z:-0.37 [[ 9.97195060e-01 7.48426333e-02 7.69832249e-04 2.48858068e+02] [-7.48426009e-02 9.97195357e-01 -7.08803784e-05 -2.39048690e+01] [-7.72978018e-04 1.30653155e-05 9.99999701e-01 -3.71296397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.89, Y:-23.91, Z:-0.37 [[ 9.97178130e-01 7.50678639e-02 7.69818551e-04 2.48890451e+02] [-7.50678314e-02 9.97178427e-01 -7.10288309e-05 -2.39092101e+01] [-7.72978435e-04 1.30397875e-05 9.99999701e-01 -3.71897125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.92, Y:-23.91, Z:-0.37 [[ 9.97131090e-01 7.56901325e-02 7.69804846e-04 2.48920834e+02] [-7.56901001e-02 9.97131387e-01 -7.11770578e-05 -2.39148865e+01] [-7.72983975e-04 1.27062514e-05 9.99999701e-01 -3.74580356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.95, Y:-23.92, Z:-0.37 [[ 9.96972153e-01 7.77556019e-02 7.69793764e-04 2.48952103e+02] [-7.77555700e-02 9.96972450e-01 -7.12967122e-05 -2.39211275e+01] [-7.73006894e-04 1.12250837e-05 9.99999701e-01 -3.72935939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.98, Y:-23.93, Z:-0.37 [[ 9.96835959e-01 7.94825713e-02 7.69786941e-04 2.48983182e+02] [-7.94825399e-02 9.96836256e-01 -7.13702982e-05 -2.39252240e+01] [-7.73024227e-04 9.95985834e-06 9.99999701e-01 -3.71901272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:249.01, Y:-23.93, Z:-0.37 [[ 9.96645534e-01 8.18357322e-02 7.69775897e-04 2.49014949e+02] [-8.18357014e-02 9.96645831e-01 -7.14892230e-05 -2.39294479e+01] [-7.73044311e-04 8.25426447e-06 9.99999701e-01 -3.72639795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.69420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:249.05, Y:-23.93, Z:-0.37 [[ 9.96181708e-01 8.73006969e-02 7.69763199e-04 2.49047673e+02] [-8.73006676e-02 9.96182006e-01 -7.16256852e-05 -2.39344493e+01] [-7.73077220e-04 4.15135626e-06 9.99999701e-01 -3.71153548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:249.08, Y:-23.94, Z:-0.37 [[ 9.95859704e-01 9.09002589e-02 7.69749543e-04 2.49078269e+02] [-9.09002306e-02 9.95860002e-01 -7.17721508e-05 -2.39385444e+01] [-7.73086888e-04 1.50458197e-06 9.99999701e-01 -3.70694545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.11, Y:-23.94, Z:-0.37 [[ 9.95231178e-01 9.75413258e-02 7.69738476e-04 2.49110768e+02] [-9.75412994e-02 9.95231475e-01 -7.18906395e-05 -2.39412591e+01] [-7.73080268e-04 -3.53348531e-06 9.99999701e-01 -3.66615548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.14, Y:-23.94, Z:-0.37 [[ 9.94912163e-01 1.00743220e-01 7.69725973e-04 2.49143067e+02] [-1.00743194e-01 9.94912460e-01 -7.20242589e-05 -2.39420592e+01] [-7.73065918e-04 -5.88684197e-06 9.99999701e-01 -3.70350473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.17, Y:-23.94, Z:-0.37 [[ 9.94647294e-01 1.03325546e-01 7.69717065e-04 2.49174935e+02] [-1.03325521e-01 9.94647592e-01 -7.21193319e-05 -2.39420705e+01] [-7.73048995e-04 -7.79811880e-06 9.99999701e-01 -3.69499856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.21, Y:-23.94, Z:-0.38 [[ 9.94293738e-01 1.06674130e-01 7.69704773e-04 2.49206223e+02] [-1.06674106e-01 9.94294036e-01 -7.22502808e-05 -2.39423411e+01] [-7.73020101e-04 -1.02695667e-05 9.99999701e-01 -3.75774077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.24, Y:-23.94, Z:-0.38 [[ 9.94390792e-01 1.05765591e-01 7.69693400e-04 2.49238706e+02] [-1.05765567e-01 9.94391090e-01 -7.23712457e-05 -2.39447825e+01] [-7.73030646e-04 -9.44175861e-06 9.99999701e-01 -3.76515837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.27, Y:-23.95, Z:-0.38 [[ 9.94535394e-01 1.04397115e-01 7.69689016e-04 2.49268961e+02] [-1.04397090e-01 9.94535692e-01 -7.24178311e-05 -2.39461251e+01] [-7.73043411e-04 -8.33119748e-06 9.99999701e-01 -3.80268888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.30, Y:-23.95, Z:-0.38 [[ 9.95121778e-01 9.86511736e-02 7.69754239e-04 2.49301690e+02] [-9.86511476e-02 9.95122076e-01 -7.17255426e-05 -2.39478777e+01] [-7.73075246e-04 -4.56148962e-06 9.99999701e-01 -3.76883254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.33, Y:-23.95, Z:-0.38 [[ 9.95435654e-01 9.54320013e-02 7.69663203e-04 2.49333423e+02] [-9.54319737e-02 9.95435951e-01 -7.26894733e-05 -2.39515895e+01] [-7.73087324e-04 -1.09278510e-06 9.99999701e-01 -3.78200860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.37, Y:-23.95, Z:-0.38 [[ 9.95419780e-01 9.55974353e-02 7.69650018e-04 2.49365928e+02] [-9.55974076e-02 9.95420077e-01 -7.28288090e-05 -2.39548175e+01] [-7.73087328e-04 -1.08130940e-06 9.99999701e-01 -3.78226122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:249.40, Y:-23.96, Z:-0.38 [[ 9.95714532e-01 9.24769030e-02 7.69637893e-04 2.49396453e+02] [-9.24768743e-02 9.95714830e-01 -7.29567181e-05 -2.39581209e+01] [-7.73086675e-04 1.47035777e-06 9.99999701e-01 -3.80424735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05420382200003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:249.43, Y:-23.96, Z:-0.38 [[ 9.96280615e-01 8.61646365e-02 7.69626675e-04 2.49427798e+02] [-8.61646057e-02 9.96280912e-01 -7.30748689e-05 -2.39634846e+01] [-7.73060835e-04 6.48849637e-06 9.99999701e-01 -3.81502583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.46, Y:-23.97, Z:-0.38 [[ 9.96542743e-01 8.30780929e-02 7.69614435e-04 2.49459785e+02] [-8.30780612e-02 9.96543040e-01 -7.32035523e-05 -2.39687901e+01] [-7.73035520e-04 9.01239372e-06 9.99999701e-01 -3.80647886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11420382200004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:249.49, Y:-23.98, Z:-0.38 [[ 9.96845449e-01 7.93634586e-02 7.69601361e-04 2.49491029e+02] [-7.93634256e-02 9.96845746e-01 -7.33407410e-05 -2.39759406e+01] [-7.72994418e-04 1.20311835e-05 9.99999701e-01 -3.84668873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.52, Y:-23.98, Z:-0.38 [[ 9.96934965e-01 7.82309653e-02 7.69589337e-04 2.49522905e+02] [-7.82309319e-02 9.96935262e-01 -7.34666999e-05 -2.39809994e+01] [-7.72978118e-04 1.30358309e-05 9.99999701e-01 -3.80388318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.56, Y:-23.99, Z:-0.38 [[ 9.96838992e-01 7.94445193e-02 7.69577072e-04 2.49556012e+02] [-7.94444861e-02 9.96839289e-01 -7.35949478e-05 -2.39852140e+01] [-7.72991377e-04 1.22236585e-05 9.99999701e-01 -3.79913359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.59, Y:-23.99, Z:-0.38 [[ 9.96709982e-01 8.10470195e-02 7.69562920e-04 2.49588628e+02] [-8.10469868e-02 9.96710279e-01 -7.37426348e-05 -2.39898378e+01] [-7.73007894e-04 1.11292644e-05 9.99999701e-01 -3.79371618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.62, Y:-24.00, Z:-0.38 [[ 9.96521986e-01 8.33266969e-02 7.69548502e-04 2.49619714e+02] [-8.33266647e-02 9.96522283e-01 -7.38927958e-05 -2.39950320e+01] [-7.73029473e-04 9.51188572e-06 9.99999701e-01 -3.79126397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26420382200007 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:249.65, Y:-24.00, Z:-0.38 [[ 9.96127570e-01 8.79162841e-02 7.69541554e-04 2.49651030e+02] [-8.79162532e-02 9.96127867e-01 -7.39650778e-05 -2.40020698e+01] [-7.73064522e-04 6.02344308e-06 9.99999701e-01 -3.82791213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.68, Y:-24.01, Z:-0.38 [[ 9.95965153e-01 8.97375147e-02 7.69537013e-04 2.49681559e+02] [-8.97374843e-02 9.95965450e-01 -7.40122956e-05 -2.40072352e+01] [-7.73073957e-04 4.65735171e-06 9.99999701e-01 -3.81506954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.71, Y:-24.01, Z:-0.39 [[ 9.95540419e-01 9.43328280e-02 7.69525197e-04 2.49712852e+02] [-9.43327989e-02 9.95540716e-01 -7.41349508e-05 -2.40128704e+01] [-7.73087025e-04 1.21287440e-06 9.99999701e-01 -3.87067301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.75, Y:-24.02, Z:-0.39 [[ 9.95288988e-01 9.69496639e-02 7.69512620e-04 2.49745770e+02] [-9.69496355e-02 9.95289286e-01 -7.42652621e-05 -2.40154979e+01] [-7.73087659e-04 -6.88570382e-07 9.99999701e-01 -3.85828125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.78, Y:-24.02, Z:-0.38 [[ 9.94835883e-01 1.01493716e-01 7.69498342e-04 2.49778076e+02] [-1.01493689e-01 9.94836180e-01 -7.44129119e-05 -2.40157926e+01] [-7.73077234e-04 -4.07059071e-06 9.99999701e-01 -3.81623280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.81, Y:-24.02, Z:-0.38 [[ 9.94604917e-01 1.03732675e-01 7.69485823e-04 2.49810714e+02] [-1.03732649e-01 9.94605214e-01 -7.45421438e-05 -2.40188899e+01] [-7.73067068e-04 -5.68081975e-06 9.99999701e-01 -3.80784626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.84, Y:-24.02, Z:-0.38 [[ 9.94292545e-01 1.06685254e-01 7.69471337e-04 2.49841309e+02] [-1.06685228e-01 9.94292842e-01 -7.46913790e-05 -2.40248034e+01] [-7.73048312e-04 -7.82614374e-06 9.99999701e-01 -3.83246270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.87, Y:-24.03, Z:-0.38 [[ 9.94156479e-01 1.07945832e-01 7.69459634e-04 2.49873792e+02] [-1.07945806e-01 9.94156777e-01 -7.48117512e-05 -2.40291158e+01] [-7.73039126e-04 -8.68535346e-06 9.99999701e-01 -3.83420368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.91, Y:-24.03, Z:-0.39 [[ 9.94001641e-01 1.09362452e-01 7.69445613e-04 2.49906542e+02] [-1.09362427e-01 9.94001939e-01 -7.49556745e-05 -2.40289821e+01] [-7.73027768e-04 -9.64237604e-06 9.99999701e-01 -3.85002829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.94, Y:-24.03, Z:-0.38 [[ 9.94012984e-01 1.09259305e-01 7.69431591e-04 2.49939989e+02] [-1.09259280e-01 9.94013282e-01 -7.50993385e-05 -2.40300952e+01] [-7.73030523e-04 -9.41782397e-06 9.99999701e-01 -3.82181727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.97, Y:-24.03, Z:-0.38 [[ 9.94225859e-01 1.07304935e-01 7.69416954e-04 2.49971495e+02] [-1.07304909e-01 9.94226157e-01 -7.52490044e-05 -2.40308367e+01] [-7.73049051e-04 -7.74771037e-06 9.99999701e-01 -3.84246328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.00, Y:-24.03, Z:-0.38 [[ 9.94360772e-01 1.06047454e-01 7.69409934e-04 2.50003167e+02] [-1.06047428e-01 9.94361070e-01 -7.53207164e-05 -2.40331296e+01] [-7.73058855e-04 -6.69797849e-06 9.99999701e-01 -3.83900262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.04, Y:-24.03, Z:-0.38 [[ 9.94614749e-01 1.03638359e-01 7.69397524e-04 2.50035498e+02] [-1.03638332e-01 9.94615046e-01 -7.54472659e-05 -2.40349431e+01] [-7.73073585e-04 -4.69811245e-06 9.99999701e-01 -3.84531145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:250.07, Y:-24.04, Z:-0.39 [[ 9.94707006e-01 1.02749114e-01 7.69384907e-04 2.50067305e+02] [-1.02749086e-01 9.94707303e-01 -7.55757154e-05 -2.40383093e+01] [-7.73078124e-04 -3.87790277e-06 9.99999701e-01 -3.85775446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.10, Y:-24.04, Z:-0.38 [[ 9.94940704e-01 1.00460960e-01 7.69372247e-04 2.50099390e+02] [-1.00460931e-01 9.94941001e-01 -7.57043777e-05 -2.40415426e+01] [-7.73085328e-04 -1.97048565e-06 9.99999701e-01 -3.80432963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.13, Y:-24.04, Z:-0.38 [[ 9.94964702e-01 1.00222997e-01 7.69359664e-04 2.50130031e+02] [-1.00222968e-01 9.94965000e-01 -7.58320326e-05 -2.40430517e+01] [-7.73086052e-04 -1.65731320e-06 9.99999701e-01 -3.81413210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.16, Y:-24.04, Z:-0.38 [[ 9.94990619e-01 9.99653730e-02 7.69349677e-04 2.50163350e+02] [-9.99653442e-02 9.94990917e-01 -7.59332208e-05 -2.40435710e+01] [-7.73086633e-04 -1.35546297e-06 9.99999701e-01 -3.80111340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.20, Y:-24.05, Z:-0.38 [[ 9.95005471e-01 9.98174375e-02 7.69335277e-04 2.50195138e+02] [-9.98174085e-02 9.95005768e-01 -7.60788380e-05 -2.40473568e+01] [-7.73087033e-04 -1.09419361e-06 9.99999701e-01 -3.81686134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.23, Y:-24.05, Z:-0.38 [[ 9.95095143e-01 9.89194846e-02 7.69321774e-04 2.50225751e+02] [-9.89194552e-02 9.95095440e-01 -7.62151419e-05 -2.40523315e+01] [-7.73087752e-04 -2.59573212e-07 9.99999701e-01 -3.80606592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.26, Y:-24.06, Z:-0.38 [[ 9.95131469e-01 9.85533691e-02 7.69310234e-04 2.50258090e+02] [-9.85533396e-02 9.95131767e-01 -7.63314442e-05 -2.40553308e+01] [-7.73087774e-04 1.41729438e-07 9.99999701e-01 -3.80605268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.29, Y:-24.06, Z:-0.38 [[ 9.95245392e-01 9.73961937e-02 7.69297886e-04 2.50289919e+02] [-9.73961637e-02 9.95245689e-01 -7.64556908e-05 -2.40585934e+01] [-7.73086898e-04 1.16551106e-06 9.99999701e-01 -3.80709473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.32, Y:-24.06, Z:-0.38 [[ 9.95295812e-01 9.68795864e-02 7.69284800e-04 2.50321441e+02] [-9.68795561e-02 9.95296110e-01 -7.65871374e-05 -2.40624309e+01] [-7.73085899e-04 1.69888713e-06 9.99999701e-01 -3.82143739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.35, Y:-24.07, Z:-0.39 [[ 9.95423798e-01 9.55555862e-02 7.69271681e-04 2.50352401e+02] [-9.55555555e-02 9.95424096e-01 -7.67186840e-05 -2.40677402e+01] [-7.73082466e-04 2.85942103e-06 9.99999701e-01 -3.85801879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.39, Y:-24.07, Z:-0.38 [[ 9.95463151e-01 9.51447509e-02 7.69264481e-04 2.50385300e+02] [-9.51447199e-02 9.95463448e-01 -7.67908092e-05 -2.40733506e+01] [-7.73080915e-04 3.25096722e-06 9.99999701e-01 -3.82236651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98420382200004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:250.42, Y:-24.08, Z:-0.39 [[ 9.95437284e-01 9.54149971e-02 7.69249320e-04 2.50416196e+02] [-9.54149661e-02 9.95437581e-01 -7.69423877e-05 -2.40780545e+01] [-7.73081140e-04 3.19342362e-06 9.99999701e-01 -3.91314353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.45, Y:-24.08, Z:-0.39 [[ 9.95394643e-01 9.58588145e-02 7.69237090e-04 2.50447949e+02] [-9.58587836e-02 9.95394941e-01 -7.70644607e-05 -2.40803181e+01] [-7.73082016e-04 2.97141957e-06 9.99999701e-01 -3.88352801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.48, Y:-24.08, Z:-0.38 [[ 9.95336819e-01 9.64573720e-02 7.69224996e-04 2.50479838e+02] [-9.64573412e-02 9.95337116e-01 -7.71849949e-05 -2.40830360e+01] [-7.73083251e-04 2.62766947e-06 9.99999701e-01 -3.82957561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.51, Y:-24.09, Z:-0.39 [[ 9.95316294e-01 9.66689338e-02 7.69211514e-04 2.50511143e+02] [-9.66689029e-02 9.95316591e-01 -7.73191181e-05 -2.40878306e+01] [-7.73083339e-04 2.59814496e-06 9.99999701e-01 -3.86493697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10420382200004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:250.54, Y:-24.09, Z:-0.39 [[ 9.95339764e-01 9.64269770e-02 7.69197100e-04 2.50543186e+02] [-9.64269459e-02 9.95340062e-01 -7.74622453e-05 -2.40932136e+01] [-7.73082139e-04 2.92992584e-06 9.99999701e-01 -3.88493044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.58, Y:-24.10, Z:-0.39 [[ 9.95359931e-01 9.62185902e-02 7.69183856e-04 2.50575688e+02] [-9.62185589e-02 9.95360228e-01 -7.75935319e-05 -2.40976487e+01] [-7.73080959e-04 3.22373032e-06 9.99999701e-01 -3.86484335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.61, Y:-24.10, Z:-0.39 [[ 9.95348378e-01 9.63380217e-02 7.69168394e-04 2.50607164e+02] [-9.63379903e-02 9.95348675e-01 -7.77465074e-05 -2.41014455e+01] [-7.73080687e-04 3.28472278e-06 9.99999701e-01 -3.90168303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.64, Y:-24.11, Z:-0.39 [[ 9.95262012e-01 9.72262142e-02 7.69154894e-04 2.50638689e+02] [-9.72261830e-02 9.95262309e-01 -7.78798385e-05 -2.41053353e+01] [-7.73082837e-04 2.72885027e-06 9.99999701e-01 -3.88614488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.67, Y:-24.11, Z:-0.39 [[ 9.95112256e-01 9.87471827e-02 7.69141250e-04 2.50670677e+02] [-9.87471519e-02 9.95112553e-01 -7.80143547e-05 -2.41087673e+01] [-7.73085811e-04 1.68253267e-06 9.99999701e-01 -3.90966307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.70, Y:-24.11, Z:-0.39 [[ 9.94755874e-01 1.02274925e-01 7.69126704e-04 2.50702423e+02] [-1.02274895e-01 9.94756171e-01 -7.81574925e-05 -2.41102833e+01] [-7.73087087e-04 -9.14728481e-07 9.99999701e-01 -3.88204740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28420382200005 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:250.73, Y:-24.11, Z:-0.39 [[ 9.94518622e-01 1.04556774e-01 7.69113260e-04 2.50733754e+02] [-1.04556745e-01 9.94518919e-01 -7.82895670e-05 -2.41114703e+01] [-7.73083393e-04 -2.55554669e-06 9.99999701e-01 -3.92241610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.77, Y:-24.11, Z:-0.39 [[ 9.94253685e-01 1.07046808e-01 7.69100842e-04 2.50765403e+02] [-1.07046780e-01 9.94253982e-01 -7.84113736e-05 -2.41117327e+01] [-7.73075262e-04 -4.36897122e-06 9.99999701e-01 -3.88203111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34420382200005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:250.80, Y:-24.11, Z:-0.39 [[ 9.94105913e-01 1.08410523e-01 7.69094166e-04 2.50796260e+02] [-1.08410494e-01 9.94106211e-01 -7.84767932e-05 -2.41134723e+01] [-7.73068998e-04 -5.36363465e-06 9.99999701e-01 -3.94281103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.83, Y:-24.12, Z:-0.38 [[ 9.94084235e-01 1.08609128e-01 7.69082324e-04 2.50827942e+02] [-1.08609100e-01 9.94084532e-01 -7.85926810e-05 -2.41163377e+01] [-7.73068725e-04 -5.40159361e-06 9.99999701e-01 -3.83214256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40420382200006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.86, Y:-24.12, Z:-0.38 [[ 9.94078418e-01 1.08662359e-01 7.69068986e-04 2.50859585e+02] [-1.08662331e-01 9.94078715e-01 -7.87229771e-05 -2.41189352e+01] [-7.73069334e-04 -5.31201625e-06 9.99999701e-01 -3.83811440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.89, Y:-24.12, Z:-0.39 [[ 9.94099275e-01 1.08471375e-01 7.69054788e-04 2.50892320e+02] [-1.08471347e-01 9.94099573e-01 -7.88614390e-05 -2.41193434e+01] [-7.73071245e-04 -5.02430920e-06 9.99999701e-01 -3.85433548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.92, Y:-24.12, Z:-0.39 [[ 9.94080932e-01 1.08639350e-01 7.69041605e-04 2.50924991e+02] [-1.08639321e-01 9.94081230e-01 -7.89897924e-05 -2.41212173e+01] [-7.73071224e-04 -5.02591126e-06 9.99999701e-01 -3.86184699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49420382200003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:250.96, Y:-24.12, Z:-0.39 [[ 9.94043522e-01 1.08981125e-01 7.69034254e-04 2.50957191e+02] [-1.08981096e-01 9.94043819e-01 -7.90612930e-05 -2.41242193e+01] [-7.73069935e-04 -5.21982985e-06 9.99999701e-01 -3.90754166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.99, Y:-24.13, Z:-0.39 [[ 9.94101720e-01 1.08448968e-01 7.69020775e-04 2.50987920e+02] [-1.08448939e-01 9.94102018e-01 -7.91921860e-05 -2.41260514e+01] [-7.73073415e-04 -4.67439885e-06 9.99999701e-01 -3.86836142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.02, Y:-24.13, Z:-0.39 [[ 9.94098453e-01 1.08478908e-01 7.69014056e-04 2.51019787e+02] [-1.08478879e-01 9.94098751e-01 -7.92573737e-05 -2.41277677e+01] [-7.73073666e-04 -4.63214997e-06 9.99999701e-01 -3.86219794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.05, Y:-24.13, Z:-0.39 [[ 9.94076816e-01 1.08677011e-01 7.69000668e-04 2.51051412e+02] [-1.08676982e-01 9.94077113e-01 -7.93870587e-05 -2.41298474e+01] [-7.73073513e-04 -4.65583743e-06 9.99999701e-01 -3.89090296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.08, Y:-24.13, Z:-0.39 [[ 9.93973667e-01 1.09616408e-01 7.68987302e-04 2.51082796e+02] [-1.09616380e-01 9.93973965e-01 -7.95163253e-05 -2.41327220e+01] [-7.73069651e-04 -5.25647045e-06 9.99999701e-01 -3.90005010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.11, Y:-24.13, Z:-0.39 [[ 9.93858797e-01 1.10653062e-01 7.68974941e-04 2.51114213e+02] [-1.10653034e-01 9.93859095e-01 -7.96356851e-05 -2.41342721e+01] [-7.73064671e-04 -5.94278396e-06 9.99999701e-01 -3.90045965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67420382200004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:251.15, Y:-24.13, Z:-0.39 [[ 9.93591320e-01 1.13029630e-01 7.68962762e-04 2.51145536e+02] [-1.13029602e-01 9.93591618e-01 -7.97531148e-05 -2.41331411e+01] [-7.73049419e-04 -7.67355234e-06 9.99999701e-01 -3.91570870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.18, Y:-24.13, Z:-0.39 [[ 9.93568230e-01 1.13232420e-01 7.68960894e-04 2.51176456e+02] [-1.13232392e-01 9.93568528e-01 -7.97711145e-05 -2.41348637e+01] [-7.73048020e-04 -7.81323617e-06 9.99999701e-01 -3.90755380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.21, Y:-24.13, Z:-0.39 [[ 9.93501340e-01 1.13817816e-01 7.68959023e-04 2.51206998e+02] [-1.13817788e-01 9.93501638e-01 -7.97891452e-05 -2.41339179e+01] [-7.73043475e-04 -8.25059255e-06 9.99999701e-01 -3.90356750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.24, Y:-24.14, Z:-0.39 [[ 9.93568929e-01 1.13226286e-01 7.68954615e-04 2.51238124e+02] [-1.13226259e-01 9.93569227e-01 -7.98316053e-05 -2.41358398e+01] [-7.73048679e-04 -7.74765144e-06 9.99999701e-01 -3.90373269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.27, Y:-24.14, Z:-0.39 [[ 9.93895942e-01 1.10318925e-01 7.68952753e-04 2.51269598e+02] [-1.10318896e-01 9.93896239e-01 -7.98495346e-05 -2.41408281e+01] [-7.73068165e-04 -5.46789070e-06 9.99999701e-01 -3.92545279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.30, Y:-24.14, Z:-0.39 [[ 9.94073593e-01 1.08706491e-01 7.68949968e-04 2.51300764e+02] [-1.08706461e-01 9.94073890e-01 -7.98763446e-05 -2.41439654e+01] [-7.73076163e-04 -4.18686525e-06 9.99999701e-01 -3.89673319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.33, Y:-24.14, Z:-0.40 [[ 9.94361907e-01 1.06036815e-01 7.68947984e-04 2.51332536e+02] [-1.06036785e-01 9.94362205e-01 -7.98954478e-05 -2.41429702e+01] [-7.73084671e-04 -2.09178187e-06 9.99999701e-01 -3.95792355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.36, Y:-24.14, Z:-0.39 [[ 9.94485385e-01 1.04872432e-01 7.68940198e-04 2.51364368e+02] [-1.04872402e-01 9.94485683e-01 -7.99703079e-05 -2.41443625e+01] [-7.73086698e-04 -1.11130289e-06 9.99999701e-01 -3.94752827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.39, Y:-24.15, Z:-0.40 [[ 9.94746380e-01 1.02367227e-01 7.68937340e-04 2.51394894e+02] [-1.02367196e-01 9.94746677e-01 -7.99977837e-05 -2.41477870e+01] [-7.73087014e-04 8.63546487e-07 9.99999701e-01 -3.98576718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.43, Y:-24.15, Z:-0.40 [[ 9.94744040e-01 1.02389962e-01 7.68936389e-04 2.51426546e+02] [-1.02389930e-01 9.94744337e-01 -8.00069232e-05 -2.41511276e+01] [-7.73087024e-04 8.55066772e-07 9.99999701e-01 -3.98601324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.46, Y:-24.15, Z:-0.39 [[ 9.94839450e-01 1.01458745e-01 7.68934560e-04 2.51457530e+02] [-1.01458713e-01 9.94839747e-01 -8.00244969e-05 -2.41543399e+01] [-7.73085848e-04 1.59641553e-06 9.99999701e-01 -3.94690145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.004203822 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:251.49, Y:-24.16, Z:-0.40 [[ 9.94844198e-01 1.01412183e-01 7.68932604e-04 2.51487426e+02] [-1.01412151e-01 9.94844495e-01 -8.00432855e-05 -2.41557175e+01] [-7.73085732e-04 1.65148886e-06 9.99999701e-01 -3.98689605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.52, Y:-24.16, Z:-0.40 [[ 9.94842938e-01 1.01424544e-01 7.68927834e-04 2.51517456e+02] [-1.01424513e-01 9.94843235e-01 -8.00890829e-05 -2.41592559e+01] [-7.73085652e-04 1.68792767e-06 9.99999701e-01 -3.96489818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.55, Y:-24.16, Z:-0.40 [[ 9.94791643e-01 1.01926428e-01 7.68926871e-04 2.51547344e+02] [-1.01926396e-01 9.94791940e-01 -8.00983289e-05 -2.41626123e+01] [-7.73086390e-04 1.30720329e-06 9.99999701e-01 -3.97466908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.58, Y:-24.17, Z:-0.39 [[ 9.94735649e-01 1.02471447e-01 7.69088183e-04 2.51578576e+02] [-1.02471417e-01 9.94735946e-01 -7.85506482e-05 -2.41652406e+01] [-7.73088860e-04 -6.72425818e-07 9.99999701e-01 -3.94409480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.61, Y:-24.17, Z:-0.39 [[ 9.94645403e-01 1.03343751e-01 7.68914735e-04 2.51608622e+02] [-1.03343720e-01 9.94645700e-01 -8.02132984e-05 -2.41680640e+01] [-7.73087278e-04 3.21279506e-07 9.99999701e-01 -3.94752591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.64, Y:-24.17, Z:-0.39 [[ 9.94575011e-01 1.04019017e-01 7.68914735e-04 2.51639376e+02] [-1.04018986e-01 9.94575308e-01 -8.02132984e-05 -2.41719944e+01] [-7.73087318e-04 -2.03588885e-07 9.99999701e-01 -3.94888358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.67, Y:-24.17, Z:-0.40 [[ 9.94519021e-01 1.04552979e-01 7.68912764e-04 2.51669474e+02] [-1.04552948e-01 9.94519318e-01 -8.02321911e-05 -2.41749697e+01] [-7.73087112e-04 -5.99656364e-07 9.99999701e-01 -3.96149468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21420382200006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:251.70, Y:-24.18, Z:-0.40 [[ 9.94395654e-01 1.05719874e-01 7.68908084e-04 2.51700535e+02] [-1.05719843e-01 9.94395951e-01 -8.02770116e-05 -2.41766150e+01] [-7.73085962e-04 -1.46173082e-06 9.99999701e-01 -3.96931889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24420382200003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:251.73, Y:-24.18, Z:-0.40 [[ 9.94388565e-01 1.05786537e-01 7.68906122e-04 2.51731603e+02] [-1.05786507e-01 9.94388862e-01 -8.02957996e-05 -2.41804919e+01] [-7.73085898e-04 -1.49466790e-06 9.99999701e-01 -3.97880786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.76, Y:-24.18, Z:-0.40 [[ 9.94406771e-01 1.05615258e-01 7.68904170e-04 2.51761334e+02] [-1.05615228e-01 9.94407068e-01 -8.03144937e-05 -2.41838711e+01] [-7.73086177e-04 -1.34271273e-06 9.99999701e-01 -3.96817662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.79, Y:-24.19, Z:-0.40 [[ 9.94392789e-01 1.05746822e-01 7.68899731e-04 2.51792491e+02] [-1.05746792e-01 9.94393086e-01 -8.03569643e-05 -2.41869962e+01] [-7.73086070e-04 -1.40229402e-06 9.99999701e-01 -3.95392588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33420382200006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:251.82, Y:-24.19, Z:-0.40 [[ 9.94275011e-01 1.06848540e-01 7.68897751e-04 2.51822958e+02] [-1.06848510e-01 9.94275309e-01 -8.03759057e-05 -2.41911389e+01] [-7.73084097e-04 -2.23982440e-06 9.99999701e-01 -3.99423619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.85, Y:-24.20, Z:-0.39 [[ 9.94205718e-01 1.07491392e-01 7.68896767e-04 2.51853809e+02] [-1.07491362e-01 9.94206015e-01 -8.03853216e-05 -2.41952110e+01] [-7.73082521e-04 -2.73021443e-06 9.99999701e-01 -3.94200428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.88, Y:-24.20, Z:-0.39 [[ 9.93825673e-01 1.10950171e-01 7.68894817e-04 2.51884073e+02] [-1.10950142e-01 9.93825970e-01 -8.04039688e-05 -2.41983340e+01] [-7.73068471e-04 -5.40146079e-06 9.99999701e-01 -3.92500395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.91, Y:-24.20, Z:-0.39 [[ 9.93571049e-01 1.13207682e-01 7.68890598e-04 2.51913773e+02] [-1.13207653e-01 9.93571347e-01 -8.04442950e-05 -2.42008826e+01] [-7.73054579e-04 -7.11717756e-06 9.99999701e-01 -3.93527866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.94, Y:-24.20, Z:-0.40 [[ 9.93059288e-01 1.17612329e-01 7.68891546e-04 2.51944419e+02] [-1.17612302e-01 9.93059585e-01 -8.04352291e-05 -2.42039791e+01] [-7.73015294e-04 -1.05541531e-05 9.99999701e-01 -3.96390920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.97, Y:-24.21, Z:-0.40 [[ 9.92902134e-01 1.18931749e-01 7.68891546e-04 2.51974515e+02] [-1.18931722e-01 9.92902432e-01 -8.04352291e-05 -2.42067888e+01] [-7.73000588e-04 -1.15812850e-05 9.99999701e-01 -3.95447052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.00, Y:-24.21, Z:-0.39 [[ 9.92629419e-01 1.21186817e-01 7.68891546e-04 2.52004064e+02] [-1.21186791e-01 9.92629717e-01 -8.04352291e-05 -2.42074659e+01] [-7.72972287e-04 -1.33371242e-05 9.99999701e-01 -3.94625696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.03, Y:-24.21, Z:-0.40 [[ 9.92550726e-01 1.21829654e-01 7.68892522e-04 2.52032405e+02] [-1.21829628e-01 9.92551024e-01 -8.04258940e-05 -2.42086359e+01] [-7.72963319e-04 -1.38471104e-05 9.99999701e-01 -3.96625412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.06, Y:-24.21, Z:-0.40 [[ 9.92529847e-01 1.21999634e-01 7.68895412e-04 2.52063374e+02] [-1.21999608e-01 9.92530145e-01 -8.03982557e-05 -2.42100906e+01] [-7.72960433e-04 -1.40072707e-05 9.99999701e-01 -3.97512769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.09, Y:-24.21, Z:-0.40 [[ 9.92613344e-01 1.21318417e-01 7.68895412e-04 2.52094388e+02] [-1.21318391e-01 9.92613642e-01 -8.03982557e-05 -2.42113448e+01] [-7.72969864e-04 -1.34767729e-05 9.99999701e-01 -3.97271640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.12, Y:-24.21, Z:-0.40 [[ 9.92719481e-01 1.20446841e-01 7.68895412e-04 2.52124964e+02] [-1.20446815e-01 9.92719778e-01 -8.03982557e-05 -2.42138631e+01] [-7.72981399e-04 -1.27980889e-05 9.99999701e-01 -3.97606311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.16, Y:-24.21, Z:-0.40 [[ 9.92982027e-01 1.18262859e-01 7.68895412e-04 2.52155000e+02] [-1.18262832e-01 9.92982324e-01 -8.03982557e-05 -2.42147016e+01] [-7.73007681e-04 -1.10977262e-05 9.99999701e-01 -4.01223953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.18, Y:-24.22, Z:-0.40 [[ 9.93166740e-01 1.16701480e-01 7.68895412e-04 2.52184213e+02] [-1.16701453e-01 9.93167038e-01 -8.03982557e-05 -2.42156704e+01] [-7.73024174e-04 -9.88233846e-06 9.99999701e-01 -3.99538018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.21, Y:-24.22, Z:-0.40 [[ 9.93374267e-01 1.14921604e-01 7.68898263e-04 2.52214026e+02] [-1.14921576e-01 9.93374564e-01 -8.03709822e-05 -2.42172251e+01] [-7.73040339e-04 -8.52453504e-06 9.99999701e-01 -3.99084480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.24, Y:-24.22, Z:-0.40 [[ 9.93862341e-01 1.10621228e-01 7.68899210e-04 2.52243378e+02] [-1.10621199e-01 9.93862638e-01 -8.03619268e-05 -2.42183577e+01] [-7.73069932e-04 -5.18785978e-06 9.99999701e-01 -4.00193827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.27, Y:-24.22, Z:-0.40 [[ 9.94142908e-01 1.08070750e-01 7.68900150e-04 2.52273327e+02] [-1.08070720e-01 9.94143206e-01 -8.03529281e-05 -2.42202020e+01] [-7.73080661e-04 -3.21329901e-06 9.99999701e-01 -3.99341721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.30, Y:-24.22, Z:-0.40 [[ 9.94704926e-01 1.02769251e-01 7.68901091e-04 2.52303148e+02] [-1.02769219e-01 9.94705223e-01 -8.03439214e-05 -2.42207779e+01] [-7.73086816e-04 8.99129381e-07 9.99999701e-01 -3.96643655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.33, Y:-24.22, Z:-0.40 [[ 9.94996573e-01 9.99061003e-02 7.68902026e-04 2.52332202e+02] [-9.99060680e-02 9.94996870e-01 -8.03349756e-05 -2.42245837e+01] [-7.73081063e-04 3.11504731e-06 9.99999701e-01 -3.96941172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.36, Y:-24.23, Z:-0.40 [[ 9.95498128e-01 9.47780843e-02 7.68903885e-04 2.52362800e+02] [-9.47780505e-02 9.95498425e-01 -8.03171751e-05 -2.42299181e+01] [-7.73054915e-04 7.08038621e-06 9.99999701e-01 -3.95084133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.39, Y:-24.23, Z:-0.40 [[ 9.95682888e-01 9.28169949e-02 7.68901927e-04 2.52392475e+02] [-9.28169605e-02 9.95683185e-01 -8.03359213e-05 -2.42323630e+01] [-7.73039258e-04 8.62196241e-06 9.99999701e-01 -3.97538686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.93420382200003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:252.42, Y:-24.24, Z:-0.40 [[ 9.95806974e-01 9.14761160e-02 7.68902898e-04 2.52422965e+02] [-9.14760812e-02 9.95807271e-01 -8.03266200e-05 -2.42360694e+01] [-7.73027064e-04 9.65358437e-06 9.99999701e-01 -4.01173729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.45, Y:-24.24, Z:-0.40 [[ 9.95839591e-01 9.11203444e-02 7.68902898e-04 2.52454146e+02] [-9.11203096e-02 9.95839888e-01 -8.03266200e-05 -2.42430220e+01] [-7.73023565e-04 9.92975831e-06 9.99999701e-01 -4.00784986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.48, Y:-24.25, Z:-0.40 [[ 9.95774869e-01 9.18249360e-02 7.68900925e-04 2.52484401e+02] [-9.18249014e-02 9.95775166e-01 -8.03455082e-05 -2.42476254e+01] [-7.73030167e-04 9.40178635e-06 9.99999701e-01 -4.00347611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.52, Y:-24.25, Z:-0.40 [[ 9.95609816e-01 9.35975611e-02 7.68899942e-04 2.52515070e+02] [-9.35975270e-02 9.95610113e-01 -8.03549120e-05 -2.42535229e+01] [-7.73045582e-04 8.03500608e-06 9.99999701e-01 -3.96051204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.55, Y:-24.26, Z:-0.40 [[ 9.95507995e-01 9.46743877e-02 7.68897958e-04 2.52545271e+02] [-9.46743538e-02 9.95508292e-01 -8.03738947e-05 -2.42571871e+01] [-7.73053642e-04 7.21793749e-06 9.99999701e-01 -4.00050286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.58, Y:-24.26, Z:-0.40 [[ 9.95369997e-01 9.61144006e-02 7.68896971e-04 2.52575676e+02] [-9.61143672e-02 9.95370294e-01 -8.03833344e-05 -2.42599957e+01] [-7.73063200e-04 6.10911350e-06 9.99999701e-01 -3.95810376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11420382200004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:252.61, Y:-24.26, Z:-0.40 [[ 9.95116529e-01 9.87041120e-02 7.68896971e-04 2.52606278e+02] [-9.87040794e-02 9.95116826e-01 -8.03833344e-05 -2.42647908e+01] [-7.73076479e-04 4.09751709e-06 9.99999701e-01 -4.01440797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.64, Y:-24.27, Z:-0.41 [[ 9.95003950e-01 9.98325970e-02 7.68896753e-04 2.52636440e+02] [-9.98325646e-02 9.95004248e-01 -8.03854202e-05 -2.42711098e+01] [-7.73080620e-04 3.22287585e-06 9.99999701e-01 -4.06604699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.67, Y:-24.28, Z:-0.40 [[ 9.94879712e-01 1.01063190e-01 7.68895761e-04 2.52666821e+02] [-1.01063158e-01 9.94880009e-01 -8.03949043e-05 -2.42785044e+01] [-7.73083987e-04 2.27622547e-06 9.99999701e-01 -4.01812668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.70, Y:-24.28, Z:-0.41 [[ 9.94800186e-01 1.01843012e-01 7.68893782e-04 2.52697197e+02] [-1.01842981e-01 9.94800483e-01 -8.04138265e-05 -2.42829839e+01] [-7.73085492e-04 1.68925494e-06 9.99999701e-01 -4.08603523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.73, Y:-24.29, Z:-0.40 [[ 9.94604564e-01 1.03736059e-01 7.68892793e-04 2.52727901e+02] [-1.03736028e-01 9.94604861e-01 -8.04232839e-05 -2.42905242e+01] [-7.73087304e-04 2.27481235e-07 9.99999701e-01 -3.98637607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.76, Y:-24.29, Z:-0.40 [[ 9.94473281e-01 1.04987156e-01 7.68890805e-04 2.52758463e+02] [-1.04987126e-01 9.94473578e-01 -8.04422843e-05 -2.42943360e+01] [-7.73086996e-04 -7.25933075e-07 9.99999701e-01 -3.98732411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.79, Y:-24.30, Z:-0.40 [[ 9.94330693e-01 1.06329118e-01 7.68877941e-04 2.52789660e+02] [-1.06329088e-01 9.94330990e-01 -8.05650486e-05 -2.42975019e+01] [-7.73085576e-04 -1.64578957e-06 9.99999701e-01 -3.98506203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.82, Y:-24.31, Z:-0.40 [[ 9.93983035e-01 1.09531430e-01 7.68875963e-04 2.52820544e+02] [-1.09531401e-01 9.93983333e-01 -8.05839294e-05 -2.43053551e+01] [-7.73076365e-04 -4.11700234e-06 9.99999701e-01 -4.00479174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.85, Y:-24.31, Z:-0.40 [[ 9.93792330e-01 1.11248433e-01 7.68873969e-04 2.52851186e+02] [-1.11248404e-01 9.93792627e-01 -8.06029474e-05 -2.43118590e+01] [-7.73068233e-04 -5.43341106e-06 9.99999701e-01 -4.01961717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.384203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:252.88, Y:-24.32, Z:-0.40 [[ 9.93382667e-01 1.14848971e-01 7.68866269e-04 2.52882259e+02] [-1.14848943e-01 9.93382964e-01 -8.06763261e-05 -2.43177346e+01] [-7.73044247e-04 -8.16101472e-06 9.99999701e-01 -4.00201942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.91, Y:-24.32, Z:-0.40 [[ 9.93147519e-01 1.16864944e-01 7.68864294e-04 2.52913168e+02] [-1.16864917e-01 9.93147816e-01 -8.06951427e-05 -2.43219741e+01] [-7.73026328e-04 -9.71108105e-06 9.99999701e-01 -3.96791830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.444203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:252.94, Y:-24.33, Z:-0.40 [[ 9.92641963e-01 1.21084029e-01 7.68856760e-04 2.52942879e+02] [-1.21084002e-01 9.92642261e-01 -8.07668642e-05 -2.43259184e+01] [-7.72979290e-04 -1.29236751e-05 9.99999701e-01 -4.00390228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47420382200005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:252.97, Y:-24.33, Z:-0.40 [[ 9.92399528e-01 1.23055213e-01 7.68851425e-04 2.52974485e+02] [-1.23055187e-01 9.92399826e-01 -8.08176224e-05 -2.43289547e+01] [-7.72953050e-04 -1.44077856e-05 9.99999701e-01 -3.99126354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.504203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:253.01, Y:-24.33, Z:-0.40 [[ 9.92036230e-01 1.25950494e-01 7.68849492e-04 2.53005061e+02] [-1.25950469e-01 9.92036528e-01 -8.08360090e-05 -2.43319042e+01] [-7.72908115e-04 -1.66447045e-05 9.99999701e-01 -3.97801944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53420382200005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.04, Y:-24.34, Z:-0.40 [[ 9.91972036e-01 1.26455089e-01 7.68845783e-04 2.53035369e+02] [-1.26455064e-01 9.91972333e-01 -8.08712712e-05 -2.43353889e+01] [-7.72900329e-04 -1.70024030e-05 9.99999701e-01 -3.98665571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.07, Y:-24.34, Z:-0.40 [[ 9.91988185e-01 1.26328343e-01 7.68844835e-04 2.53066912e+02] [-1.26328318e-01 9.91988483e-01 -8.08802794e-05 -2.43372544e+01] [-7.72902693e-04 -1.68945932e-05 9.99999701e-01 -3.98284658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59420382200005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:253.10, Y:-24.34, Z:-0.40 [[ 9.92038809e-01 1.25930184e-01 7.68842942e-04 2.53097762e+02] [-1.25930159e-01 9.92039106e-01 -8.08982701e-05 -2.43386082e+01] [-7.72909799e-04 -1.65662903e-05 9.99999701e-01 -3.97035670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.13, Y:-24.34, Z:-0.40 [[ 9.92093147e-01 1.25501384e-01 7.68842942e-04 2.53128125e+02] [-1.25501359e-01 9.92093444e-01 -8.08982701e-05 -2.43399093e+01] [-7.72916887e-04 -1.62322148e-05 9.99999701e-01 -3.95469941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65420382200006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.16, Y:-24.34, Z:-0.40 [[ 9.92267181e-01 1.24117890e-01 7.68842942e-04 2.53157584e+02] [-1.24117865e-01 9.92267479e-01 -8.08982701e-05 -2.43399173e+01] [-7.72938770e-04 -1.51544459e-05 9.99999701e-01 -3.97833155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.19, Y:-24.34, Z:-0.39 [[ 9.92586532e-01 1.21537592e-01 7.68843879e-04 2.53187967e+02] [-1.21537565e-01 9.92586829e-01 -8.08893676e-05 -2.43403907e+01] [-7.72975407e-04 -1.31537163e-05 9.99999701e-01 -3.94565607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.22, Y:-24.34, Z:-0.39 [[ 9.92763834e-01 1.20080720e-01 7.68843879e-04 2.53218646e+02] [-1.20080694e-01 9.92764131e-01 -8.08893676e-05 -2.43420005e+01] [-7.72993879e-04 -1.20192676e-05 9.99999701e-01 -3.93665810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.25, Y:-24.34, Z:-0.39 [[ 9.92961383e-01 1.18436058e-01 7.68843879e-04 2.53248963e+02] [-1.18436031e-01 9.92961681e-01 -8.08893676e-05 -2.43428157e+01] [-7.73012728e-04 -1.07387990e-05 9.99999701e-01 -3.93051221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.28, Y:-24.34, Z:-0.39 [[ 9.93424683e-01 1.14484972e-01 7.68843879e-04 2.53278689e+02] [-1.14484944e-01 9.93424980e-01 -8.08893676e-05 -2.43419543e+01] [-7.73049332e-04 -7.66355375e-06 9.99999701e-01 -3.94560588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80420382200003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:253.31, Y:-24.34, Z:-0.39 [[ 9.93978412e-01 1.09573377e-01 7.68843084e-04 2.53309120e+02] [-1.09573347e-01 9.93978710e-01 -8.08969230e-05 -2.43427169e+01] [-7.73077805e-04 -3.83491481e-06 9.99999701e-01 -3.94784401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83420382200006 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:253.34, Y:-24.35, Z:-0.39 [[ 9.93978412e-01 1.09573377e-01 7.68843084e-04 2.53339946e+02] [-1.09573347e-01 9.93978710e-01 -8.08969230e-05 -2.43459604e+01] [-7.73077805e-04 -3.83491481e-06 9.99999701e-01 -3.94808364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86420382200004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.37, Y:-24.35, Z:-0.39 [[ 9.94186093e-01 1.07672755e-01 7.68843084e-04 2.53369688e+02] [-1.07672725e-01 9.94186390e-01 -8.08969230e-05 -2.43497037e+01] [-7.73083724e-04 -2.35683375e-06 9.99999701e-01 -3.93723178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.40, Y:-24.35, Z:-0.39 [[ 9.94397303e-01 1.05704368e-01 7.68842147e-04 2.53400358e+02] [-1.05704337e-01 9.94397600e-01 -8.09058275e-05 -2.43532227e+01] [-7.73086885e-04 -8.17412953e-07 9.99999701e-01 -3.94449037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.43, Y:-24.36, Z:-0.40 [[ 9.94551209e-01 1.04246352e-01 7.68842147e-04 2.53430550e+02] [-1.04246321e-01 9.94551506e-01 -8.09058275e-05 -2.43562518e+01] [-7.73087252e-04 3.16023233e-07 9.99999701e-01 -3.98938229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.46, Y:-24.36, Z:-0.39 [[ 9.94670376e-01 1.03103115e-01 7.68836970e-04 2.53461654e+02] [-1.03103083e-01 9.94670673e-01 -8.09549863e-05 -2.43583145e+01] [-7.73086298e-04 1.25406447e-06 9.99999701e-01 -3.94833395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98420382200004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:253.49, Y:-24.36, Z:-0.40 [[ 9.94574350e-01 1.04025335e-01 7.68834973e-04 2.53490924e+02] [-1.04025304e-01 9.94574648e-01 -8.09739496e-05 -2.43605740e+01] [-7.73087115e-04 5.56321616e-07 9.99999701e-01 -4.00565580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01420382200007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:253.52, Y:-24.36, Z:-0.40 [[ 9.94471495e-01 1.05004072e-01 7.68835965e-04 2.53521395e+02] [-1.05004041e-01 9.94471792e-01 -8.09645272e-05 -2.43634780e+01] [-7.73087285e-04 -2.13968909e-07 9.99999701e-01 -3.97684759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.55, Y:-24.37, Z:-0.40 [[ 9.94380822e-01 1.05859288e-01 7.68835965e-04 2.53552318e+02] [-1.05859257e-01 9.94381120e-01 -8.09645272e-05 -2.43654008e+01] [-7.73086815e-04 -8.78831101e-07 9.99999701e-01 -3.96399471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.58, Y:-24.37, Z:-0.40 [[ 9.94282119e-01 1.06782379e-01 7.68835965e-04 2.53582624e+02] [-1.06782348e-01 9.94282416e-01 -8.09645272e-05 -2.43675361e+01] [-7.73085666e-04 -1.59652822e-06 9.99999701e-01 -3.97278411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.61, Y:-24.37, Z:-0.40 [[ 9.94131185e-01 1.08178541e-01 7.68834984e-04 2.53613564e+02] [-1.08178511e-01 9.94131482e-01 -8.09738437e-05 -2.43696851e+01] [-7.73082694e-04 -2.67280033e-06 9.99999701e-01 -3.96742776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.64, Y:-24.37, Z:-0.40 [[ 9.94024839e-01 1.09151401e-01 7.68833985e-04 2.53643055e+02] [-1.09151371e-01 9.94025136e-01 -8.09833303e-05 -2.43690230e+01] [-7.73079751e-04 -3.41984176e-06 9.99999701e-01 -4.02545078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16420382200005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:253.67, Y:-24.37, Z:-0.40 [[ 9.93967948e-01 1.09668257e-01 7.68834980e-04 2.53672491e+02] [-1.09668227e-01 9.93968246e-01 -8.09738814e-05 -2.43705328e+01] [-7.73077821e-04 -3.83132659e-06 9.99999701e-01 -4.02734005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.70, Y:-24.37, Z:-0.40 [[ 9.93901981e-01 1.10264506e-01 7.68836895e-04 2.53702479e+02] [-1.10264476e-01 9.93902278e-01 -8.09556964e-05 -2.43731212e+01] [-7.73075281e-04 -4.31337026e-06 9.99999701e-01 -3.99925621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.73, Y:-24.38, Z:-0.40 [[ 9.93849003e-01 1.10740999e-01 7.68838910e-04 2.53731706e+02] [-1.10740970e-01 9.93849300e-01 -8.09365549e-05 -2.43757511e+01] [-7.73073007e-04 -4.70325198e-06 9.99999701e-01 -4.02868194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.254203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.76, Y:-24.38, Z:-0.40 [[ 9.93754739e-01 1.11583726e-01 7.68838144e-04 2.53762023e+02] [-1.11583696e-01 9.93755036e-01 -8.09438331e-05 -2.43753304e+01] [-7.73068792e-04 -5.35148428e-06 9.99999701e-01 -4.01597112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.79, Y:-24.38, Z:-0.40 [[ 9.93746709e-01 1.11655217e-01 7.68840035e-04 2.53791829e+02] [-1.11655188e-01 9.93747006e-01 -8.09258691e-05 -2.43776255e+01] [-7.73068278e-04 -5.42516274e-06 9.99999701e-01 -3.99309239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.314203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:253.82, Y:-24.38, Z:-0.40 [[ 9.93878781e-01 1.10473423e-01 7.68842027e-04 2.53820989e+02] [-1.10473393e-01 9.93879079e-01 -8.09069312e-05 -2.43809148e+01] [-7.73074071e-04 -4.52490541e-06 9.99999701e-01 -4.00589867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34420382200005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:253.85, Y:-24.38, Z:-0.40 [[ 9.93967936e-01 1.09668368e-01 7.68844030e-04 2.53850719e+02] [-1.09668338e-01 9.93968233e-01 -8.08878981e-05 -2.43821724e+01] [-7.73077386e-04 -3.91786960e-06 9.99999701e-01 -3.98775737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.88, Y:-24.38, Z:-0.40 [[ 9.94213717e-01 1.07417377e-01 7.68846028e-04 2.53880117e+02] [-1.07417346e-01 9.94214015e-01 -8.08689010e-05 -2.43797543e+01] [-7.73084221e-04 -2.18642939e-06 9.99999701e-01 -3.98738457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.91, Y:-24.38, Z:-0.40 [[ 9.94390196e-01 1.05771198e-01 7.68849009e-04 2.53908297e+02] [-1.05771167e-01 9.94390494e-01 -8.08405455e-05 -2.43825271e+01] [-7.73086747e-04 -9.35011242e-07 9.99999701e-01 -4.04919862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.94, Y:-24.39, Z:-0.40 [[ 9.94581381e-01 1.03958093e-01 7.68851952e-04 2.53937513e+02] [-1.03958062e-01 9.94581678e-01 -8.08125499e-05 -2.43865256e+01] [-7.73087183e-04 4.46298783e-07 9.99999701e-01 -4.02111947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.97, Y:-24.39, Z:-0.40 [[ 9.94832466e-01 1.01527207e-01 7.68853927e-04 2.53966794e+02] [-1.01527175e-01 9.94832763e-01 -8.07937532e-05 -2.43907595e+01] [-7.73083841e-04 2.31668173e-06 9.99999701e-01 -4.01785933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.00, Y:-24.39, Z:-0.40 [[ 9.94728033e-01 1.02545355e-01 7.68855909e-04 2.53996880e+02] [-1.02545324e-01 9.94728330e-01 -8.07748927e-05 -2.43899397e+01] [-7.73085844e-04 1.50647207e-06 9.99999701e-01 -3.98892806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52420382200006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:254.03, Y:-24.39, Z:-0.40 [[ 9.94543682e-01 1.04318138e-01 7.68857894e-04 2.54027053e+02] [-1.04318107e-01 9.94543979e-01 -8.07559954e-05 -2.43910077e+01] [-7.73087304e-04 1.09565183e-07 9.99999701e-01 -3.98653901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55420382200003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:254.06, Y:-24.39, Z:-0.40 [[ 9.94340518e-01 1.06237203e-01 7.68859874e-04 2.54056985e+02] [-1.06237173e-01 9.94340815e-01 -8.07371403e-05 -2.43924951e+01] [-7.73086041e-04 -1.40128930e-06 9.99999701e-01 -4.00026024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.09, Y:-24.39, Z:-0.40 [[ 9.94049762e-01 1.08924194e-01 7.68861844e-04 2.54086598e+02] [-1.08924164e-01 9.94050059e-01 -8.07183730e-05 -2.43937049e+01] [-7.73079345e-04 -3.50955440e-06 9.99999701e-01 -3.99645389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.12, Y:-24.39, Z:-0.40 [[ 9.93898602e-01 1.10294962e-01 7.68863872e-04 2.54115818e+02] [-1.10294932e-01 9.93898899e-01 -8.06990528e-05 -2.43941046e+01] [-7.73073654e-04 -4.59511311e-06 9.99999701e-01 -4.01157956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.14, Y:-24.39, Z:-0.40 [[ 9.93838855e-01 1.10832034e-01 7.68866236e-04 2.54144940e+02] [-1.10832005e-01 9.93839152e-01 -8.06765212e-05 -2.43945994e+01] [-7.73070911e-04 -5.03552472e-06 9.99999701e-01 -4.01259795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.17, Y:-24.39, Z:-0.40 [[ 9.93814771e-01 1.11047785e-01 7.68870206e-04 2.54173469e+02] [-1.11047756e-01 9.93815068e-01 -8.06386675e-05 -2.43943611e+01] [-7.73069541e-04 -5.24141220e-06 9.99999701e-01 -4.04438156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70420382200007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:254.20, Y:-24.39, Z:-0.41 [[ 9.93888281e-01 1.10387919e-01 7.68873160e-04 2.54203846e+02] [-1.10387890e-01 9.93888579e-01 -8.06104882e-05 -2.43933424e+01] [-7.73072677e-04 -4.75646628e-06 9.99999701e-01 -4.05920400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.23, Y:-24.40, Z:-0.41 [[ 9.93961734e-01 1.09724562e-01 7.68874172e-04 2.54232359e+02] [-1.09724533e-01 9.93962032e-01 -8.06008362e-05 -2.43959585e+01] [-7.73075626e-04 -4.25021234e-06 9.99999701e-01 -4.08135941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.26, Y:-24.40, Z:-0.41 [[ 9.94164635e-01 1.07870693e-01 7.68877197e-04 2.54261557e+02] [-1.07870663e-01 9.94164933e-01 -8.05719750e-05 -2.44007097e+01] [-7.73082101e-04 -2.83748453e-06 9.99999701e-01 -4.05655167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79420382200004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:254.29, Y:-24.40, Z:-0.41 [[ 9.94299684e-01 1.06618700e-01 7.68879184e-04 2.54290596e+02] [-1.06618669e-01 9.94299981e-01 -8.05530060e-05 -2.44027179e+01] [-7.73085015e-04 -1.88304700e-06 9.99999701e-01 -4.07605746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.32, Y:-24.40, Z:-0.41 [[ 9.94489155e-01 1.04836679e-01 7.68883156e-04 2.54319519e+02] [-1.04836648e-01 9.94489452e-01 -8.05150777e-05 -2.44023042e+01] [-7.73087122e-04 -5.35761099e-07 9.99999701e-01 -4.05660499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85420382200004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:254.35, Y:-24.40, Z:-0.41 [[ 9.94573695e-01 1.04031603e-01 7.68887115e-04 2.54347995e+02] [-1.04031571e-01 9.94573992e-01 -8.04772477e-05 -2.44042905e+01] [-7.73087305e-04 5.20186987e-08 9.99999701e-01 -4.06778147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.38, Y:-24.41, Z:-0.40 [[ 9.94643814e-01 1.03359046e-01 7.68891061e-04 2.54377037e+02] [-1.03359015e-01 9.94644111e-01 -8.04395322e-05 -2.44074677e+01] [-7.73087119e-04 5.36860290e-07 9.99999701e-01 -4.03251822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.41, Y:-24.41, Z:-0.40 [[ 9.94809059e-01 1.01756298e-01 7.68895028e-04 2.54405531e+02] [-1.01756266e-01 9.94809357e-01 -8.04015922e-05 -2.44093408e+01] [-7.73085337e-04 1.74434516e-06 9.99999701e-01 -4.02919716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.944203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:254.43, Y:-24.41, Z:-0.40 [[ 9.94929300e-01 1.00573833e-01 7.68897980e-04 2.54434696e+02] [-1.00573800e-01 9.94929598e-01 -8.03733493e-05 -2.44116906e+01] [-7.73082814e-04 2.63480810e-06 9.99999701e-01 -4.00113938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.46, Y:-24.41, Z:-0.40 [[ 9.95216365e-01 9.76923512e-02 7.68899944e-04 2.54463301e+02] [-9.76923183e-02 9.95216662e-01 -8.03545622e-05 -2.44147706e+01] [-7.73072062e-04 4.85455732e-06 9.99999701e-01 -3.99919402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.49, Y:-24.42, Z:-0.40 [[ 9.95413102e-01 9.56669508e-02 7.68902874e-04 2.54492868e+02] [-9.56669173e-02 9.95413399e-01 -8.03265128e-05 -2.44190154e+01] [-7.73060816e-04 6.39949556e-06 9.99999701e-01 -3.99054296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.52, Y:-24.42, Z:-0.40 [[ 9.95769884e-01 9.18789826e-02 7.68904844e-04 2.54520993e+02] [-9.18789479e-02 9.95770181e-01 -8.03076511e-05 -2.44241053e+01] [-7.73031101e-04 9.32177226e-06 9.99999701e-01 -4.00390949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.55, Y:-24.43, Z:-0.40 [[ 9.95859684e-01 9.09004898e-02 7.68907772e-04 2.54550137e+02] [-9.09004549e-02 9.95859981e-01 -8.02796095e-05 -2.44278437e+01] [-7.73021934e-04 1.00531603e-05 9.99999701e-01 -3.99844168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09420382200005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:254.58, Y:-24.43, Z:-0.40 [[ 9.95938768e-01 9.00298742e-02 7.68909712e-04 2.54579784e+02] [-9.00298391e-02 9.95939065e-01 -8.02610250e-05 -2.44334396e+01] [-7.73013109e-04 1.07102488e-05 9.99999701e-01 -4.03591270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.61, Y:-24.44, Z:-0.40 [[ 9.95830388e-01 9.12208718e-02 7.68911662e-04 2.54608722e+02] [-9.12208370e-02 9.95830685e-01 -8.02423370e-05 -2.44393210e+01] [-7.73025603e-04 9.76699218e-06 9.99999701e-01 -4.01487106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.64, Y:-24.44, Z:-0.40 [[ 9.95711724e-01 9.25071468e-02 7.68913642e-04 2.54638439e+02] [-9.25071125e-02 9.95712020e-01 -8.02233616e-05 -2.44434464e+01] [-7.73037790e-04 8.74936094e-06 9.99999701e-01 -4.02172016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.67, Y:-24.45, Z:-0.40 [[ 9.95591041e-01 9.37970555e-02 7.68915618e-04 2.54667014e+02] [-9.37970215e-02 9.95591338e-01 -8.02044109e-05 -2.44474706e+01] [-7.73048667e-04 7.72879812e-06 9.99999701e-01 -4.02767216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.70, Y:-24.45, Z:-0.40 [[ 9.95302596e-01 9.68098696e-02 7.68918565e-04 2.54695122e+02] [-9.68098366e-02 9.95302893e-01 -8.01761508e-05 -2.44522041e+01] [-7.73068715e-04 5.36065041e-06 9.99999701e-01 -4.04473616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.72, Y:-24.46, Z:-0.40 [[ 9.95111834e-01 9.87514426e-02 7.68920491e-04 2.54723562e+02] [-9.87514102e-02 9.95112131e-01 -8.01576802e-05 -2.44558116e+01] [-7.73077794e-04 3.83387333e-06 9.99999701e-01 -4.04528205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.75, Y:-24.46, Z:-0.40 [[ 9.94702316e-01 1.02794506e-01 7.68923315e-04 2.54752537e+02] [-1.02794475e-01 9.94702614e-01 -8.01305772e-05 -2.44606167e+01] [-7.73087014e-04 6.65002466e-07 9.99999701e-01 -4.01554558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.78, Y:-24.46, Z:-0.41 [[ 9.94504283e-01 1.04693078e-01 7.68925292e-04 2.54780741e+02] [-1.04693047e-01 9.94504580e-01 -8.01116070e-05 -2.44645638e+01] [-7.73086855e-04 -8.29795565e-07 9.99999701e-01 -4.05244044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.81, Y:-24.47, Z:-0.40 [[ 9.94193375e-01 1.07605496e-01 7.68928241e-04 2.54809914e+02] [-1.07605466e-01 9.94193672e-01 -8.00832834e-05 -2.44685349e+01] [-7.73080993e-04 -3.12261188e-06 9.99999701e-01 -4.01928241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.84, Y:-24.47, Z:-0.40 [[ 9.94058357e-01 1.08845728e-01 7.68930241e-04 2.54838224e+02] [-1.08845699e-01 9.94058654e-01 -8.00640792e-05 -2.44722293e+01] [-7.73076393e-04 -4.10638258e-06 9.99999701e-01 -4.04863125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.87, Y:-24.48, Z:-0.40 [[ 9.93957724e-01 1.09760881e-01 7.68933239e-04 2.54867465e+02] [-1.09760852e-01 9.93958022e-01 -8.00352795e-05 -2.44766756e+01] [-7.73072104e-04 -4.84708282e-06 9.99999701e-01 -4.01320852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.90, Y:-24.48, Z:-0.40 [[ 9.93894597e-01 1.10331039e-01 7.68935206e-04 2.54895812e+02] [-1.10331010e-01 9.93894895e-01 -8.00163693e-05 -2.44836280e+01] [-7.73069065e-04 -5.30956082e-06 9.99999701e-01 -4.01532932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45420382200007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:254.93, Y:-24.49, Z:-0.40 [[ 9.93895781e-01 1.10320377e-01 7.68938147e-04 2.54925581e+02] [-1.10320348e-01 9.93896078e-01 -7.99880984e-05 -2.44875691e+01] [-7.73068926e-04 -5.32969021e-06 9.99999701e-01 -4.04485240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.95, Y:-24.49, Z:-0.41 [[ 9.93879752e-01 1.10464688e-01 7.68940129e-04 2.54953684e+02] [-1.10464659e-01 9.93880049e-01 -7.99690437e-05 -2.44914227e+01] [-7.73068009e-04 -5.46109621e-06 9.99999701e-01 -4.07842739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.98, Y:-24.50, Z:-0.41 [[ 9.93905369e-01 1.10233959e-01 7.68943070e-04 2.54983363e+02] [-1.10233930e-01 9.93905667e-01 -7.99407562e-05 -2.44950302e+01] [-7.73069061e-04 -5.31006963e-06 9.99999701e-01 -4.07968507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.01, Y:-24.50, Z:-0.41 [[ 9.93923774e-01 1.10067886e-01 7.68944958e-04 2.55011382e+02] [-1.10067857e-01 9.93924072e-01 -7.99225914e-05 -2.45025077e+01] [-7.73069814e-04 -5.19916025e-06 9.99999701e-01 -4.09577092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.04, Y:-24.51, Z:-0.41 [[ 9.93916943e-01 1.10129561e-01 7.68947163e-04 2.55040553e+02] [-1.10129532e-01 9.93917240e-01 -7.99013676e-05 -2.45083045e+01] [-7.73069345e-04 -5.26846792e-06 9.99999701e-01 -4.06094196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.07, Y:-24.51, Z:-0.41 [[ 9.93833482e-01 1.10880201e-01 7.68949064e-04 2.55070185e+02] [-1.10880173e-01 9.93833779e-01 -7.98830746e-05 -2.45131656e+01] [-7.73065005e-04 -5.87073072e-06 9.99999701e-01 -4.06032481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.10, Y:-24.52, Z:-0.41 [[ 9.93794448e-01 1.11229511e-01 7.68950967e-04 2.55099937e+02] [-1.11229483e-01 9.93794745e-01 -7.98647481e-05 -2.45153052e+01] [-7.73062747e-04 -6.16087520e-06 9.99999701e-01 -4.06601167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.13, Y:-24.52, Z:-0.41 [[ 9.93838160e-01 1.10838264e-01 7.68952869e-04 2.55128638e+02] [-1.10838235e-01 9.93838457e-01 -7.98464344e-05 -2.45197344e+01] [-7.73064973e-04 -5.87494559e-06 9.99999701e-01 -4.07079495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.16, Y:-24.53, Z:-0.40 [[ 9.93938750e-01 1.09932574e-01 7.68955702e-04 2.55158722e+02] [-1.09932545e-01 9.93939047e-01 -7.98191437e-05 -2.45251603e+01] [-7.73069821e-04 -5.19791736e-06 9.99999701e-01 -4.02503237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.19, Y:-24.53, Z:-0.41 [[ 9.94060530e-01 1.08825875e-01 7.68955702e-04 2.55188914e+02] [-1.08825846e-01 9.94060828e-01 -7.98191437e-05 -2.45301325e+01] [-7.73075129e-04 -4.33719414e-06 9.99999701e-01 -4.07688051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.22, Y:-24.53, Z:-0.41 [[ 9.94063096e-01 1.08802433e-01 7.68954693e-04 2.55218916e+02] [-1.08802404e-01 9.94063394e-01 -7.98288632e-05 -2.45332009e+01] [-7.73075286e-04 -4.30919190e-06 9.99999701e-01 -4.07711368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.25, Y:-24.54, Z:-0.41 [[ 9.94270762e-01 1.06888077e-01 7.68956575e-04 2.55249981e+02] [-1.06888047e-01 9.94271059e-01 -7.98107296e-05 -2.45398579e+01] [-7.73082083e-04 -2.83879176e-06 9.99999701e-01 -4.05694676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.28, Y:-24.54, Z:-0.41 [[ 9.94289068e-01 1.06717660e-01 7.68954576e-04 2.55279513e+02] [-1.06717630e-01 9.94289365e-01 -7.98299848e-05 -2.45443947e+01] [-7.73082626e-04 -2.68692866e-06 9.99999701e-01 -4.09669665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84420382200005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.31, Y:-24.55, Z:-0.41 [[ 9.94156542e-01 1.07945261e-01 7.68949782e-04 2.55310665e+02] [-1.07945231e-01 9.94156839e-01 -7.98761324e-05 -2.45512999e+01] [-7.73078935e-04 -3.59508250e-06 9.99999701e-01 -4.06889283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.34, Y:-24.55, Z:-0.41 [[ 9.93980149e-01 1.09557623e-01 7.68947839e-04 2.55341206e+02] [-1.09557594e-01 9.93980446e-01 -7.98948275e-05 -2.45545087e+01] [-7.73072204e-04 -4.83020254e-06 9.99999701e-01 -4.06045019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.37, Y:-24.56, Z:-0.41 [[ 9.93807605e-01 1.11111892e-01 7.68947839e-04 2.55371418e+02] [-1.11111864e-01 9.93807903e-01 -7.98948275e-05 -2.45568162e+01] [-7.73063705e-04 -6.03914041e-06 9.99999701e-01 -4.06314329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.40, Y:-24.56, Z:-0.41 [[ 9.93530646e-01 1.13561717e-01 7.68947839e-04 2.55401349e+02] [-1.13561689e-01 9.93530944e-01 -7.98948275e-05 -2.45595087e+01] [-7.73046467e-04 -7.94505566e-06 9.99999701e-01 -4.07095625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.43, Y:-24.57, Z:-0.41 [[ 9.93475576e-01 1.14042490e-01 7.68947839e-04 2.55431749e+02] [-1.14042462e-01 9.93475873e-01 -7.98948275e-05 -2.45672108e+01] [-7.73042531e-04 -8.31914494e-06 9.99999701e-01 -4.07743979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.46, Y:-24.57, Z:-0.41 [[ 9.93492173e-01 1.13897809e-01 7.68945871e-04 2.55462926e+02] [-1.13897781e-01 9.93492471e-01 -7.99137702e-05 -2.45709552e+01] [-7.73043936e-04 -8.18752334e-06 9.99999701e-01 -4.07982396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.49, Y:-24.57, Z:-0.41 [[ 9.93542582e-01 1.13457242e-01 7.68943905e-04 2.55492664e+02] [-1.13457214e-01 9.93542880e-01 -7.99326772e-05 -2.45738060e+01] [-7.73047683e-04 -7.82571493e-06 9.99999701e-01 -4.12342033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.52, Y:-24.58, Z:-0.41 [[ 9.93818158e-01 1.11017468e-01 7.68939024e-04 2.55522516e+02] [-1.11017439e-01 9.93818455e-01 -7.99796062e-05 -2.45775272e+01] [-7.73064926e-04 -5.88045641e-06 9.99999701e-01 -4.12351802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.55, Y:-24.58, Z:-0.41 [[ 9.93972602e-01 1.09626068e-01 7.68939024e-04 2.55553459e+02] [-1.09626039e-01 9.93972900e-01 -7.99796062e-05 -2.45823226e+01] [-7.73072401e-04 -4.79820214e-06 9.99999701e-01 -4.10348931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11420382200004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:255.58, Y:-24.59, Z:-0.41 [[ 9.94257036e-01 1.07015673e-01 7.68937127e-04 2.55583402e+02] [-1.07015643e-01 9.94257334e-01 -7.99978437e-05 -2.45897615e+01] [-7.73082401e-04 -2.74988181e-06 9.99999701e-01 -4.09960701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.61, Y:-24.59, Z:-0.41 [[ 9.94371565e-01 1.05946210e-01 7.68936184e-04 2.55613999e+02] [-1.05946179e-01 9.94371862e-01 -8.00069065e-05 -2.45937884e+01] [-7.73084934e-04 -1.90925804e-06 9.99999701e-01 -4.08842961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.65, Y:-24.60, Z:-0.41 [[ 9.94591965e-01 1.03856789e-01 7.68935238e-04 2.55645514e+02] [-1.03856758e-01 9.94592262e-01 -8.00159996e-05 -2.45985346e+01] [-7.73087242e-04 -2.75850940e-07 9.99999701e-01 -4.06044881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.68, Y:-24.60, Z:-0.41 [[ 9.94720242e-01 1.02620897e-01 7.68921676e-04 2.55676674e+02] [-1.02620865e-01 9.94720539e-01 -8.01461106e-05 -2.46048553e+01] [-7.73086850e-04 8.15550759e-07 9.99999701e-01 -4.06651032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.71, Y:-24.61, Z:-0.41 [[ 9.94901844e-01 1.00845079e-01 7.68909129e-04 2.55706827e+02] [-1.00845047e-01 9.94902141e-01 -8.02663032e-05 -2.46144553e+01] [-7.73083800e-04 2.31641558e-06 9.99999701e-01 -4.07752858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.74, Y:-24.62, Z:-0.41 [[ 9.94955733e-01 1.00312000e-01 7.68896691e-04 2.55738268e+02] [-1.00311968e-01 9.94956031e-01 -8.03852748e-05 -2.46188672e+01] [-7.73082007e-04 2.85024983e-06 9.99999701e-01 -4.07015686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:255.77, Y:-24.62, Z:-0.41 [[ 9.95027432e-01 9.95982813e-02 7.68882923e-04 2.55769418e+02] [-9.95982488e-02 9.95027729e-01 -8.05167550e-05 -2.46243577e+01] [-7.73079159e-04 3.53698738e-06 9.99999701e-01 -4.11400106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.324203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:255.80, Y:-24.63, Z:-0.42 [[ 9.95037372e-01 9.94989295e-02 7.68870161e-04 2.55800079e+02] [-9.94988969e-02 9.95037669e-01 -8.06384293e-05 -2.46302596e+01] [-7.73078211e-04 3.73651786e-06 9.99999701e-01 -4.16285985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.83, Y:-24.64, Z:-0.41 [[ 9.94990425e-01 9.99673060e-02 7.68857730e-04 2.55832038e+02] [-9.99672735e-02 9.94990722e-01 -8.07567825e-05 -2.46389768e+01] [-7.73079346e-04 3.49161437e-06 9.99999701e-01 -4.12354841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.86, Y:-24.65, Z:-0.42 [[ 9.94920212e-01 1.00663698e-01 7.68849996e-04 2.55863191e+02] [-1.00663666e-01 9.94920509e-01 -8.08303534e-05 -2.46454686e+01] [-7.73081311e-04 3.02449323e-06 9.99999701e-01 -4.18431920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.90, Y:-24.65, Z:-0.41 [[ 9.94824292e-01 1.01607270e-01 7.68834833e-04 2.55895582e+02] [-1.01607237e-01 9.94824589e-01 -8.09743205e-05 -2.46521596e+01] [-7.73083376e-04 2.43603766e-06 9.99999701e-01 -4.13105261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.93, Y:-24.66, Z:-0.41 [[ 9.94581170e-01 1.03960115e-01 7.68818763e-04 2.55927897e+02] [-1.03960083e-01 9.94581467e-01 -8.11266095e-05 -2.46597031e+01] [-7.73086825e-04 7.60535485e-07 9.99999701e-01 -4.12639812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47420382200005 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:255.96, Y:-24.66, Z:-0.42 [[ 9.94403497e-01 1.05646076e-01 7.68802556e-04 2.55958713e+02] [-1.05646044e-01 9.94403795e-01 -8.12799102e-05 -2.46645154e+01] [-7.73087082e-04 -3.95921926e-07 9.99999701e-01 -4.18323665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.504203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:255.99, Y:-24.67, Z:-0.42 [[ 9.94148148e-01 1.08022538e-01 7.68789448e-04 2.55989042e+02] [-1.08022507e-01 9.94148445e-01 -8.14037058e-05 -2.46722807e+01] [-7.73084269e-04 -2.11922019e-06 9.99999701e-01 -4.19968017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.02, Y:-24.68, Z:-0.42 [[ 9.94038180e-01 1.09029838e-01 7.68776659e-04 2.56020202e+02] [-1.09029807e-01 9.94038477e-01 -8.15243037e-05 -2.46825965e+01] [-7.73082161e-04 -2.78130036e-06 9.99999701e-01 -4.15782553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.564203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:256.05, Y:-24.69, Z:-0.42 [[ 9.93954617e-01 1.09789013e-01 7.68762791e-04 2.56052318e+02] [-1.09788983e-01 9.93954915e-01 -8.16548700e-05 -2.46882268e+01] [-7.73080362e-04 -3.24044960e-06 9.99999701e-01 -4.18990825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.08, Y:-24.69, Z:-0.42 [[ 9.93905863e-01 1.10229505e-01 7.68746754e-04 2.56084184e+02] [-1.10229475e-01 9.93906161e-01 -8.18055733e-05 -2.46918966e+01] [-7.73079522e-04 -3.43151187e-06 9.99999701e-01 -4.18799018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.12, Y:-24.70, Z:-0.42 [[ 9.93803061e-01 1.11152526e-01 7.68731761e-04 2.56116794e+02] [-1.11152496e-01 9.93803359e-01 -8.19462147e-05 -2.46966846e+01] [-7.73076735e-04 -4.00805480e-06 9.99999701e-01 -4.16329199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.15, Y:-24.71, Z:-0.41 [[ 9.93761573e-01 1.11522842e-01 7.68716245e-04 2.56148553e+02] [-1.11522812e-01 9.93761871e-01 -8.20915112e-05 -2.47059303e+01] [-7.73075972e-04 -4.15000759e-06 9.99999701e-01 -4.13330794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.18, Y:-24.71, Z:-0.41 [[ 9.93735066e-01 1.11758796e-01 7.68700494e-04 2.56180143e+02] [-1.11758766e-01 9.93735363e-01 -8.22387381e-05 -2.47122351e+01] [-7.73075767e-04 -4.18550091e-06 9.99999701e-01 -4.11883659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.21, Y:-24.72, Z:-0.41 [[ 9.93726695e-01 1.11833196e-01 7.68686753e-04 2.56212803e+02] [-1.11833166e-01 9.93726993e-01 -8.23669736e-05 -2.47209208e+01] [-7.73076138e-04 -4.11441280e-06 9.99999701e-01 -4.11029626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.25, Y:-24.73, Z:-0.41 [[ 9.93720077e-01 1.11891993e-01 7.68670998e-04 2.56245233e+02] [-1.11891962e-01 9.93720374e-01 -8.25137429e-05 -2.47255713e+01] [-7.73076659e-04 -4.01254348e-06 9.99999701e-01 -4.09374492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.28, Y:-24.73, Z:-0.41 [[ 9.93592703e-01 1.13017477e-01 7.68654904e-04 2.56276980e+02] [-1.13017446e-01 9.93593000e-01 -8.26633996e-05 -2.47302732e+01] [-7.73072541e-04 -4.73766380e-06 9.99999701e-01 -4.08789577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.31, Y:-24.74, Z:-0.41 [[ 9.93480049e-01 1.14003516e-01 7.68640739e-04 2.56308005e+02] [-1.14003486e-01 9.93480346e-01 -8.27949000e-05 -2.47351933e+01] [-7.73068377e-04 -5.37264264e-06 9.99999701e-01 -4.11750440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.34, Y:-24.74, Z:-0.41 [[ 9.93169526e-01 1.16677770e-01 7.68632773e-04 2.56340335e+02] [-1.16677741e-01 9.93169823e-01 -8.28687878e-05 -2.47422860e+01] [-7.73051821e-04 -7.37958079e-06 9.99999701e-01 -4.10206132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.37, Y:-24.75, Z:-0.41 [[ 9.92981916e-01 1.18263792e-01 7.68616699e-04 2.56373369e+02] [-1.18263763e-01 9.92982213e-01 -8.30176069e-05 -2.47468996e+01] [-7.73040688e-04 -8.46452085e-06 9.99999701e-01 -4.09678988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.40, Y:-24.75, Z:-0.41 [[ 9.92733643e-01 1.20330058e-01 7.68600542e-04 2.56404090e+02] [-1.20330030e-01 9.92733941e-01 -8.31669245e-05 -2.47496959e+01] [-7.73023326e-04 -9.92312210e-06 9.99999701e-01 -4.13896742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.44, Y:-24.75, Z:-0.41 [[ 9.92644555e-01 1.21062782e-01 7.68587531e-04 2.56436280e+02] [-1.21062753e-01 9.92644852e-01 -8.32869907e-05 -2.47531760e+01] [-7.73017411e-04 -1.03729450e-05 9.99999701e-01 -4.13061514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95420382200007 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:256.47, Y:-24.76, Z:-0.42 [[ 9.92625862e-01 1.21215958e-01 7.68573611e-04 2.56468790e+02] [-1.21215929e-01 9.92626159e-01 -8.34152466e-05 -2.47571403e+01] [-7.73017531e-04 -1.03632335e-05 9.99999701e-01 -4.16824934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.50, Y:-24.76, Z:-0.41 [[ 9.92730471e-01 1.20356226e-01 7.68557474e-04 2.56501628e+02] [-1.20356197e-01 9.92730769e-01 -8.35636678e-05 -2.47594108e+01] [-7.73028059e-04 -9.54445575e-06 9.99999701e-01 -4.12472492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.53, Y:-24.76, Z:-0.41 [[ 9.92775251e-01 1.19986292e-01 7.68541165e-04 2.56534706e+02] [-1.19986263e-01 9.92775548e-01 -8.37133904e-05 -2.47613958e+01] [-7.73033336e-04 -9.10580034e-06 9.99999701e-01 -4.12658101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.57, Y:-24.76, Z:-0.41 [[ 9.93005108e-01 1.18068898e-01 7.68524751e-04 2.56566171e+02] [-1.18068869e-01 9.93005405e-01 -8.38638095e-05 -2.47636698e+01] [-7.73050940e-04 -7.46165662e-06 9.99999701e-01 -4.12277947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.60, Y:-24.77, Z:-0.41 [[ 9.93179667e-01 1.16591417e-01 7.68511501e-04 2.56598562e+02] [-1.16591387e-01 9.93179964e-01 -8.39850539e-05 -2.47667661e+01] [-7.73062162e-04 -6.18957424e-06 9.99999701e-01 -4.11023356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.63, Y:-24.77, Z:-0.41 [[ 9.93582428e-01 1.13107776e-01 7.68496745e-04 2.56629596e+02] [-1.13107745e-01 9.93582725e-01 -8.41198646e-05 -2.47682624e+01] [-7.73079701e-04 -3.34291462e-06 9.99999701e-01 -4.14493241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.66, Y:-24.77, Z:-0.41 [[ 9.93763601e-01 1.11504777e-01 7.68488282e-04 2.56661852e+02] [-1.11504745e-01 9.93763898e-01 -8.41971049e-05 -2.47717134e+01] [-7.73084290e-04 -2.01807181e-06 9.99999701e-01 -4.14560011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.69, Y:-24.77, Z:-0.42 [[ 9.94086476e-01 1.08588615e-01 7.68483082e-04 2.56693403e+02] [-1.08588583e-01 9.94086773e-01 -8.42445386e-05 -2.47735652e+01] [-7.73086865e-04 2.97867720e-07 9.99999701e-01 -4.15362496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.194203822 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:256.73, Y:-24.78, Z:-0.42 [[ 9.94244252e-01 1.07134385e-01 7.68467454e-04 2.56726543e+02] [-1.07134351e-01 9.94244549e-01 -8.43868556e-05 -2.47755602e+01] [-7.73085311e-04 1.57188398e-06 9.99999701e-01 -4.19744305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.76, Y:-24.78, Z:-0.42 [[ 9.94703280e-01 1.02785185e-01 7.68450688e-04 2.56758182e+02] [-1.02785150e-01 9.94703577e-01 -8.45392542e-05 -2.47769191e+01] [-7.73070031e-04 5.10615385e-06 9.99999701e-01 -4.16443075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.79, Y:-24.78, Z:-0.42 [[ 9.94896319e-01 1.00899575e-01 7.68440235e-04 2.56790102e+02] [-1.00899540e-01 9.94896616e-01 -8.46341696e-05 -2.47806239e+01] [-7.73058141e-04 6.66695787e-06 9.99999701e-01 -4.16830347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.82, Y:-24.78, Z:-0.42 [[ 9.95165550e-01 9.82086399e-02 7.68424652e-04 2.56822028e+02] [-9.82086037e-02 9.95165847e-01 -8.47754128e-05 -2.47828661e+01] [-7.73035648e-04 8.89965819e-06 9.99999701e-01 -4.15400990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.85, Y:-24.79, Z:-0.42 [[ 9.95228047e-01 9.75732717e-02 7.68410135e-04 2.56853476e+02] [-9.75732352e-02 9.95228344e-01 -8.49067918e-05 -2.47859572e+01] [-7.73028180e-04 9.52535772e-06 9.99999701e-01 -4.18190590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.89, Y:-24.79, Z:-0.42 [[ 9.95200600e-01 9.78528223e-02 7.68394660e-04 2.56885799e+02] [-9.78527858e-02 9.95200897e-01 -8.50466126e-05 -2.47899399e+01] [-7.73029106e-04 9.44888183e-06 9.99999701e-01 -4.16000814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.374203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:256.92, Y:-24.79, Z:-0.42 [[ 9.95075400e-01 9.91179011e-02 7.68378204e-04 2.56917484e+02] [-9.91178648e-02 9.95075696e-01 -8.51950242e-05 -2.47930073e+01] [-7.73038829e-04 8.61546579e-06 9.99999701e-01 -4.20303305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40420382200006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:256.95, Y:-24.79, Z:-0.42 [[ 9.94832303e-01 1.01528808e-01 7.68367922e-04 2.56949387e+02] [-1.01528773e-01 9.94832600e-01 -8.52876579e-05 -2.47948101e+01] [-7.73056612e-04 6.83546484e-06 9.99999701e-01 -4.17415364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.98, Y:-24.80, Z:-0.41 [[ 9.94712162e-01 1.02699194e-01 7.68353329e-04 2.56980906e+02] [-1.02699158e-01 9.94712459e-01 -8.54189250e-05 -2.47978796e+01] [-7.73063084e-04 6.05800334e-06 9.99999701e-01 -4.10994624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.01, Y:-24.80, Z:-0.41 [[ 9.94590525e-01 1.03870583e-01 7.68339179e-04 2.57011722e+02] [-1.03870548e-01 9.94590821e-01 -8.55460156e-05 -2.47988519e+01] [-7.73068810e-04 5.27544498e-06 9.99999701e-01 -4.12015183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.04, Y:-24.80, Z:-0.41 [[ 9.94568771e-01 1.04078671e-01 7.68325088e-04 2.57044013e+02] [-1.04078636e-01 9.94569068e-01 -8.56723859e-05 -2.48021841e+01] [-7.73069034e-04 5.24085257e-06 9.99999701e-01 -4.11989910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.07, Y:-24.81, Z:-0.42 [[ 9.94536545e-01 1.04386160e-01 7.68310162e-04 2.57074503e+02] [-1.04386125e-01 9.94536842e-01 -8.58060337e-05 -2.48064434e+01] [-7.73069724e-04 5.13631574e-06 9.99999701e-01 -4.15071859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.11, Y:-24.81, Z:-0.42 [[ 9.94459472e-01 1.05117878e-01 7.68296310e-04 2.57106239e+02] [-1.05117843e-01 9.94459769e-01 -8.59298852e-05 -2.48106667e+01] [-7.73072538e-04 4.69213714e-06 9.99999701e-01 -4.18255087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58420382200006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:257.14, Y:-24.81, Z:-0.42 [[ 9.94250835e-01 1.07073281e-01 7.68281552e-04 2.57138231e+02] [-1.07073247e-01 9.94251131e-01 -8.60616314e-05 -2.48119950e+01] [-7.73079704e-04 3.30444856e-06 9.99999701e-01 -4.21910786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:257.17, Y:-24.82, Z:-0.42 [[ 9.94133741e-01 1.08155048e-01 7.68266727e-04 2.57170640e+02] [-1.08155014e-01 9.94134038e-01 -8.61937665e-05 -2.48156303e+01] [-7.73082395e-04 2.59623275e-06 9.99999701e-01 -4.19221577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64420382200007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:257.20, Y:-24.82, Z:-0.42 [[ 9.94112052e-01 1.08354227e-01 7.68249427e-04 2.57203898e+02] [-1.08354192e-01 9.94112349e-01 -8.63476897e-05 -2.48195563e+01] [-7.73082379e-04 2.59623269e-06 9.99999701e-01 -4.19247483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.24, Y:-24.82, Z:-0.42 [[ 9.93948931e-01 1.09840485e-01 7.68232096e-04 2.57235289e+02] [-1.09840451e-01 9.93949228e-01 -8.65016094e-05 -2.48239856e+01] [-7.73085077e-04 1.59522227e-06 9.99999701e-01 -4.15806733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.27, Y:-24.83, Z:-0.42 [[ 9.93835163e-01 1.10865136e-01 7.68215910e-04 2.57266818e+02] [-1.10865102e-01 9.93835460e-01 -8.66451219e-05 -2.48271098e+01] [-7.73086135e-04 9.42633917e-07 9.99999701e-01 -4.17191487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.30, Y:-24.83, Z:-0.42 [[ 9.93738356e-01 1.11729540e-01 7.68200007e-04 2.57299865e+02] [-1.11729507e-01 9.93738653e-01 -8.67858824e-05 -2.48301019e+01] [-7.73086587e-04 4.11852208e-07 9.99999701e-01 -4.17900163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.33, Y:-24.84, Z:-0.42 [[ 9.93652200e-01 1.12493183e-01 7.68183370e-04 2.57330944e+02] [-1.12493150e-01 9.93652496e-01 -8.69329005e-05 -2.48352708e+01] [-7.73086682e-04 -3.42990097e-08 9.99999701e-01 -4.21395891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.36, Y:-24.84, Z:-0.42 [[ 9.93490139e-01 1.13915559e-01 7.68169895e-04 2.57363053e+02] [-1.13915525e-01 9.93490436e-01 -8.70518098e-05 -2.48377654e+01] [-7.73085999e-04 -1.02136244e-06 9.99999701e-01 -4.20966207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.40, Y:-24.84, Z:-0.42 [[ 9.93402209e-01 1.14679824e-01 7.68155373e-04 2.57395712e+02] [-1.14679791e-01 9.93402506e-01 -8.71797629e-05 -2.48390280e+01] [-7.73085232e-04 -1.48732857e-06 9.99999701e-01 -4.19369853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.43, Y:-24.84, Z:-0.42 [[ 9.93275698e-01 1.15770454e-01 7.68138322e-04 2.57427919e+02] [-1.15770422e-01 9.93275995e-01 -8.73297373e-05 -2.48431185e+01] [-7.73083560e-04 -2.18519166e-06 9.99999701e-01 -4.15629362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.884203822 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:257.46, Y:-24.85, Z:-0.42 [[ 9.93154371e-01 1.16806698e-01 7.68122853e-04 2.57460024e+02] [-1.16806665e-01 9.93154668e-01 -8.74655882e-05 -2.48472079e+01] [-7.73081364e-04 -2.85503764e-06 9.99999701e-01 -4.20320361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.49, Y:-24.85, Z:-0.42 [[ 9.92909580e-01 1.18869577e-01 7.68106424e-04 2.57492483e+02] [-1.18869545e-01 9.92909877e-01 -8.76096249e-05 -2.48468720e+01] [-7.73074574e-04 -4.31602510e-06 9.99999701e-01 -4.16640064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.52, Y:-24.85, Z:-0.42 [[ 9.92818045e-01 1.19631686e-01 7.68090325e-04 2.57524993e+02] [-1.19631654e-01 9.92818342e-01 -8.77505429e-05 -2.48486488e+01] [-7.73071908e-04 -4.76759336e-06 9.99999701e-01 -4.15948406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97420382200005 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:257.56, Y:-24.85, Z:-0.43 [[ 9.92772521e-01 1.20008880e-01 7.68074236e-04 2.57556440e+02] [-1.20008848e-01 9.92772818e-01 -8.78911491e-05 -2.48519116e+01] [-7.73070942e-04 -4.91978639e-06 9.99999701e-01 -4.26157879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.59, Y:-24.86, Z:-0.42 [[ 9.92831183e-01 1.19522602e-01 7.68059337e-04 2.57587631e+02] [-1.19522570e-01 9.92831480e-01 -8.80211539e-05 -2.48560471e+01] [-7.73074005e-04 -4.41027943e-06 9.99999701e-01 -4.23340801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03420382200005 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:257.62, Y:-24.86, Z:-0.42 [[ 9.93147107e-01 1.16868449e-01 7.68045796e-04 2.57619943e+02] [-1.16868416e-01 9.93147404e-01 -8.81391521e-05 -2.48569179e+01] [-7.73083374e-04 -2.22515150e-06 9.99999701e-01 -4.23196173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.65, Y:-24.86, Z:-0.42 [[ 9.93326003e-01 1.15338031e-01 7.68030573e-04 2.57651067e+02] [-1.15337998e-01 9.93326300e-01 -8.82715989e-05 -2.48588365e+01] [-7.73086040e-04 -9.00633878e-07 9.99999701e-01 -4.21122454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.68, Y:-24.86, Z:-0.42 [[ 9.93669602e-01 1.12339362e-01 7.68016471e-04 2.57683542e+02] [-1.12339327e-01 9.93669899e-01 -8.83941284e-05 -2.48606233e+01] [-7.73084989e-04 1.55610456e-06 9.99999701e-01 -4.21468968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.71, Y:-24.86, Z:-0.42 [[ 9.93806671e-01 1.11120257e-01 7.68001363e-04 2.57714071e+02] [-1.11120222e-01 9.93806967e-01 -8.85251929e-05 -2.48642434e+01] [-7.73082048e-04 2.63644525e-06 9.99999701e-01 -4.24440442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.75, Y:-24.87, Z:-0.42 [[ 9.93973941e-01 1.09613933e-01 7.67992748e-04 2.57746964e+02] [-1.09613897e-01 9.93974238e-01 -8.85998745e-05 -2.48680557e+01] [-7.73076787e-04 3.88328823e-06 9.99999701e-01 -4.22368494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.78, Y:-24.87, Z:-0.42 [[ 9.94263854e-01 1.06952320e-01 7.67975163e-04 2.57777894e+02] [-1.06952284e-01 9.94264151e-01 -8.87520346e-05 -2.48735651e+01] [-7.73062409e-04 6.10624254e-06 9.99999701e-01 -4.23585752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.81, Y:-24.88, Z:-0.42 [[ 9.94485720e-01 1.04869268e-01 7.67960995e-04 2.57809699e+02] [-1.04869231e-01 9.94486016e-01 -8.88744583e-05 -2.48782915e+01] [-7.73046670e-04 7.84890062e-06 9.99999701e-01 -4.21441254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24420382200003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:257.84, Y:-24.88, Z:-0.43 [[ 9.94516216e-01 1.04579668e-01 7.67945458e-04 2.57840811e+02] [-1.04579630e-01 9.94516512e-01 -8.90085095e-05 -2.48802689e+01] [-7.73042919e-04 8.20895379e-06 9.99999701e-01 -4.28879440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.87, Y:-24.88, Z:-0.42 [[ 9.94497330e-01 1.04759113e-01 7.67936990e-04 2.57873599e+02] [-1.04759075e-01 9.94497626e-01 -8.90815086e-05 -2.48843930e+01] [-7.73043613e-04 8.14295344e-06 9.99999701e-01 -4.20633244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.90, Y:-24.89, Z:-0.42 [[ 9.94456681e-01 1.05144286e-01 7.67919069e-04 2.57904722e+02] [-1.05144248e-01 9.94456977e-01 -8.92357271e-05 -2.48894089e+01] [-7.73045103e-04 7.99879157e-06 9.99999701e-01 -4.20628476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33420382200006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:257.94, Y:-24.89, Z:-0.42 [[ 9.94430509e-01 1.05391521e-01 7.67904582e-04 2.57935381e+02] [-1.05391483e-01 9.94430806e-01 -8.93602232e-05 -2.48937889e+01] [-7.73045782e-04 7.93192952e-06 9.99999701e-01 -4.22019621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.97, Y:-24.90, Z:-0.42 [[ 9.94396717e-01 1.05709884e-01 7.67895783e-04 2.57967126e+02] [-1.05709847e-01 9.94397013e-01 -8.94357656e-05 -2.48989788e+01] [-7.73047518e-04 7.76048615e-06 9.99999701e-01 -4.21195904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39420382200007 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:258.00, Y:-24.90, Z:-0.43 [[ 9.94379897e-01 1.05867987e-01 7.67879751e-04 2.57998329e+02] [-1.05867949e-01 9.94380194e-01 -8.95732094e-05 -2.49034860e+01] [-7.73047350e-04 7.77594418e-06 9.99999701e-01 -4.28558387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.03, Y:-24.91, Z:-0.42 [[ 9.94257865e-01 1.07007982e-01 7.67868330e-04 2.58029355e+02] [-1.07007944e-01 9.94258162e-01 -8.96710073e-05 -2.49105114e+01] [-7.73054867e-04 6.98809278e-06 9.99999701e-01 -4.22564592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.06, Y:-24.92, Z:-0.42 [[ 9.94192217e-01 1.07616202e-01 7.67853932e-04 2.58059861e+02] [-1.07616164e-01 9.94192513e-01 -8.97941238e-05 -2.49160017e+01] [-7.73057933e-04 6.63912404e-06 9.99999701e-01 -4.23595920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.09, Y:-24.92, Z:-0.42 [[ 9.94196703e-01 1.07574746e-01 7.67839583e-04 2.58092355e+02] [-1.07574709e-01 9.94197000e-01 -8.99166607e-05 -2.49246394e+01] [-7.73056571e-04 6.79472810e-06 9.99999701e-01 -4.21920341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51420382200007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:258.13, Y:-24.93, Z:-0.42 [[ 9.94203861e-01 1.07508572e-01 7.67821893e-04 2.58125353e+02] [-1.07508535e-01 9.94204158e-01 -9.00674684e-05 -2.49301366e+01] [-7.73054743e-04 6.99801805e-06 9.99999701e-01 -4.22291474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54420382200004 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:258.16, Y:-24.94, Z:-0.43 [[ 9.94160554e-01 1.07908306e-01 7.67804176e-04 2.58157549e+02] [-1.07908269e-01 9.94160851e-01 -9.02182468e-05 -2.49372835e+01] [-7.73056151e-04 6.83900301e-06 9.99999701e-01 -4.26738389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.574203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:258.19, Y:-24.94, Z:-0.43 [[ 9.94066038e-01 1.08775565e-01 7.67786193e-04 2.58189761e+02] [-1.08775528e-01 9.94066334e-01 -9.03710272e-05 -2.49429678e+01] [-7.73060566e-04 6.31842062e-06 9.99999701e-01 -4.26825787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.22, Y:-24.95, Z:-0.42 [[ 9.93732494e-01 1.11781665e-01 7.67780584e-04 2.58221215e+02] [-1.11781629e-01 9.93732791e-01 -9.04186594e-05 -2.49490589e+01] [-7.73075890e-04 4.02819589e-06 9.99999701e-01 -4.24107576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.25, Y:-24.95, Z:-0.42 [[ 9.93511092e-01 1.13732670e-01 7.67764968e-04 2.58252404e+02] [-1.13732634e-01 9.93511389e-01 -9.05510604e-05 -2.49534254e+01] [-7.73081854e-04 2.64355057e-06 9.99999701e-01 -4.23204121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.28, Y:-24.96, Z:-0.42 [[ 9.93100647e-01 1.17262594e-01 7.67750541e-04 2.58284253e+02] [-1.17262559e-01 9.93100944e-01 -9.06732216e-05 -2.49580396e+01] [-7.73086364e-04 1.92417939e-08 9.99999701e-01 -4.20980550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.32, Y:-24.96, Z:-0.42 [[ 9.92933691e-01 1.18668010e-01 7.67735018e-04 2.58316374e+02] [-1.18667975e-01 9.92933987e-01 -9.08044648e-05 -2.49614888e+01] [-7.73085778e-04 -9.42747501e-07 9.99999701e-01 -4.20127961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.35, Y:-24.97, Z:-0.42 [[ 9.92726494e-01 1.20389033e-01 7.67719501e-04 2.58347455e+02] [-1.20388999e-01 9.92726791e-01 -9.09354610e-05 -2.49664882e+01] [-7.73083349e-04 -2.15094107e-06 9.99999701e-01 -4.18067371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.38, Y:-24.97, Z:-0.42 [[ 9.92714399e-01 1.20488728e-01 7.67705218e-04 2.58380339e+02] [-1.20488693e-01 9.92714695e-01 -9.10558909e-05 -2.49706169e+01] [-7.73083460e-04 -2.10730440e-06 9.99999701e-01 -4.18076694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.41, Y:-24.97, Z:-0.42 [[ 9.92926187e-01 1.18730777e-01 7.67687688e-04 2.58412929e+02] [-1.18730741e-01 9.92926484e-01 -9.12034388e-05 -2.49742720e+01] [-7.73086092e-04 -5.89845706e-07 9.99999701e-01 -4.18244790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.45, Y:-24.98, Z:-0.42 [[ 9.93123718e-01 1.17067036e-01 7.67669825e-04 2.58445642e+02] [-1.17067000e-01 9.93124015e-01 -9.13535503e-05 -2.49788714e+01] [-7.73085828e-04 8.56574020e-07 9.99999701e-01 -4.17527219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84420382200005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:258.48, Y:-24.98, Z:-0.42 [[ 9.93590192e-01 1.13039551e-01 7.67651521e-04 2.58477626e+02] [-1.13039514e-01 9.93590489e-01 -9.15070990e-05 -2.49841473e+01] [-7.73075172e-04 4.14560086e-06 9.99999701e-01 -4.24608985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.51, Y:-24.99, Z:-0.42 [[ 9.93765140e-01 1.11491065e-01 7.67645793e-04 2.58508116e+02] [-1.11491028e-01 9.93765436e-01 -9.15551327e-05 -2.49896791e+01] [-7.73067435e-04 5.39868093e-06 9.99999701e-01 -4.24972525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90420382200006 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:258.54, Y:-25.00, Z:-0.43 [[ 9.94156060e-01 1.07949706e-01 7.67630889e-04 2.58538912e+02] [-1.07949668e-01 9.94156356e-01 -9.16799226e-05 -2.49971714e+01] [-7.73041948e-04 8.27865123e-06 9.99999701e-01 -4.29361506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.57, Y:-25.00, Z:-0.43 [[ 9.94275573e-01 1.06843325e-01 7.67616679e-04 2.58569299e+02] [-1.06843286e-01 9.94275869e-01 -9.17987464e-05 -2.50038515e+01] [-7.73030823e-04 9.25856251e-06 9.99999701e-01 -4.27190997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96420382200006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:258.60, Y:-25.01, Z:-0.43 [[ 9.94607912e-01 1.03703961e-01 7.67602673e-04 2.58600698e+02] [-1.03703921e-01 9.94608208e-01 -9.19157096e-05 -2.50101816e+01] [-7.72995942e-04 1.18166851e-05 9.99999701e-01 -4.31786770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.63, Y:-25.02, Z:-0.42 [[ 9.94734151e-01 1.02486001e-01 7.67587653e-04 2.58632088e+02] [-1.02485960e-01 9.94734447e-01 -9.20409682e-05 -2.50187396e+01] [-7.72978790e-04 1.28893365e-05 9.99999701e-01 -4.21711212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.66, Y:-25.03, Z:-0.42 [[ 9.94756484e-01 1.02269004e-01 7.67583186e-04 2.58663579e+02] [-1.02268964e-01 9.94756780e-01 -9.20782042e-05 -2.50261649e+01] [-7.72975325e-04 1.30954534e-05 9.99999701e-01 -4.20997988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05420382200003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:258.70, Y:-25.03, Z:-0.42 [[ 9.94735442e-01 1.02473462e-01 7.67567615e-04 2.58695504e+02] [-1.02473421e-01 9.94735739e-01 -9.22078267e-05 -2.50335277e+01] [-7.72975793e-04 1.30671139e-05 9.99999701e-01 -4.24578152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.73, Y:-25.04, Z:-0.42 [[ 9.94589853e-01 1.03877016e-01 7.67551988e-04 2.58726652e+02] [-1.03876976e-01 9.94590149e-01 -9.23377258e-05 -2.50438269e+01] [-7.72991414e-04 1.21071860e-05 9.99999701e-01 -4.22701353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.76, Y:-25.05, Z:-0.43 [[ 9.94448944e-01 1.05217439e-01 7.67535938e-04 2.58757429e+02] [-1.05217399e-01 9.94449240e-01 -9.24709440e-05 -2.50496042e+01] [-7.73005086e-04 1.11994976e-05 9.99999701e-01 -4.26876913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14420382200007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:258.79, Y:-25.06, Z:-0.43 [[ 9.94042601e-01 1.08989535e-01 7.67521092e-04 2.58788562e+02] [-1.08989496e-01 9.94042897e-01 -9.25940072e-05 -2.50577714e+01] [-7.73040667e-04 8.39065052e-06 9.99999701e-01 -4.29930785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.82, Y:-25.06, Z:-0.43 [[ 9.93749492e-01 1.11630452e-01 7.67505370e-04 2.58819886e+02] [-1.11630413e-01 9.93749789e-01 -9.27241387e-05 -2.50646180e+01] [-7.73059137e-04 6.46762394e-06 9.99999701e-01 -4.28486070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.85, Y:-25.07, Z:-0.43 [[ 9.93058631e-01 1.17617881e-01 7.67489519e-04 2.58850900e+02] [-1.17617845e-01 9.93058928e-01 -9.28551563e-05 -2.50716550e+01] [-7.73083745e-04 1.94015151e-06 9.99999701e-01 -4.30537482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.88, Y:-25.08, Z:-0.43 [[ 9.92677272e-01 1.20794224e-01 7.67473736e-04 2.58883019e+02] [-1.20794188e-01 9.92677569e-01 -9.29854230e-05 -2.50767652e+01] [-7.73086064e-04 -4.01850940e-07 9.99999701e-01 -4.27044585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26420382200007 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:258.91, Y:-25.08, Z:-0.43 [[ 9.91982918e-01 1.26369703e-01 7.67455279e-04 2.58914320e+02] [-1.26369669e-01 9.91983215e-01 -9.31375066e-05 -2.50826832e+01] [-7.73072514e-04 -4.59225373e-06 9.99999701e-01 -4.30582690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.95, Y:-25.09, Z:-0.43 [[ 9.91313356e-01 1.31518978e-01 7.67438072e-04 2.58945076e+02] [-1.31518945e-01 9.91313653e-01 -9.32790755e-05 -2.50873406e+01] [-7.73039807e-04 -8.46385238e-06 9.99999701e-01 -4.26186672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.324203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:258.98, Y:-25.09, Z:-0.43 [[ 9.91038277e-01 1.33575991e-01 7.67423319e-04 2.58975820e+02] [-1.33575958e-01 9.91038574e-01 -9.34002954e-05 -2.50908085e+01] [-7.73022148e-04 -9.94603758e-06 9.99999701e-01 -4.26492633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.01, Y:-25.09, Z:-0.42 [[ 9.90825977e-01 1.35141758e-01 7.67409146e-04 2.59007446e+02] [-1.35141726e-01 9.90826274e-01 -9.35166042e-05 -2.50948459e+01] [-7.73007143e-04 -1.10503155e-05 9.99999701e-01 -4.21173670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.04, Y:-25.10, Z:-0.42 [[ 9.90541272e-01 1.37212973e-01 7.67393514e-04 2.59038293e+02] [-1.37212941e-01 9.90541569e-01 -9.36447019e-05 -2.51007861e+01] [-7.72984443e-04 -1.25373792e-05 9.99999701e-01 -4.20268823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.07, Y:-25.11, Z:-0.42 [[ 9.90427061e-01 1.38034950e-01 7.67385193e-04 2.59070040e+02] [-1.38034919e-01 9.90427358e-01 -9.37128364e-05 -2.51055298e+01] [-7.72974937e-04 -1.31102240e-05 9.99999701e-01 -4.17447995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.10, Y:-25.11, Z:-0.42 [[ 9.90311009e-01 1.38865105e-01 7.67369399e-04 2.59102034e+02] [-1.38865074e-01 9.90311306e-01 -9.38419889e-05 -2.51078024e+01] [-7.72965969e-04 -1.36280535e-05 9.99999701e-01 -4.16488786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.13, Y:-25.11, Z:-0.42 [[ 9.90151989e-01 1.39994465e-01 7.67353610e-04 2.59133652e+02] [-1.39994435e-01 9.90152286e-01 -9.39709215e-05 -2.51058546e+01] [-7.72952340e-04 -1.43797399e-05 9.99999701e-01 -4.19728656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.17, Y:-25.11, Z:-0.42 [[ 9.90051274e-01 1.40704958e-01 7.67339007e-04 2.59165257e+02] [-1.40704927e-01 9.90051572e-01 -9.40900105e-05 -2.51073774e+01] [-7.72944121e-04 -1.48144446e-05 9.99999701e-01 -4.24908181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53420382200005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:259.20, Y:-25.11, Z:-0.42 [[ 9.89976315e-01 1.41231395e-01 7.67330152e-04 2.59198603e+02] [-1.41231365e-01 9.89976612e-01 -9.41621716e-05 -2.51099215e+01] [-7.72937559e-04 -1.51527650e-05 9.99999701e-01 -4.20655665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.564203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:259.23, Y:-25.11, Z:-0.42 [[ 9.89949310e-01 1.41420559e-01 7.67312142e-04 2.59231812e+02] [-1.41420528e-01 9.89949607e-01 -9.43087060e-05 -2.51141877e+01] [-7.72937544e-04 -1.51528500e-05 9.99999701e-01 -4.20681571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.26, Y:-25.11, Z:-0.42 [[ 9.89854764e-01 1.42080816e-01 7.67294093e-04 2.59263778e+02] [-1.42080785e-01 9.89855061e-01 -9.44553216e-05 -2.51145417e+01] [-7.72930231e-04 -1.55206973e-05 9.99999701e-01 -4.21320264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.30, Y:-25.11, Z:-0.42 [[ 9.89855596e-01 1.42075015e-01 7.67278286e-04 2.59296691e+02] [-1.42074985e-01 9.89855893e-01 -9.45835556e-05 -2.51140878e+01] [-7.72932893e-04 -1.53869889e-05 9.99999701e-01 -4.21837032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.33, Y:-25.12, Z:-0.43 [[ 9.89868404e-01 1.41985753e-01 7.67272454e-04 2.59329242e+02] [-1.41985722e-01 9.89868701e-01 -9.46308390e-05 -2.51150230e+01] [-7.72935219e-04 -1.52696558e-05 9.99999701e-01 -4.25723214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.36, Y:-25.12, Z:-0.42 [[ 9.89963487e-01 1.41321286e-01 7.67260831e-04 2.59362134e+02] [-1.41321255e-01 9.89963784e-01 -9.47249868e-05 -2.51151556e+01] [-7.72947092e-04 -1.46559852e-05 9.99999701e-01 -4.23124919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71420382200006 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:259.39, Y:-25.11, Z:-0.43 [[ 9.90491267e-01 1.37573473e-01 7.67242569e-04 2.59394099e+02] [-1.37573440e-01 9.90491565e-01 -9.48726705e-05 -2.51108568e+01] [-7.72999255e-04 -1.15816481e-05 9.99999701e-01 -4.28761093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74420382200003 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:259.43, Y:-25.11, Z:-0.42 [[ 9.90858283e-01 1.34904687e-01 7.67227840e-04 2.59426843e+02] [-1.34904654e-01 9.90858580e-01 -9.49916338e-05 -2.51114542e+01] [-7.73029105e-04 -9.37935919e-06 9.99999701e-01 -4.24411731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.46, Y:-25.11, Z:-0.43 [[ 9.91780810e-01 1.27946223e-01 7.67208850e-04 2.59458177e+02] [-1.27946187e-01 9.91781107e-01 -9.51447625e-05 -2.51134920e+01] [-7.73076655e-04 -3.79869756e-06 9.99999701e-01 -4.26433375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80420382200003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:259.49, Y:-25.12, Z:-0.43 [[ 9.92257603e-01 1.24194451e-01 7.67193446e-04 2.59489952e+02] [-1.24194414e-01 9.92257899e-01 -9.52688070e-05 -2.51172216e+01] [-7.73085614e-04 -7.49942685e-07 9.99999701e-01 -4.27428352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.52, Y:-25.12, Z:-0.42 [[ 9.92968767e-01 1.18374145e-01 7.67187592e-04 2.59522001e+02] [-1.18374107e-01 9.92969064e-01 -9.53159248e-05 -2.51207365e+01] [-7.73076486e-04 3.83059016e-06 9.99999701e-01 -4.23488764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86420382200004 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:259.55, Y:-25.12, Z:-0.43 [[ 9.93230421e-01 1.16158265e-01 7.67170000e-04 2.59554691e+02] [-1.16158226e-01 9.93230717e-01 -9.54573114e-05 -2.51231561e+01] [-7.73064965e-04 5.69799956e-06 9.99999701e-01 -4.27523666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.59, Y:-25.13, Z:-0.43 [[ 9.93444930e-01 1.14309156e-01 7.67151065e-04 2.59586001e+02] [-1.14309116e-01 9.93445226e-01 -9.56092437e-05 -2.51275496e+01] [-7.73051575e-04 7.29015807e-06 9.99999701e-01 -4.25251512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.62, Y:-25.13, Z:-0.43 [[ 9.93801934e-01 1.11162616e-01 7.67135701e-04 2.59617059e+02] [-1.11162575e-01 9.93802230e-01 -9.57323611e-05 -2.51310639e+01] [-7.73023030e-04 9.86222546e-06 9.99999701e-01 -4.25849050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95420382200007 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:259.65, Y:-25.13, Z:-0.43 [[ 9.93891667e-01 1.10357446e-01 7.67120550e-04 2.59649053e+02] [-1.10357404e-01 9.93891963e-01 -9.58536108e-05 -2.51334681e+01] [-7.73013109e-04 1.06106722e-05 9.99999701e-01 -4.26625219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98420382200004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:259.68, Y:-25.14, Z:-0.43 [[ 9.93968096e-01 1.09666934e-01 7.67104306e-04 2.59680659e+02] [-1.09666893e-01 9.93968392e-01 -9.59834341e-05 -2.51368172e+01] [-7.73003642e-04 1.12785254e-05 9.99999701e-01 -4.26792273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01420382200007 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:259.71, Y:-25.14, Z:-0.43 [[ 9.93922593e-01 1.10078563e-01 7.67086952e-04 2.59713628e+02] [-1.10078521e-01 9.93922889e-01 -9.61219227e-05 -2.51421954e+01] [-7.73006243e-04 1.10979532e-05 9.99999701e-01 -4.25998413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.74, Y:-25.15, Z:-0.42 [[ 9.93646496e-01 1.12543560e-01 7.67068275e-04 2.59744979e+02] [-1.12543520e-01 9.93646792e-01 -9.62707424e-05 -2.51466050e+01] [-7.73029583e-04 9.33052245e-06 9.99999701e-01 -4.19009633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.78, Y:-25.15, Z:-0.42 [[ 9.93409135e-01 1.14619814e-01 7.67052894e-04 2.59776906e+02] [-1.14619774e-01 9.93409431e-01 -9.63931360e-05 -2.51497123e+01] [-7.73046143e-04 7.83839230e-06 9.99999701e-01 -4.20554326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.81, Y:-25.15, Z:-0.42 [[ 9.92893677e-01 1.19002341e-01 7.67035173e-04 2.59809135e+02] [-1.19002302e-01 9.92893974e-01 -9.65339459e-05 -2.51535137e+01] [-7.73072366e-04 4.56899362e-06 9.99999701e-01 -4.19071759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.84, Y:-25.16, Z:-0.42 [[ 9.92404499e-01 1.23015126e-01 7.67018365e-04 2.59841091e+02] [-1.23015088e-01 9.92404796e-01 -9.66673060e-05 -2.51559797e+01] [-7.73084245e-04 1.57823788e-06 9.99999701e-01 -4.17885089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.87, Y:-25.16, Z:-0.42 [[ 9.92175975e-01 1.24844893e-01 7.67001559e-04 2.59872890e+02] [-1.24844855e-01 9.92176271e-01 -9.68004733e-05 -2.51583644e+01] [-7.73085791e-04 2.86905196e-07 9.99999701e-01 -4.16160572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.194203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:259.90, Y:-25.16, Z:-0.42 [[ 9.91980860e-01 1.26385855e-01 7.66984242e-04 2.59904381e+02] [-1.26385818e-01 9.91981157e-01 -9.69374892e-05 -2.51603869e+01] [-7.73085443e-04 -7.75796585e-07 9.99999701e-01 -4.20887858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.94, Y:-25.16, Z:-0.42 [[ 9.91906890e-01 1.26965083e-01 7.66968231e-04 2.59936438e+02] [-1.26965046e-01 9.91907187e-01 -9.70640032e-05 -2.51647872e+01] [-7.73085039e-04 -1.09970324e-06 9.99999701e-01 -4.17534033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.97, Y:-25.17, Z:-0.42 [[ 9.91987832e-01 1.26331121e-01 7.66951031e-04 2.59968201e+02] [-1.26331083e-01 9.91988129e-01 -9.71997120e-05 -2.51697896e+01] [-7.73085667e-04 -4.68823056e-07 9.99999701e-01 -4.20885225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.00, Y:-25.18, Z:-0.42 [[ 9.92321496e-01 1.23682905e-01 7.66932681e-04 2.60000006e+02] [-1.23682866e-01 9.92321792e-01 -9.73442882e-05 -2.51753608e+01] [-7.73083837e-04 1.74039744e-06 9.99999701e-01 -4.22688740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.03, Y:-25.18, Z:-0.43 [[ 9.92465398e-01 1.22522840e-01 7.66916479e-04 2.60030654e+02] [-1.22522801e-01 9.92465694e-01 -9.74717641e-05 -2.51809399e+01] [-7.73080813e-04 2.77259759e-06 9.99999701e-01 -4.25507844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34420382200005 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:260.06, Y:-25.18, Z:-0.43 [[ 9.92537418e-01 1.21938041e-01 7.66907217e-04 2.60063100e+02] [-1.21938002e-01 9.92537714e-01 -9.75445819e-05 -2.51847898e+01] [-7.73078732e-04 3.30151402e-06 9.99999701e-01 -4.27778916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.374203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:260.10, Y:-25.19, Z:-0.43 [[ 9.92438214e-01 1.22742831e-01 7.66898214e-04 2.60095157e+02] [-1.22742792e-01 9.92438511e-01 -9.76153171e-05 -2.51880930e+01] [-7.73080902e-04 2.74594288e-06 9.99999701e-01 -4.25859686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40420382200006 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:260.13, Y:-25.19, Z:-0.43 [[ 9.92106952e-01 1.25392214e-01 7.66881075e-04 2.60125989e+02] [-1.25392176e-01 9.92107249e-01 -9.77497804e-05 -2.51923450e+01] [-7.73085334e-04 8.17350291e-07 9.99999701e-01 -4.28424978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.16, Y:-25.20, Z:-0.42 [[ 9.91908469e-01 1.26952749e-01 7.66865232e-04 2.60158919e+02] [-1.26952711e-01 9.91908766e-01 -9.78739081e-05 -2.51972663e+01] [-7.73085708e-04 -2.73662163e-07 9.99999701e-01 -4.23363339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46420382200006 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:260.19, Y:-25.20, Z:-0.43 [[ 9.91524754e-01 1.29915640e-01 7.66845718e-04 2.60189589e+02] [-1.29915603e-01 9.91525051e-01 -9.80265666e-05 -2.52006498e+01] [-7.73081924e-04 -2.42945653e-06 9.99999701e-01 -4.27844251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49420382200003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:260.22, Y:-25.20, Z:-0.43 [[ 9.91346081e-01 1.31272086e-01 7.66829970e-04 2.60221629e+02] [-1.31272049e-01 9.91346377e-01 -9.81495990e-05 -2.52045205e+01] [-7.73078416e-04 -3.36312156e-06 9.99999701e-01 -4.28214733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52420382200006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:260.25, Y:-25.21, Z:-0.43 [[ 9.91048420e-01 1.33500717e-01 7.66813198e-04 2.60254987e+02] [-1.33500681e-01 9.91048716e-01 -9.82804607e-05 -2.52064704e+01] [-7.73069748e-04 -4.96938905e-06 9.99999701e-01 -4.28946933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55420382200003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:260.29, Y:-25.21, Z:-0.42 [[ 9.90955823e-01 1.34186318e-01 7.66794052e-04 2.60286870e+02] [-1.34186282e-01 9.90956120e-01 -9.84296164e-05 -2.52100831e+01] [-7.73067166e-04 -5.35384123e-06 9.99999701e-01 -4.22587723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.32, Y:-25.21, Z:-0.43 [[ 9.90719197e-01 1.35922352e-01 7.66776636e-04 2.60317735e+02] [-1.35922316e-01 9.90719493e-01 -9.85650985e-05 -2.52132028e+01] [-7.73057761e-04 -6.57172121e-06 9.99999701e-01 -4.25528800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:-25.22, Z:-0.42 [[ 9.90607644e-01 1.36732978e-01 7.66760526e-04 2.60349687e+02] [-1.36732942e-01 9.90607941e-01 -9.86902623e-05 -2.52166531e+01] [-7.73053280e-04 -7.07809449e-06 9.99999701e-01 -4.20811832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.38, Y:-25.22, Z:-0.42 [[ 9.90625382e-01 1.36604407e-01 7.66743412e-04 2.60381863e+02] [-1.36604371e-01 9.90625679e-01 -9.88230498e-05 -2.52186187e+01] [-7.73055377e-04 -6.84388034e-06 9.99999701e-01 -4.17866744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67420382200004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:260.41, Y:-25.22, Z:-0.42 [[ 9.90656357e-01 1.36379601e-01 7.66726144e-04 2.60412889e+02] [-1.36379565e-01 9.90656653e-01 -9.89568458e-05 -2.52215333e+01] [-7.73058050e-04 -6.53354945e-06 9.99999701e-01 -4.20822390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.44, Y:-25.22, Z:-0.42 [[ 9.90891065e-01 1.34663687e-01 7.66716661e-04 2.60444073e+02] [-1.34663650e-01 9.90891362e-01 -9.90302647e-05 -2.52247835e+01] [-7.73068697e-04 -5.12065967e-06 9.99999701e-01 -4.17540184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73420382200004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:260.48, Y:-25.23, Z:-0.42 [[ 9.90940801e-01 1.34297212e-01 7.66700814e-04 2.60476163e+02] [-1.34297176e-01 9.90941098e-01 -9.91527963e-05 -2.52286047e+01] [-7.73071291e-04 -4.71120261e-06 9.99999701e-01 -4.20223059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.51, Y:-25.23, Z:-0.42 [[ 9.91297114e-01 1.31641347e-01 7.66683733e-04 2.60508911e+02] [-1.31641310e-01 9.91297410e-01 -9.92847008e-05 -2.52339727e+01] [-7.73081571e-04 -2.50661332e-06 9.99999701e-01 -4.16026086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:260.54, Y:-25.24, Z:-0.42 [[ 9.91497854e-01 1.30120779e-01 7.66664203e-04 2.60541642e+02] [-1.30120741e-01 9.91498151e-01 -9.94352812e-05 -2.52391268e+01] [-7.73084736e-04 -1.16904661e-06 9.99999701e-01 -4.17400072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.57, Y:-25.24, Z:-0.42 [[ 9.91881402e-01 1.27164052e-01 7.66644705e-04 2.60572384e+02] [-1.27164013e-01 9.91881699e-01 -9.95853837e-05 -2.52433867e+01] [-7.73084533e-04 1.28727290e-06 9.99999701e-01 -4.19822621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85420382200004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:260.60, Y:-25.25, Z:-0.42 [[ 9.91981986e-01 1.26377022e-01 7.66628916e-04 2.60603939e+02] [-1.26376983e-01 9.91982282e-01 -9.97067813e-05 -2.52475372e+01] [-7.73082948e-04 2.02308164e-06 9.99999701e-01 -4.23642435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.884203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:260.63, Y:-25.25, Z:-0.42 [[ 9.92240835e-01 1.24328348e-01 7.66611994e-04 2.60634835e+02] [-1.24328308e-01 9.92241131e-01 -9.98367215e-05 -2.52547862e+01] [-7.73076486e-04 3.75049989e-06 9.99999701e-01 -4.22628315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91420382200005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:260.67, Y:-25.26, Z:-0.42 [[ 9.92247841e-01 1.24272420e-01 7.66596369e-04 2.60666173e+02] [-1.24272380e-01 9.92248137e-01 -9.99565526e-05 -2.52605691e+01] [-7.73075662e-04 3.91491824e-06 9.99999701e-01 -4.24285634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.70, Y:-25.27, Z:-0.42 [[ 9.92232228e-01 1.24397017e-01 7.66579627e-04 2.60697232e+02] [-1.24396977e-01 9.92232524e-01 -1.00084787e-04 -2.52658543e+01] [-7.73075487e-04 3.94716292e-06 9.99999701e-01 -4.23226844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97420382200005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:260.73, Y:-25.27, Z:-0.43 [[ 9.91975740e-01 1.26426037e-01 7.66564078e-04 2.60728120e+02] [-1.26425997e-01 9.91976037e-01 -1.00203739e-04 -2.52710700e+01] [-7.73081557e-04 2.48604984e-06 9.99999701e-01 -4.32614683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.004203822 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:260.76, Y:-25.28, Z:-0.43 [[ 9.91828956e-01 1.27572469e-01 7.66561695e-04 2.60759601e+02] [-1.27572429e-01 9.91829252e-01 -1.00221962e-04 -2.52752362e+01] [-7.73083876e-04 1.61090635e-06 9.99999701e-01 -4.34296077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.79, Y:-25.28, Z:-0.43 [[ 9.91583544e-01 1.29466167e-01 7.66545055e-04 2.60789835e+02] [-1.29466128e-01 9.91583840e-01 -1.00349069e-04 -2.52805764e+01] [-7.73085499e-04 2.62865429e-07 9.99999701e-01 -4.33742141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.064203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:260.82, Y:-25.29, Z:-0.44 [[ 9.91561316e-01 1.29636290e-01 7.66732283e-04 2.60821823e+02] [-1.29636252e-01 9.91561613e-01 -9.89189541e-05 -2.52871199e+01] [-7.73085786e-04 -1.31209147e-06 9.99999701e-01 -4.35569384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.85, Y:-25.30, Z:-0.42 [[ 9.91705985e-01 1.28524907e-01 7.66530279e-04 2.60853100e+02] [-1.28524868e-01 9.91706281e-01 -1.00460281e-04 -2.52956904e+01] [-7.73084541e-04 1.10885941e-06 9.99999701e-01 -4.22572078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.124203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:260.88, Y:-25.30, Z:-0.42 [[ 9.91761845e-01 1.28093151e-01 7.66525309e-04 2.60884037e+02] [-1.28093111e-01 9.91762141e-01 -1.00498193e-04 -2.53003139e+01] [-7.73083912e-04 1.48366130e-06 9.99999701e-01 -4.23070640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.92, Y:-25.31, Z:-0.42 [[ 9.91835891e-01 1.27518539e-01 7.66509258e-04 2.60916226e+02] [-1.27518499e-01 9.91836187e-01 -1.00620464e-04 -2.53056000e+01] [-7.73082594e-04 2.05487747e-06 9.99999701e-01 -4.18071746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.95, Y:-25.31, Z:-0.42 [[ 9.92056202e-01 1.25793106e-01 7.66491940e-04 2.60946650e+02] [-1.25793066e-01 9.92056498e-01 -1.00752212e-04 -2.53133602e+01] [-7.73077243e-04 3.53248552e-06 9.99999701e-01 -4.23268196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21420382200006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:260.98, Y:-25.32, Z:-0.43 [[ 9.92058668e-01 1.25773654e-01 7.66482104e-04 2.60977140e+02] [-1.25773613e-01 9.92058964e-01 -1.00826984e-04 -2.53209342e+01] [-7.73076821e-04 3.62305908e-06 9.99999701e-01 -4.26593435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.01, Y:-25.33, Z:-0.42 [[ 9.92028227e-01 1.26013528e-01 7.66466869e-04 2.61007736e+02] [-1.26013488e-01 9.92028523e-01 -1.00942666e-04 -2.53326941e+01] [-7.73077138e-04 3.55281083e-06 9.99999701e-01 -4.20500717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27420382200006 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:261.04, Y:-25.34, Z:-0.42 [[ 9.91850253e-01 1.27406780e-01 7.66449889e-04 2.61040614e+02] [-1.27406740e-01 9.91850549e-01 -1.01071428e-04 -2.53390362e+01] [-7.73080929e-04 2.59683913e-06 9.99999701e-01 -4.21195731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.07, Y:-25.34, Z:-0.42 [[ 9.91696666e-01 1.28596797e-01 7.66429479e-04 2.61071330e+02] [-1.28596757e-01 9.91696962e-01 -1.01225967e-04 -2.53440810e+01] [-7.73083120e-04 1.82510836e-06 9.99999701e-01 -4.20402850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33420382200006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.10, Y:-25.35, Z:-0.42 [[ 9.91130783e-01 1.32887858e-01 7.66413000e-04 2.61103237e+02] [-1.32887820e-01 9.91131080e-01 -1.01350577e-04 -2.53522280e+01] [-7.73084006e-04 -1.39527550e-06 9.99999701e-01 -4.23611332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.13, Y:-25.36, Z:-0.43 [[ 9.90524053e-01 1.37337221e-01 7.66406611e-04 2.61133185e+02] [-1.37337183e-01 9.90524350e-01 -1.01398871e-04 -2.53611078e+01] [-7.73070249e-04 -4.81810473e-06 9.99999701e-01 -4.27645400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39420382200007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.17, Y:-25.37, Z:-0.43 [[ 9.90231328e-01 1.39432172e-01 7.66390068e-04 2.61165066e+02] [-1.39432135e-01 9.90231624e-01 -1.01523753e-04 -2.53662322e+01] [-7.73059359e-04 -6.32740285e-06 9.99999701e-01 -4.26010228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.20, Y:-25.37, Z:-0.43 [[ 9.89992949e-01 1.41114755e-01 7.66374140e-04 2.61196410e+02] [-1.41114719e-01 9.89993245e-01 -1.01643841e-04 -2.53715692e+01] [-7.73048668e-04 -7.51998566e-06 9.99999701e-01 -4.25548924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45420382200007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.23, Y:-25.38, Z:-0.43 [[ 9.89967723e-01 1.41291615e-01 7.66358224e-04 2.61229571e+02] [-1.41291578e-01 9.89968019e-01 -1.01763704e-04 -2.53761800e+01] [-7.73048491e-04 -7.53718107e-06 9.99999701e-01 -4.25574825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.26, Y:-25.39, Z:-0.42 [[ 9.89732976e-01 1.42926728e-01 7.66340019e-04 2.61260870e+02] [-1.42926692e-01 9.89733272e-01 -1.01900610e-04 -2.53852440e+01] [-7.73036536e-04 -8.67604978e-06 9.99999701e-01 -4.23034010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51420382200007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:261.29, Y:-25.40, Z:-0.43 [[ 9.89722715e-01 1.42997766e-01 7.66323336e-04 2.61291095e+02] [-1.42997729e-01 9.89723011e-01 -1.02025923e-04 -2.53952591e+01] [-7.73037318e-04 -8.60512396e-06 9.99999701e-01 -4.31244132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.32, Y:-25.40, Z:-0.42 [[ 9.89690559e-01 1.43220146e-01 7.66307910e-04 2.61323722e+02] [-1.43220110e-01 9.89690856e-01 -1.02141652e-04 -2.54013782e+01] [-7.73036674e-04 -8.66207441e-06 9.99999701e-01 -4.21797127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.36, Y:-25.41, Z:-0.42 [[ 9.89630503e-01 1.43634540e-01 7.66287957e-04 2.61355325e+02] [-1.43634504e-01 9.89630799e-01 -1.02291126e-04 -2.54062257e+01] [-7.73034702e-04 -8.83497203e-06 9.99999701e-01 -4.23751248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60420382200004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:261.39, Y:-25.41, Z:-0.43 [[ 9.89417775e-01 1.45092660e-01 7.66269339e-04 2.61387111e+02] [-1.45092624e-01 9.89418071e-01 -1.02430408e-04 -2.54097135e+01] [-7.73022631e-04 -9.83356246e-06 9.99999701e-01 -4.30350340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.42, Y:-25.41, Z:-0.43 [[ 9.89319619e-01 1.45760432e-01 7.66265627e-04 2.61417567e+02] [-1.45760396e-01 9.89319916e-01 -1.02458164e-04 -2.54139962e+01] [-7.73016192e-04 -1.03273103e-05 9.99999701e-01 -4.30169598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.45, Y:-25.42, Z:-0.44 [[ 9.89021590e-01 1.47769099e-01 7.66249647e-04 2.61447921e+02] [-1.47769064e-01 9.89021887e-01 -1.02577536e-04 -2.54180644e+01] [-7.72995462e-04 -1.17765953e-05 9.99999701e-01 -4.37325819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.48, Y:-25.42, Z:-0.42 [[ 9.88930020e-01 1.48380689e-01 7.66241160e-04 2.61480455e+02] [-1.48380654e-01 9.88930317e-01 -1.02640896e-04 -2.54236016e+01] [-7.72989039e-04 -1.21907011e-05 9.99999701e-01 -4.24093765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.51, Y:-25.43, Z:-0.43 [[ 9.88977592e-01 1.48063283e-01 7.66220760e-04 2.61511694e+02] [-1.48063247e-01 9.88977889e-01 -1.02792958e-04 -2.54289027e+01] [-7.72995252e-04 -1.17892017e-05 9.99999701e-01 -4.25629827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.54, Y:-25.43, Z:-0.42 [[ 9.89030909e-01 1.47706713e-01 7.66208027e-04 2.61543793e+02] [-1.47706677e-01 9.89031206e-01 -1.02887777e-04 -2.54313569e+01] [-7.73000865e-04 -1.14148507e-05 9.99999701e-01 -4.23471745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.57, Y:-25.43, Z:-0.42 [[ 9.89146965e-01 1.46927518e-01 7.66190787e-04 2.61574576e+02] [-1.46927482e-01 9.89147261e-01 -1.03016005e-04 -2.54328273e+01] [-7.73011404e-04 -1.06765150e-05 9.99999701e-01 -4.24550523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.61, Y:-25.43, Z:-0.43 [[ 9.89428458e-01 1.45019788e-01 7.66181311e-04 2.61607176e+02] [-1.45019751e-01 9.89428755e-01 -1.03086435e-04 -2.54346840e+01] [-7.73031393e-04 -9.11477058e-06 9.99999701e-01 -4.27126345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.64, Y:-25.44, Z:-0.43 [[ 9.89600694e-01 1.43839769e-01 7.66164324e-04 2.61640029e+02] [-1.43839732e-01 9.89600991e-01 -1.03212528e-04 -2.54377358e+01] [-7.73043040e-04 -8.06568195e-06 9.99999701e-01 -4.25277899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.67, Y:-25.44, Z:-0.43 [[ 9.89565158e-01 1.44084042e-01 7.66144222e-04 2.61672219e+02] [-1.44084006e-01 9.89565454e-01 -1.03361532e-04 -2.54411664e+01] [-7.73042602e-04 -8.10615786e-06 9.99999701e-01 -4.25021063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.70, Y:-25.45, Z:-0.43 [[ 9.89408220e-01 1.45157801e-01 7.66126422e-04 2.61703300e+02] [-1.45157765e-01 9.89408517e-01 -1.03493299e-04 -2.54453539e+01] [-7.73034866e-04 -8.81207856e-06 9.99999701e-01 -4.25823572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.74, Y:-25.45, Z:-0.42 [[ 9.89290577e-01 1.45957413e-01 7.66109964e-04 2.61736297e+02] [-1.45957377e-01 9.89290874e-01 -1.03614989e-04 -2.54490466e+01] [-7.73028971e-04 -9.31406827e-06 9.99999701e-01 -4.24592627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.77, Y:-25.45, Z:-0.43 [[ 9.89200041e-01 1.46569753e-01 7.66089765e-04 2.61767165e+02] [-1.46569716e-01 9.89200337e-01 -1.03764115e-04 -2.54504936e+01] [-7.73024935e-04 -9.64209318e-06 9.99999701e-01 -4.27117957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99420382200003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.80, Y:-25.45, Z:-0.43 [[ 9.89050964e-01 1.47572367e-01 7.66080269e-04 2.61801335e+02] [-1.47572331e-01 9.89051261e-01 -1.03834176e-04 -2.54467628e+01] [-7.73015711e-04 -1.03549586e-05 9.99999701e-01 -4.25068889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02420382200006 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:261.83, Y:-25.45, Z:-0.42 [[ 9.88967354e-01 1.48131648e-01 7.66059993e-04 2.61833859e+02] [-1.48131612e-01 9.88967651e-01 -1.03983555e-04 -2.54479855e+01] [-7.73011807e-04 -1.06413607e-05 9.99999701e-01 -4.23359259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.86, Y:-25.45, Z:-0.42 [[ 9.88986247e-01 1.48005463e-01 7.66041681e-04 2.61864464e+02] [-1.48005427e-01 9.88986543e-01 -1.04118279e-04 -2.54503766e+01] [-7.73014988e-04 -1.04067802e-05 9.99999701e-01 -4.20023230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08420382200006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:261.90, Y:-25.45, Z:-0.42 [[ 9.89245805e-01 1.46260556e-01 7.66032582e-04 2.61895432e+02] [-1.46260519e-01 9.89246102e-01 -1.04185184e-04 -2.54495653e+01] [-7.73032928e-04 -8.97556676e-06 9.99999701e-01 -4.22550582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11420382200004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:261.93, Y:-25.45, Z:-0.42 [[ 9.89395829e-01 1.45242237e-01 7.66030031e-04 2.61926730e+02] [-1.45242200e-01 9.89396125e-01 -1.04203938e-04 -2.54513147e+01] [-7.73041957e-04 -8.16094576e-06 9.99999701e-01 -4.22802962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14420382200007 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:261.96, Y:-25.45, Z:-0.42 [[ 9.89745153e-01 1.42842382e-01 7.66013999e-04 2.61959471e+02] [-1.42842344e-01 9.89745449e-01 -1.04321657e-04 -2.54502699e+01] [-7.73060423e-04 -6.16738124e-06 9.99999701e-01 -4.21768924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.99, Y:-25.45, Z:-0.42 [[ 9.89963864e-01 1.41318652e-01 7.65996286e-04 2.61992042e+02] [-1.41318613e-01 9.89964160e-01 -1.04451552e-04 -2.54514308e+01] [-7.73069823e-04 -4.84627053e-06 9.99999701e-01 -4.20854526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20420382200007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:262.02, Y:-25.45, Z:-0.42 [[ 9.90564400e-01 1.37045918e-01 7.65978439e-04 2.62022877e+02] [-1.37045878e-01 9.90564696e-01 -1.04582272e-04 -2.54535167e+01] [-7.73083772e-04 -1.37871237e-06 9.99999701e-01 -4.22572394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.05, Y:-25.46, Z:-0.42 [[ 9.90947921e-01 1.34244667e-01 7.65961994e-04 2.62054183e+02] [-1.34244627e-01 9.90948217e-01 -1.04702573e-04 -2.54598925e+01] [-7.73084435e-04 9.28515473e-07 9.99999701e-01 -4.19980612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26420382200007 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:262.09, Y:-25.46, Z:-0.42 [[ 9.91607576e-01 1.29281975e-01 7.65944233e-04 2.62087067e+02] [-1.29281933e-01 9.91607871e-01 -1.04832340e-04 -2.54610791e+01] [-7.73069263e-04 4.92979141e-06 9.99999701e-01 -4.23747486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.12, Y:-25.46, Z:-0.42 [[ 9.91829123e-01 1.27571170e-01 7.65923885e-04 2.62118528e+02] [-1.27571127e-01 9.91829419e-01 -1.04980800e-04 -2.54643595e+01] [-7.73058365e-04 6.41324194e-06 9.99999701e-01 -4.23789042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.324203822 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:262.15, Y:-25.47, Z:-0.43 [[ 9.92162867e-01 1.24949025e-01 7.65907365e-04 2.62150535e+02] [-1.24948981e-01 9.92163163e-01 -1.05101187e-04 -2.54711940e+01] [-7.73037364e-04 8.57815060e-06 9.99999701e-01 -4.27156600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35420382200004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:262.18, Y:-25.48, Z:-0.42 [[ 9.92220905e-01 1.24487301e-01 7.65897724e-04 2.62182505e+02] [-1.24487257e-01 9.92221201e-01 -1.05171393e-04 -2.54768812e+01] [-7.73032463e-04 9.00874796e-06 9.99999701e-01 -4.22392517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.384203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:262.21, Y:-25.48, Z:-0.43 [[ 9.92228268e-01 1.24428601e-01 7.65879057e-04 2.62212855e+02] [-1.24428556e-01 9.92228564e-01 -1.05307153e-04 -2.54810605e+01] [-7.73030299e-04 9.19150854e-06 9.99999701e-01 -4.25908244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41420382200005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:262.24, Y:-25.49, Z:-0.42 [[ 9.92173703e-01 1.24862947e-01 7.65864385e-04 2.62244592e+02] [-1.24862903e-01 9.92173999e-01 -1.05413753e-04 -2.54863971e+01] [-7.73033001e-04 8.96070372e-06 9.99999701e-01 -4.23806743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.444203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:262.27, Y:-25.49, Z:-0.42 [[ 9.92071437e-01 1.25672898e-01 7.65846010e-04 2.62274901e+02] [-1.25672854e-01 9.92071733e-01 -1.05547078e-04 -2.54919874e+01] [-7.73038586e-04 8.46418740e-06 9.99999701e-01 -4.24269863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47420382200005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:262.31, Y:-25.50, Z:-0.42 [[ 9.91727624e-01 1.28357834e-01 7.65829038e-04 2.62306856e+02] [-1.28357790e-01 9.91727920e-01 -1.05670084e-04 -2.54975726e+01] [-7.73057621e-04 6.49581818e-06 9.99999701e-01 -4.22815254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.504203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:262.34, Y:-25.50, Z:-0.43 [[ 9.91443793e-01 1.30532064e-01 7.65810343e-04 2.62337986e+02] [-1.30532021e-01 9.91444088e-01 -1.05805395e-04 -2.55012117e+01] [-7.73069134e-04 4.93733026e-06 9.99999701e-01 -4.25749159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53420382200005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:262.37, Y:-25.51, Z:-0.42 [[ 9.90869672e-01 1.34821019e-01 7.65793054e-04 2.62369819e+02] [-1.34820977e-01 9.90869968e-01 -1.05930383e-04 -2.55056812e+01] [-7.73082981e-04 1.71823543e-06 9.99999701e-01 -4.19290728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.564203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:262.40, Y:-25.51, Z:-0.42 [[ 9.90585709e-01 1.36891806e-01 7.65774256e-04 2.62400749e+02] [-1.36891765e-01 9.90586005e-01 -1.06066102e-04 -2.55101597e+01] [-7.73084841e-04 2.39375506e-07 9.99999701e-01 -4.22017168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59420382200005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:262.43, Y:-25.51, Z:-0.42 [[ 9.90040659e-01 1.40779640e-01 7.65763992e-04 2.62431138e+02] [-1.40779600e-01 9.90040955e-01 -1.06140150e-04 -2.55137342e+01] [-7.73080086e-04 -2.72088464e-06 9.99999701e-01 -4.23877559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.46, Y:-25.52, Z:-0.42 [[ 9.89801321e-01 1.42452652e-01 7.65761364e-04 2.62463121e+02] [-1.42452612e-01 9.89801617e-01 -1.06159110e-04 -2.55171631e+01] [-7.73074483e-04 -4.00827991e-06 9.99999701e-01 -4.16278742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.50, Y:-25.52, Z:-0.41 [[ 9.89587929e-01 1.43927568e-01 7.65743295e-04 2.62495143e+02] [-1.43927529e-01 9.89588225e-01 -1.06289284e-04 -2.55208677e+01] [-7.73068506e-04 -5.02894783e-06 9.99999701e-01 -4.14897891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68420382200003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:262.53, Y:-25.52, Z:-0.42 [[ 9.89257115e-01 1.46184045e-01 7.65725097e-04 2.62526647e+02] [-1.46184006e-01 9.89257411e-01 -1.06420224e-04 -2.55232017e+01] [-7.73056165e-04 -6.65979885e-06 9.99999701e-01 -4.18112159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71420382200006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:262.56, Y:-25.53, Z:-0.42 [[ 9.89038471e-01 1.47656073e-01 7.65705659e-04 2.62559699e+02] [-1.47656035e-01 9.89038768e-01 -1.06559898e-04 -2.55263570e+01] [-7.73046797e-04 -7.66922240e-06 9.99999701e-01 -4.19103755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.59, Y:-25.53, Z:-0.42 [[ 9.88765936e-01 1.49470191e-01 7.65685097e-04 2.62590692e+02] [-1.49470153e-01 9.88766232e-01 -1.06707443e-04 -2.55289621e+01] [-7.73033150e-04 -8.93838408e-06 9.99999701e-01 -4.15733958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77420382200006 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:262.62, Y:-25.53, Z:-0.42 [[ 9.88617318e-01 1.50450032e-01 7.65675527e-04 2.62622802e+02] [-1.50449994e-01 9.88617615e-01 -1.06776063e-04 -2.55300230e+01] [-7.73024775e-04 -9.63521426e-06 9.99999701e-01 -4.18307321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.65, Y:-25.53, Z:-0.42 [[ 9.88431230e-01 1.51667784e-01 7.65657263e-04 2.62654717e+02] [-1.51667747e-01 9.88431527e-01 -1.06906869e-04 -2.55300813e+01] [-7.73014106e-04 -1.04554241e-05 9.99999701e-01 -4.22395505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.69, Y:-25.53, Z:-0.42 [[ 9.88391560e-01 1.51926092e-01 7.65639093e-04 2.62687499e+02] [-1.51926055e-01 9.88391857e-01 -1.07036844e-04 -2.55339002e+01] [-7.73013134e-04 -1.05262132e-05 9.99999701e-01 -4.20683644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86420382200004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:262.72, Y:-25.54, Z:-0.43 [[ 9.88402175e-01 1.51857022e-01 7.65618649e-04 2.62718449e+02] [-1.51856985e-01 9.88402471e-01 -1.07182873e-04 -2.55369614e+01] [-7.73015837e-04 -1.03247547e-05 9.99999701e-01 -4.26022623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89420382200007 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:262.75, Y:-25.54, Z:-0.42 [[ 9.88662405e-01 1.50153467e-01 7.65602115e-04 2.62750632e+02] [-1.50153429e-01 9.88662701e-01 -1.07300849e-04 -2.55385339e+01] [-7.73033849e-04 -8.87346754e-06 9.99999701e-01 -4.24292340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92420382200004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:262.78, Y:-25.54, Z:-0.42 [[ 9.89270898e-01 1.46090738e-01 7.65583894e-04 2.62781646e+02] [-1.46090698e-01 9.89271195e-01 -1.07430694e-04 -2.55431594e+01] [-7.73064723e-04 -5.56662628e-06 9.99999701e-01 -4.23905848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.81, Y:-25.55, Z:-0.42 [[ 9.89601981e-01 1.43830921e-01 7.65567005e-04 2.62813576e+02] [-1.43830880e-01 9.89602277e-01 -1.07550917e-04 -2.55481823e+01] [-7.73075998e-04 -3.67957615e-06 9.99999701e-01 -4.19001768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98420382200004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:262.85, Y:-25.55, Z:-0.42 [[ 9.89896220e-01 1.41791705e-01 7.65548759e-04 2.62845832e+02] [-1.41791664e-01 9.89896516e-01 -1.07680636e-04 -2.55508862e+01] [-7.73082270e-04 -1.95577741e-06 9.99999701e-01 -4.21193747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01420382200007 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:262.88, Y:-25.55, Z:-0.42 [[ 9.90409395e-01 1.38161660e-01 7.65530434e-04 2.62877543e+02] [-1.38161618e-01 9.90409691e-01 -1.07810754e-04 -2.55536693e+01] [-7.73084073e-04 1.00986031e-06 9.99999701e-01 -4.22119697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.91, Y:-25.56, Z:-0.42 [[ 9.90573738e-01 1.36978409e-01 7.65510791e-04 2.62909520e+02] [-1.36978366e-01 9.90574033e-01 -1.07950050e-04 -2.55593486e+01] [-7.73081938e-04 2.07406700e-06 9.99999701e-01 -4.18327327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.074203822 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:262.94, Y:-25.57, Z:-0.42 [[ 9.90791914e-01 1.35391277e-01 7.65492143e-04 2.62939797e+02] [-1.35391234e-01 9.90792209e-01 -1.08082122e-04 -2.55654716e+01] [-7.73077028e-04 3.44596649e-06 9.99999701e-01 -4.21760553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10420382200004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:262.97, Y:-25.57, Z:-0.42 [[ 9.90898684e-01 1.34607626e-01 7.65474864e-04 2.62971322e+02] [-1.34607582e-01 9.90898979e-01 -1.08204360e-04 -2.55717841e+01] [-7.73073393e-04 4.18083736e-06 9.99999701e-01 -4.19663499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.134203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:263.00, Y:-25.58, Z:-0.42 [[ 9.91053933e-01 1.33459791e-01 7.65455883e-04 2.63002706e+02] [-1.33459747e-01 9.91054229e-01 -1.08338467e-04 -2.55786020e+01] [-7.73067119e-04 5.21171484e-06 9.99999701e-01 -4.20554706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16420382200005 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:263.04, Y:-25.58, Z:-0.42 [[ 9.91060890e-01 1.33408123e-01 7.65435637e-04 2.63035034e+02] [-1.33408079e-01 9.91061185e-01 -1.08481324e-04 -2.55845903e+01] [-7.73065839e-04 5.39629964e-06 9.99999701e-01 -4.21833614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.06, Y:-25.59, Z:-0.42 [[ 9.91045628e-01 1.33521449e-01 7.65414235e-04 2.63064867e+02] [-1.33521405e-01 9.91045924e-01 -1.08632121e-04 -2.55931113e+01] [-7.73065376e-04 5.46020381e-06 9.99999701e-01 -4.20213089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22420382200005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:263.10, Y:-25.60, Z:-0.42 [[ 9.90830224e-01 1.35110629e-01 7.65396928e-04 2.63096540e+02] [-1.35110586e-01 9.90830519e-01 -1.08753925e-04 -2.56011340e+01] [-7.73072447e-04 4.34344854e-06 9.99999701e-01 -4.23428804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.13, Y:-25.61, Z:-0.42 [[ 9.90713094e-01 1.35966835e-01 7.65378174e-04 2.63127184e+02] [-1.35966791e-01 9.90713389e-01 -1.08885749e-04 -2.56084388e+01] [-7.73075256e-04 3.80852310e-06 9.99999701e-01 -4.23125459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28420382200005 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:263.16, Y:-25.61, Z:-0.42 [[ 9.90551183e-01 1.37141416e-01 7.65360878e-04 2.63158609e+02] [-1.37141373e-01 9.90551479e-01 -1.09007189e-04 -2.56146027e+01] [-7.73078750e-04 3.01455887e-06 9.99999701e-01 -4.24404665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.19, Y:-25.62, Z:-0.42 [[ 9.90365529e-01 1.38475752e-01 7.65342092e-04 2.63190452e+02] [-1.38475709e-01 9.90365824e-01 -1.09138925e-04 -2.56216787e+01] [-7.73081747e-04 2.10613997e-06 9.99999701e-01 -4.17547886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34420382200005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:263.22, Y:-25.63, Z:-0.42 [[ 9.90301083e-01 1.38935885e-01 7.65336611e-04 2.63221988e+02] [-1.38935842e-01 9.90301378e-01 -1.09177347e-04 -2.56277794e+01] [-7.73082552e-04 1.78575832e-06 9.99999701e-01 -4.21891851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.374203822 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:263.26, Y:-25.63, Z:-0.42 [[ 9.90274118e-01 1.39127946e-01 7.65316234e-04 2.63255107e+02] [-1.39127903e-01 9.90274414e-01 -1.09319999e-04 -2.56327049e+01] [-7.73082552e-04 1.77992211e-06 9.99999701e-01 -4.21917753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40420382200006 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:263.29, Y:-25.64, Z:-0.42 [[ 9.90268111e-01 1.39170698e-01 7.65295004e-04 2.63285990e+02] [-1.39170654e-01 9.90268407e-01 -1.09468424e-04 -2.56432353e+01] [-7.73082261e-04 1.89648284e-06 9.99999701e-01 -4.21046756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.43420382200003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:263.32, Y:-25.65, Z:-0.42 [[ 9.90287116e-01 1.39035400e-01 7.65276067e-04 2.63316341e+02] [-1.39035357e-01 9.90287412e-01 -1.09600645e-04 -2.56504392e+01] [-7.73081625e-04 2.13567526e-06 9.99999701e-01 -4.21967829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.35, Y:-25.66, Z:-0.42 [[ 9.90201665e-01 1.39642673e-01 7.65258565e-04 2.63348271e+02] [-1.39642630e-01 9.90201961e-01 -1.09722716e-04 -2.56591355e+01] [-7.73082505e-04 1.78489816e-06 9.99999701e-01 -4.16939504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49420382200003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:263.38, Y:-25.67, Z:-0.42 [[ 9.90035605e-01 1.40815179e-01 7.65236545e-04 2.63379786e+02] [-1.40815137e-01 9.90035901e-01 -1.09876075e-04 -2.56680900e+01] [-7.73083871e-04 1.02433788e-06 9.99999701e-01 -4.22668308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52420382200006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:263.41, Y:-25.67, Z:-0.43 [[ 9.89886041e-01 1.41862754e-01 7.65217354e-04 2.63410618e+02] [-1.41862711e-01 9.89886336e-01 -1.10009565e-04 -2.56748778e+01] [-7.73084463e-04 3.41124111e-07 9.99999701e-01 -4.27523163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.44, Y:-25.68, Z:-0.42 [[ 9.89665202e-01 1.43395267e-01 7.65198241e-04 2.63441794e+02] [-1.43395224e-01 9.89665498e-01 -1.10142348e-04 -2.56803648e+01] [-7.73084190e-04 -7.21723987e-07 9.99999701e-01 -4.22274553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.47, Y:-25.69, Z:-0.42 [[ 9.89173388e-01 1.46749524e-01 7.65181273e-04 2.63473881e+02] [-1.46749483e-01 9.89173684e-01 -1.10260103e-04 -2.56862412e+01] [-7.73077796e-04 -3.22359668e-06 9.99999701e-01 -4.20129018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.50, Y:-25.69, Z:-0.43 [[ 9.88887727e-01 1.48662296e-01 7.65174479e-04 2.63504650e+02] [-1.48662255e-01 9.88888023e-01 -1.10307229e-04 -2.56915721e+01] [-7.73070404e-04 -4.67109794e-06 9.99999701e-01 -4.26007071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.54, Y:-25.69, Z:-0.43 [[ 9.88480949e-01 1.51343411e-01 7.65156958e-04 2.63537918e+02] [-1.51343371e-01 9.88481245e-01 -1.10428637e-04 -2.56945572e+01] [-7.73055949e-04 -6.64482920e-06 9.99999701e-01 -4.25936452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.57, Y:-25.70, Z:-0.42 [[ 9.88355867e-01 1.52158122e-01 7.65136492e-04 2.63570129e+02] [-1.52158082e-01 9.88356164e-01 -1.10570260e-04 -2.56987361e+01] [-7.73051530e-04 -7.13893566e-06 9.99999701e-01 -4.24451412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.60, Y:-25.71, Z:-0.42 [[ 9.88506812e-01 1.51174391e-01 7.65118130e-04 2.63602006e+02] [-1.51174351e-01 9.88507108e-01 -1.10697169e-04 -2.57065145e+01] [-7.73059288e-04 -6.24133123e-06 9.99999701e-01 -4.21097408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:263.63, Y:-25.71, Z:-0.42 [[ 9.88666410e-01 1.50127093e-01 7.65111168e-04 2.63632227e+02] [-1.50127052e-01 9.88666706e-01 -1.10745270e-04 -2.57117882e+01] [-7.73065804e-04 -5.37375589e-06 9.99999701e-01 -4.21247927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76420382200007 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:263.66, Y:-25.72, Z:-0.42 [[ 9.89017270e-01 1.47798017e-01 7.65095824e-04 2.63663228e+02] [-1.47797975e-01 9.89017566e-01 -1.10851176e-04 -2.57151935e+01] [-7.73076794e-04 -3.44588602e-06 9.99999701e-01 -4.21709959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79420382200004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:263.70, Y:-25.72, Z:-0.42 [[ 9.89186297e-01 1.46662487e-01 7.65078005e-04 2.63695368e+02] [-1.46662445e-01 9.89186593e-01 -1.10974025e-04 -2.57205201e+01] [-7.73080631e-04 -2.43422579e-06 9.99999701e-01 -4.20973877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.73, Y:-25.73, Z:-0.42 [[ 9.89503620e-01 1.44506060e-01 7.65056199e-04 2.63727559e+02] [-1.44506017e-01 9.89503915e-01 -1.11124149e-04 -2.57256353e+01] [-7.73084218e-04 -5.97476861e-07 9.99999701e-01 -4.18673606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.76, Y:-25.73, Z:-0.42 [[ 9.89588727e-01 1.43922081e-01 7.65037210e-04 2.63758231e+02] [-1.43922038e-01 9.89589023e-01 -1.11254728e-04 -2.57309328e+01] [-7.73084437e-04 -9.29011097e-09 9.99999701e-01 -4.21778873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.884203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:263.79, Y:-25.74, Z:-0.42 [[ 9.89738736e-01 1.42886844e-01 7.65019653e-04 2.63789526e+02] [-1.42886800e-01 9.89739031e-01 -1.11375327e-04 -2.57376451e+01] [-7.73083879e-04 9.21264695e-07 9.99999701e-01 -4.20026716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91420382200005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:263.82, Y:-25.74, Z:-0.42 [[ 9.89743642e-01 1.42852853e-01 7.65000694e-04 2.63821107e+02] [-1.42852809e-01 9.89743938e-01 -1.11505395e-04 -2.57420270e+01] [-7.73083663e-04 1.07925720e-06 9.99999701e-01 -4.23985460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.944203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:263.85, Y:-25.75, Z:-0.42 [[ 9.89776535e-01 1.42624775e-01 7.64980457e-04 2.63853006e+02] [-1.42624732e-01 9.89776830e-01 -1.11644058e-04 -2.57477205e+01] [-7.73083141e-04 1.39753598e-06 9.99999701e-01 -4.22113705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.88, Y:-25.75, Z:-0.42 [[ 9.89743768e-01 1.42851982e-01 7.64960964e-04 2.63884436e+02] [-1.42851938e-01 9.89744064e-01 -1.11777461e-04 -2.57534762e+01] [-7.73083205e-04 1.35488871e-06 9.99999701e-01 -4.21063623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.92, Y:-25.76, Z:-0.42 [[ 9.89496649e-01 1.44553781e-01 7.64940158e-04 2.63916669e+02] [-1.44553738e-01 9.89496945e-01 -1.11919661e-04 -2.57576553e+01] [-7.73084360e-04 1.69170365e-07 9.99999701e-01 -4.18663869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03420382200005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:263.95, Y:-25.76, Z:-0.42 [[ 9.89256660e-01 1.46187126e-01 7.64921093e-04 2.63948089e+02] [-1.46187083e-01 9.89256956e-01 -1.12049816e-04 -2.57619109e+01] [-7.73083752e-04 -9.75556360e-07 9.99999701e-01 -4.19260129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.064203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:263.98, Y:-25.77, Z:-0.42 [[ 9.89038902e-01 1.47653189e-01 7.64902901e-04 2.63978927e+02] [-1.47653147e-01 9.89039198e-01 -1.12173862e-04 -2.57661148e+01] [-7.73081781e-04 -1.99600671e-06 9.99999701e-01 -4.18284591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.01, Y:-25.77, Z:-0.42 [[ 9.88620488e-01 1.50429204e-01 7.64884816e-04 2.64010685e+02] [-1.50429162e-01 9.88620784e-01 -1.12297047e-04 -2.57676564e+01] [-7.73073781e-04 -4.04182049e-06 9.99999701e-01 -4.15395866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.04, Y:-25.77, Z:-0.42 [[ 9.88391205e-01 1.51928407e-01 7.64864191e-04 2.64042766e+02] [-1.51928366e-01 9.88391501e-01 -1.12437350e-04 -2.57707697e+01] [-7.73067693e-04 -5.07247862e-06 9.99999701e-01 -4.15020432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15420382200006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:264.07, Y:-25.77, Z:-0.42 [[ 9.88007958e-01 1.54401070e-01 7.64844537e-04 2.64074050e+02] [-1.54401029e-01 9.88008254e-01 -1.12570881e-04 -2.57716661e+01] [-7.73053780e-04 -6.87185755e-06 9.99999701e-01 -4.22688816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18420382200003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:264.11, Y:-25.77, Z:-0.42 [[ 9.87824207e-01 1.55572333e-01 7.64826331e-04 2.64107276e+02] [-1.55572292e-01 9.87824503e-01 -1.12694444e-04 -2.57733944e+01] [-7.73046328e-04 -7.66348604e-06 9.99999701e-01 -4.19792826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21420382200006 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:264.14, Y:-25.77, Z:-0.42 [[ 9.87729156e-01 1.56174678e-01 7.64804087e-04 2.64140141e+02] [-1.56174637e-01 9.87729452e-01 -1.12845198e-04 -2.57725461e+01] [-7.73043084e-04 -7.98250846e-06 9.99999701e-01 -4.22803290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24420382200003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:264.17, Y:-25.78, Z:-0.42 [[ 9.87907091e-01 1.55045140e-01 7.64783238e-04 2.64172231e+02] [-1.55045099e-01 9.87907387e-01 -1.12986324e-04 -2.57767214e+01] [-7.73052990e-04 -6.95590208e-06 9.99999701e-01 -4.21135812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27420382200006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:264.20, Y:-25.78, Z:-0.42 [[ 9.88241931e-01 1.52896371e-01 7.64763937e-04 2.64203682e+02] [-1.52896330e-01 9.88242227e-01 -1.13116816e-04 -2.57815129e+01] [-7.73067167e-04 -5.14281860e-06 9.99999701e-01 -4.17321678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.24, Y:-25.78, Z:-0.42 [[ 9.89044244e-01 1.47617409e-01 7.64744490e-04 2.64236139e+02] [-1.47617366e-01 9.89044539e-01 -1.13248140e-04 -2.57843402e+01] [-7.73083758e-04 -8.82146224e-07 9.99999701e-01 -4.15097782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33420382200006 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:264.27, Y:-25.79, Z:-0.42 [[ 9.89682503e-01 1.43275812e-01 7.64724817e-04 2.64267503e+02] [-1.43275768e-01 9.89682798e-01 -1.13380829e-04 -2.57866450e+01] [-7.73079727e-04 2.64448709e-06 9.99999701e-01 -4.23166015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.30, Y:-25.79, Z:-0.42 [[ 9.89895950e-01 1.41793594e-01 7.64706566e-04 2.64299012e+02] [-1.41793549e-01 9.89896245e-01 -1.13503788e-04 -2.57927263e+01] [-7.73074269e-04 3.92648226e-06 9.99999701e-01 -4.19117621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.33, Y:-25.80, Z:-0.42 [[ 9.90018447e-01 1.40935767e-01 7.64686416e-04 2.64329287e+02] [-1.40935721e-01 9.90018742e-01 -1.13639380e-04 -2.57980579e+01] [-7.73069737e-04 4.73345060e-06 9.99999701e-01 -4.20715103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.36, Y:-25.80, Z:-0.42 [[ 9.90141625e-01 1.40067758e-01 7.64667717e-04 2.64359830e+02] [-1.40067712e-01 9.90141921e-01 -1.13765065e-04 -2.58025774e+01] [-7.73064379e-04 5.53826851e-06 9.99999701e-01 -4.23739466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45420382200007 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:264.39, Y:-25.81, Z:-0.43 [[ 9.90096678e-01 1.40385123e-01 7.64649300e-04 2.64392637e+02] [-1.40385077e-01 9.90096974e-01 -1.13888716e-04 -2.58077606e+01] [-7.73065239e-04 5.41548835e-06 9.99999701e-01 -4.28277991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:264.42, Y:-25.82, Z:-0.42 [[ 9.89987433e-01 1.41153454e-01 7.64626800e-04 2.64423555e+02] [-1.41153408e-01 9.89987728e-01 -1.14039578e-04 -2.58159111e+01] [-7.73068229e-04 4.96807037e-06 9.99999701e-01 -4.22085692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.45, Y:-25.82, Z:-0.43 [[ 9.89681947e-01 1.43279651e-01 7.64606771e-04 2.64454732e+02] [-1.43279605e-01 9.89682243e-01 -1.14173706e-04 -2.58211266e+01] [-7.73076513e-04 3.44309930e-06 9.99999701e-01 -4.27785591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54420382200004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:264.49, Y:-25.83, Z:-0.43 [[ 9.89510294e-01 1.44460352e-01 7.64586840e-04 2.64486384e+02] [-1.44460306e-01 9.89510590e-01 -1.14307023e-04 -2.58256351e+01] [-7.73079608e-04 2.65552671e-06 9.99999701e-01 -4.30955457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.574203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:264.52, Y:-25.83, Z:-0.43 [[ 9.89368945e-01 1.45425262e-01 7.64567271e-04 2.64518152e+02] [-1.45425217e-01 9.89369240e-01 -1.14437765e-04 -2.58307339e+01] [-7.73081482e-04 2.03380942e-06 9.99999701e-01 -4.31121952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60420382200004 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:264.55, Y:-25.84, Z:-0.43 [[ 9.89243976e-01 1.46272937e-01 7.64547725e-04 2.64549915e+02] [-1.46272892e-01 9.89244271e-01 -1.14568200e-04 -2.58361689e+01] [-7.73082684e-04 1.50329443e-06 9.99999701e-01 -4.29754877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.634203822 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:264.58, Y:-25.84, Z:-0.43 [[ 9.89289883e-01 1.45962126e-01 7.64527986e-04 2.64582153e+02] [-1.45962081e-01 9.89290179e-01 -1.14699774e-04 -2.58423826e+01] [-7.73081850e-04 1.87923079e-06 9.99999701e-01 -4.27634663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66420382200005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:264.61, Y:-25.85, Z:-0.43 [[ 9.89345949e-01 1.45581620e-01 7.64504898e-04 2.64612448e+02] [-1.45581574e-01 9.89346245e-01 -1.14853455e-04 -2.58503366e+01] [-7.73080602e-04 2.33197354e-06 9.99999701e-01 -4.29092643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.64, Y:-25.86, Z:-0.42 [[ 9.89290807e-01 1.45955863e-01 7.64486180e-04 2.64644143e+02] [-1.45955818e-01 9.89291103e-01 -1.14977908e-04 -2.58561276e+01] [-7.73081076e-04 2.16538120e-06 9.99999701e-01 -4.21885799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72420382200005 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:264.68, Y:-25.86, Z:-0.42 [[ 9.88928231e-01 1.48392617e-01 7.64466166e-04 2.64676207e+02] [-1.48392572e-01 9.88928527e-01 -1.15110824e-04 -2.58613107e+01] [-7.73083996e-04 3.95242770e-07 9.99999701e-01 -4.23419789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.754203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:264.71, Y:-25.87, Z:-0.42 [[ 9.88714546e-01 1.49809754e-01 7.64446236e-04 2.64707368e+02] [-1.49809710e-01 9.88714841e-01 -1.15243026e-04 -2.58667505e+01] [-7.73083869e-04 -5.79012729e-07 9.99999701e-01 -4.23911756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78420382200005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:264.74, Y:-25.87, Z:-0.42 [[ 9.88267024e-01 1.52734100e-01 7.64425011e-04 2.64739079e+02] [-1.52734056e-01 9.88267320e-01 -1.15383643e-04 -2.58725426e+01] [-7.73079274e-04 -2.72388354e-06 9.99999701e-01 -4.20559447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.77, Y:-25.88, Z:-0.42 [[ 9.88110440e-01 1.53743857e-01 7.64404541e-04 2.64769418e+02] [-1.53743813e-01 9.88110736e-01 -1.15519097e-04 -2.58784506e+01] [-7.73076685e-04 -3.37684302e-06 9.99999701e-01 -4.18579734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.80, Y:-25.88, Z:-0.42 [[ 9.87946266e-01 1.54795322e-01 7.64385612e-04 2.64801533e+02] [-1.54795279e-01 9.87946561e-01 -1.15644215e-04 -2.58843764e+01] [-7.73073320e-04 -4.07301378e-06 9.99999701e-01 -4.17241275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.83, Y:-25.89, Z:-0.42 [[ 9.87852481e-01 1.55392703e-01 7.64363217e-04 2.64832616e+02] [-1.55392660e-01 9.87852776e-01 -1.15792045e-04 -2.58906785e+01] [-7.73071565e-04 -4.39097402e-06 9.99999701e-01 -4.20590010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90420382200006 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:264.86, Y:-25.90, Z:-0.42 [[ 9.87784022e-01 1.55827284e-01 7.64343740e-04 2.64864812e+02] [-1.55827241e-01 9.87784317e-01 -1.15920472e-04 -2.58950360e+01] [-7.73070332e-04 -4.60118601e-06 9.99999701e-01 -4.19907650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93420382200003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:264.90, Y:-25.90, Z:-0.42 [[ 9.87754789e-01 1.56012478e-01 7.64323559e-04 2.64896050e+02] [-1.56012435e-01 9.87755084e-01 -1.16053385e-04 -2.59000009e+01] [-7.73070258e-04 -4.61169265e-06 9.99999701e-01 -4.15600497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96420382200006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:264.93, Y:-25.91, Z:-0.42 [[ 9.87579730e-01 1.57116813e-01 7.64304887e-04 2.64928003e+02] [-1.57116770e-01 9.87580026e-01 -1.16176226e-04 -2.59060687e+01] [-7.73065478e-04 -5.35182959e-06 9.99999701e-01 -4.16213941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99420382200003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:264.96, Y:-25.91, Z:-0.42 [[ 9.87446258e-01 1.57953486e-01 7.64284522e-04 2.64959021e+02] [-1.57953444e-01 9.87446554e-01 -1.16310041e-04 -2.59113095e+01] [-7.73061694e-04 -5.87145714e-06 9.99999701e-01 -4.16180349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.99, Y:-25.91, Z:-0.41 [[ 9.87115329e-01 1.60008575e-01 7.64265679e-04 2.64989779e+02] [-1.60008532e-01 9.87115624e-01 -1.16433730e-04 -2.59149010e+01] [-7.73048988e-04 -7.35550988e-06 9.99999701e-01 -4.11751020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.02, Y:-25.92, Z:-0.41 [[ 9.86989587e-01 1.60782371e-01 7.64247524e-04 2.65021798e+02] [-1.60782329e-01 9.86989883e-01 -1.16552774e-04 -2.59198800e+01] [-7.73044205e-04 -7.84112260e-06 9.99999701e-01 -4.10525416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08420382200006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:265.05, Y:-25.92, Z:-0.41 [[ 9.86759996e-01 1.62185468e-01 7.64227155e-04 2.65052705e+02] [-1.62185426e-01 9.86760292e-01 -1.16686176e-04 -2.59239938e+01] [-7.73033813e-04 -8.80525673e-06 9.99999701e-01 -4.14772785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.08, Y:-25.93, Z:-0.42 [[ 9.86478172e-01 1.63890914e-01 7.64215586e-04 2.65083593e+02] [-1.63890872e-01 9.86478468e-01 -1.16761896e-04 -2.59291126e+01] [-7.73018435e-04 -1.00648970e-05 9.99999701e-01 -4.21943422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14420382200007 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:265.12, Y:-25.93, Z:-0.42 [[ 9.86308355e-01 1.64909810e-01 7.64204256e-04 2.65115590e+02] [-1.64909769e-01 9.86308651e-01 -1.16836003e-04 -2.59337185e+01] [-7.73008672e-04 -1.07884213e-05 9.99999701e-01 -4.18646176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.15, Y:-25.94, Z:-0.42 [[ 9.86074544e-01 1.66302164e-01 7.64183428e-04 2.65147718e+02] [-1.66302124e-01 9.86074840e-01 -1.16972077e-04 -2.59375002e+01] [-7.72994761e-04 -1.17421400e-05 9.99999701e-01 -4.17485497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20420382200007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:265.18, Y:-25.94, Z:-0.42 [[ 9.85596358e-01 1.69113083e-01 7.64161286e-04 2.65180436e+02] [-1.69113043e-01 9.85596654e-01 -1.17116546e-04 -2.59388785e+01] [-7.72960747e-04 -1.37999985e-05 9.99999701e-01 -4.19306412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.21, Y:-25.94, Z:-0.41 [[ 9.85425671e-01 1.70104859e-01 7.64141559e-04 2.65213056e+02] [-1.70104819e-01 9.85425967e-01 -1.17245116e-04 -2.59427699e+01] [-7.72948899e-04 -1.44478142e-05 9.99999701e-01 -4.14752601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.25, Y:-25.95, Z:-0.41 [[ 9.85393038e-01 1.70293796e-01 7.64119038e-04 2.65246122e+02] [-1.70293756e-01 9.85393334e-01 -1.17391709e-04 -2.59480374e+01] [-7.72948886e-04 -1.44477280e-05 9.99999701e-01 -4.14778505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.28, Y:-25.95, Z:-0.42 [[ 9.85113452e-01 1.71903760e-01 7.64096502e-04 2.65277403e+02] [-1.71903721e-01 9.85113748e-01 -1.17538213e-04 -2.59481082e+01] [-7.72927230e-04 -1.55625571e-05 9.99999701e-01 -4.15838274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.31, Y:-25.95, Z:-0.42 [[ 9.85060863e-01 1.72204856e-01 7.64078289e-04 2.65309300e+02] [-1.72204816e-01 9.85061159e-01 -1.17656489e-04 -2.59501798e+01] [-7.72924864e-04 -1.56791586e-05 9.99999701e-01 -4.15679817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.34, Y:-25.95, Z:-0.42 [[ 9.85129490e-01 1.71811827e-01 7.64058940e-04 2.65342072e+02] [-1.71811788e-01 9.85129786e-01 -1.17782010e-04 -2.59515445e+01] [-7.72933562e-04 -1.52438011e-05 9.99999701e-01 -4.15039875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.37, Y:-25.95, Z:-0.42 [[ 9.85261683e-01 1.71052134e-01 7.64038792e-04 2.65373798e+02] [-1.71052094e-01 9.85261979e-01 -1.17912560e-04 -2.59546577e+01] [-7.72947568e-04 -1.45157077e-05 9.99999701e-01 -4.16113850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.41, Y:-25.96, Z:-0.42 [[ 9.85638760e-01 1.68865781e-01 7.64018550e-04 2.65405169e+02] [-1.68865740e-01 9.85639056e-01 -1.18043575e-04 -2.59565432e+01] [-7.72980043e-04 -1.26682348e-05 9.99999701e-01 -4.23025259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.444203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:265.44, Y:-25.96, Z:-0.42 [[ 9.85903793e-01 1.67311469e-01 7.63999850e-04 2.65436389e+02] [-1.67311428e-01 9.85904089e-01 -1.18164479e-04 -2.59602131e+01] [-7.73000849e-04 -1.13270982e-05 9.99999701e-01 -4.24829327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.47, Y:-25.96, Z:-0.42 [[ 9.86548440e-01 1.63467406e-01 7.63982030e-04 2.65469024e+02] [-1.63467363e-01 9.86548735e-01 -1.18279582e-04 -2.59630559e+01] [-7.73040362e-04 -8.19759047e-06 9.99999701e-01 -4.17753498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.50, Y:-25.97, Z:-0.42 [[ 9.86847589e-01 1.61651638e-01 7.63958283e-04 2.65501077e+02] [-1.61651595e-01 9.86847885e-01 -1.18432765e-04 -2.59672177e+01] [-7.73055466e-04 -6.61998571e-06 9.99999701e-01 -4.20106912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53420382200005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:265.53, Y:-25.97, Z:-0.42 [[ 9.87098869e-01 1.60110083e-01 7.63936025e-04 2.65533007e+02] [-1.60110039e-01 9.87099165e-01 -1.18576161e-04 -2.59709632e+01] [-7.73065852e-04 -5.26743290e-06 9.99999701e-01 -4.24944362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.57, Y:-25.98, Z:-0.42 [[ 9.87485415e-01 1.57708500e-01 7.63915596e-04 2.65566173e+02] [-1.57708456e-01 9.87485711e-01 -1.18707630e-04 -2.59756360e+01] [-7.73076938e-04 -3.25389586e-06 9.99999701e-01 -4.20112391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59420382200005 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:265.60, Y:-25.98, Z:-0.43 [[ 9.87527589e-01 1.57444205e-01 7.63891953e-04 2.65596711e+02] [-1.57444160e-01 9.87527884e-01 -1.18859582e-04 -2.59801246e+01] [-7.73078356e-04 -2.89320986e-06 9.99999701e-01 -4.26748014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.63, Y:-25.99, Z:-0.42 [[ 9.87454795e-01 1.57900107e-01 7.63872790e-04 2.65627091e+02] [-1.57900062e-01 9.87455091e-01 -1.18982604e-04 -2.59850374e+01] [-7.73077441e-04 -3.12561804e-06 9.99999701e-01 -4.22734500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.66, Y:-25.99, Z:-0.42 [[ 9.87309841e-01 1.58803947e-01 7.63854404e-04 2.65659414e+02] [-1.58803902e-01 9.87310137e-01 -1.19100524e-04 -2.59896016e+01] [-7.73074830e-04 -3.71394108e-06 9.99999701e-01 -4.20100941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68420382200003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:265.69, Y:-25.99, Z:-0.42 [[ 9.86852481e-01 1.61621773e-01 7.63833907e-04 2.65690944e+02] [-1.61621729e-01 9.86852777e-01 -1.19231835e-04 -2.59936547e+01] [-7.73062073e-04 -5.78792447e-06 9.99999701e-01 -4.24465341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.72, Y:-26.00, Z:-0.42 [[ 9.86648371e-01 1.62863159e-01 7.63813183e-04 2.65722450e+02] [-1.62863115e-01 9.86648667e-01 -1.19364449e-04 -2.59981149e+01] [-7.73055330e-04 -6.62625560e-06 9.99999701e-01 -4.19317755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.75, Y:-26.00, Z:-0.42 [[ 9.86134190e-01 1.65948115e-01 7.63792459e-04 2.65754333e+02] [-1.65948072e-01 9.86134485e-01 -1.19496913e-04 -2.60007084e+01] [-7.73032371e-04 -8.90989490e-06 9.99999701e-01 -4.19571111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.79, Y:-26.01, Z:-0.42 [[ 9.85917526e-01 1.67230523e-01 7.63771493e-04 2.65785988e+02] [-1.67230480e-01 9.85917822e-01 -1.19630766e-04 -2.60050878e+01] [-7.73021843e-04 -9.77980410e-06 9.99999701e-01 -4.19885545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.82, Y:-26.01, Z:-0.42 [[ 9.85691368e-01 1.68558428e-01 7.63750260e-04 2.65816774e+02] [-1.68558386e-01 9.85691664e-01 -1.19766170e-04 -2.60082358e+01] [-7.73009862e-04 -1.06840304e-05 9.99999701e-01 -4.24882686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83420382200006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:265.85, Y:-26.01, Z:-0.43 [[ 9.85649428e-01 1.68803498e-01 7.63738483e-04 2.65847470e+02] [-1.68803456e-01 9.85649724e-01 -1.19841222e-04 -2.60123698e+01] [-7.73008243e-04 -1.08002631e-05 9.99999701e-01 -4.27161887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.88, Y:-26.02, Z:-0.42 [[ 9.85494848e-01 1.69703626e-01 7.63735611e-04 2.65878093e+02] [-1.69703584e-01 9.85495144e-01 -1.19859524e-04 -2.60183980e+01] [-7.72998332e-04 -1.14877273e-05 9.99999701e-01 -4.22217881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89420382200007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:265.91, Y:-26.02, Z:-0.43 [[ 9.85413944e-01 1.70172783e-01 7.63732654e-04 2.65909726e+02] [-1.70172741e-01 9.85414240e-01 -1.19878360e-04 -2.60220854e+01] [-7.72993067e-04 -1.18366714e-05 9.99999701e-01 -4.26452167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.94, Y:-26.02, Z:-0.42 [[ 9.85417054e-01 1.70154770e-01 7.63728223e-04 2.65939959e+02] [-1.70154729e-01 9.85417350e-01 -1.19906584e-04 -2.60242037e+01] [-7.72993719e-04 -1.17939756e-05 9.99999701e-01 -4.20950740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95420382200007 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:265.97, Y:-26.03, Z:-0.43 [[ 9.85504266e-01 1.69648930e-01 7.63726757e-04 2.65971411e+02] [-1.69648888e-01 9.85504561e-01 -1.19915919e-04 -2.60279210e+01] [-7.72999810e-04 -1.13877448e-05 9.99999701e-01 -4.25090903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.00, Y:-26.03, Z:-0.42 [[ 9.85914241e-01 1.67249890e-01 7.63723846e-04 2.66001891e+02] [-1.67249847e-01 9.85914537e-01 -1.19934458e-04 -2.60344155e+01] [-7.73025467e-04 -9.48760608e-06 9.99999701e-01 -4.19322921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01420382200007 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:266.03, Y:-26.04, Z:-0.42 [[ 9.86115658e-01 1.66058199e-01 7.63720888e-04 2.66032943e+02] [-1.66058156e-01 9.86115954e-01 -1.19953294e-04 -2.60391249e+01] [-7.73036580e-04 -8.53426047e-06 9.99999701e-01 -4.22393196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04420382200004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:266.06, Y:-26.04, Z:-0.42 [[ 9.86305163e-01 1.64928900e-01 7.63717909e-04 2.66064256e+02] [-1.64928856e-01 9.86305459e-01 -1.19972256e-04 -2.60434492e+01] [-7.73046035e-04 -7.62986558e-06 9.99999701e-01 -4.22430615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.074203822 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:266.10, Y:-26.05, Z:-0.42 [[ 9.86523638e-01 1.63617019e-01 7.63714933e-04 2.66095925e+02] [-1.63616975e-01 9.86523933e-01 -1.19991193e-04 -2.60469911e+01] [-7.73055662e-04 -6.58257865e-06 9.99999701e-01 -4.23281325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10420382200004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:266.13, Y:-26.05, Z:-0.43 [[ 9.86631892e-01 1.62962963e-01 7.63710373e-04 2.66125705e+02] [-1.62962919e-01 9.86632187e-01 -1.20020211e-04 -2.60500742e+01] [-7.73060085e-04 -6.04070419e-06 9.99999701e-01 -4.26387297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.134203822 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:266.16, Y:-26.05, Z:-0.43 [[ 9.86743479e-01 1.62285933e-01 7.63708864e-04 2.66156597e+02] [-1.62285888e-01 9.86743774e-01 -1.20029812e-04 -2.60540777e+01] [-7.73064117e-04 -5.50053726e-06 9.99999701e-01 -4.25067583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16420382200005 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:266.19, Y:-26.06, Z:-0.43 [[ 9.87110808e-01 1.60036461e-01 7.63705844e-04 2.66188050e+02] [-1.60036416e-01 9.87111104e-01 -1.20049028e-04 -2.60591495e+01] [-7.73074740e-04 -3.71905364e-06 9.99999701e-01 -4.27462960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.22, Y:-26.07, Z:-0.42 [[ 9.87281839e-01 1.58977944e-01 7.63701296e-04 2.66219804e+02] [-1.58977899e-01 9.87282135e-01 -1.20077952e-04 -2.60650960e+01] [-7.73078392e-04 -2.86084593e-06 9.99999701e-01 -4.22251960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22420382200005 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:266.25, Y:-26.07, Z:-0.42 [[ 9.87663465e-01 1.56589581e-01 7.63679949e-04 2.66250485e+02] [-1.56589535e-01 9.87663760e-01 -1.20213562e-04 -2.60689707e+01] [-7.73083201e-04 -8.53744668e-07 9.99999701e-01 -4.24223902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.254203822 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:266.28, Y:-26.07, Z:-0.42 [[ 9.87715693e-01 1.56259804e-01 7.63669231e-04 2.66281173e+02] [-1.56259758e-01 9.87715988e-01 -1.20281610e-04 -2.60740091e+01] [-7.73083490e-04 -5.26735388e-07 9.99999701e-01 -4.22305701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28420382200005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:266.31, Y:-26.08, Z:-0.42 [[ 9.87750609e-01 1.56038943e-01 7.63666256e-04 2.66311749e+02] [-1.56038897e-01 9.87750904e-01 -1.20300499e-04 -2.60797191e+01] [-7.73083597e-04 -3.34748972e-07 9.99999701e-01 -4.21996024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.314203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:266.34, Y:-26.09, Z:-0.42 [[ 9.87706004e-01 1.56321037e-01 7.63663284e-04 2.66341078e+02] [-1.56320991e-01 9.87706299e-01 -1.20319358e-04 -2.60853681e+01] [-7.73083483e-04 -5.36448888e-07 9.99999701e-01 -4.22376255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.37, Y:-26.09, Z:-0.42 [[ 9.87372521e-01 1.58413769e-01 7.63661806e-04 2.66371691e+02] [-1.58413723e-01 9.87372816e-01 -1.20328742e-04 -2.60922130e+01] [-7.73080637e-04 -2.16521706e-06 9.99999701e-01 -4.16143318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.40, Y:-26.10, Z:-0.42 [[ 9.87137828e-01 1.59869714e-01 7.63658838e-04 2.66401952e+02] [-1.59869668e-01 9.87138123e-01 -1.20347576e-04 -2.60979255e+01] [-7.73076684e-04 -3.28624048e-06 9.99999701e-01 -4.15709703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:266.43, Y:-26.10, Z:-0.42 [[ 9.86501748e-01 1.63748946e-01 7.63657364e-04 2.66433181e+02] [-1.63748902e-01 9.86502044e-01 -1.20356925e-04 -2.61036427e+01] [-7.73057870e-04 -6.31573797e-06 9.99999701e-01 -4.15211211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.46, Y:-26.11, Z:-0.41 [[ 9.86125782e-01 1.65998072e-01 7.63654365e-04 2.66462950e+02] [-1.65998028e-01 9.86126077e-01 -1.20375952e-04 -2.61079324e+01] [-7.73041659e-04 -8.05928900e-06 9.99999701e-01 -4.11953817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.49, Y:-26.11, Z:-0.41 [[ 9.85308587e-01 1.70781746e-01 7.63652877e-04 2.66493320e+02] [-1.70781704e-01 9.85308883e-01 -1.20385389e-04 -2.61080472e+01] [-7.72993590e-04 -1.18011821e-05 9.99999701e-01 -4.14306897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.52, Y:-26.11, Z:-0.41 [[ 9.84411868e-01 1.75876919e-01 7.63652877e-04 2.66524155e+02] [-1.75876878e-01 9.84412164e-01 -1.20385389e-04 -2.61080811e+01] [-7.72922193e-04 -1.58000782e-05 9.99999701e-01 -4.12204072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.55, Y:-26.11, Z:-0.41 [[ 9.84067254e-01 1.77794982e-01 7.63652877e-04 2.66552888e+02] [-1.77794942e-01 9.84067551e-01 -1.20385389e-04 -2.61118723e+01] [-7.72889934e-04 -1.73062993e-05 9.99999701e-01 -4.14266699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.58, Y:-26.12, Z:-0.42 [[ 9.83775436e-01 1.79402642e-01 7.63648384e-04 2.66582088e+02] [-1.79402603e-01 9.83775732e-01 -1.20413885e-04 -2.61163203e+01] [-7.72861317e-04 -1.85402856e-05 9.99999701e-01 -4.17355157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.61, Y:-26.12, Z:-0.42 [[ 9.83482228e-01 1.81003106e-01 7.63649840e-04 2.66612355e+02] [-1.81003067e-01 9.83482524e-01 -1.20404650e-04 -2.61181823e+01] [-7.72829888e-04 -1.98071292e-05 9.99999701e-01 -4.16666199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:266.64, Y:-26.12, Z:-0.42 [[ 9.83568225e-01 1.80535215e-01 7.63651261e-04 2.66642471e+02] [-1.80535176e-01 9.83568521e-01 -1.20395634e-04 -2.61187891e+01] [-7.72838993e-04 -1.94485951e-05 9.99999701e-01 -4.19414487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.67, Y:-26.12, Z:-0.42 [[ 9.84178478e-01 1.77178275e-01 7.63654127e-04 2.66672658e+02] [-1.77178234e-01 9.84178774e-01 -1.20377457e-04 -2.61175351e+01] [-7.72900452e-04 -1.68299879e-05 9.99999701e-01 -4.18697300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.70, Y:-26.12, Z:-0.42 [[ 9.84659037e-01 1.74487815e-01 7.63656983e-04 2.66702267e+02] [-1.74487774e-01 9.84659333e-01 -1.20359334e-04 -2.61213681e+01] [-7.72943213e-04 -1.47359011e-05 9.99999701e-01 -4.18624574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.73, Y:-26.12, Z:-0.42 [[ 9.85828842e-01 1.67752529e-01 7.63659852e-04 2.66730293e+02] [-1.67752487e-01 9.85829138e-01 -1.20341128e-04 -2.61249255e+01] [-7.73025662e-04 -9.47008383e-06 9.99999701e-01 -4.20635929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73420382200004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:266.76, Y:-26.13, Z:-0.42 [[ 9.86439949e-01 1.64120821e-01 7.63664139e-04 2.66760080e+02] [-1.64120777e-01 9.86440245e-01 -1.20313918e-04 -2.61283582e+01] [-7.73055059e-04 -6.65069717e-06 9.99999701e-01 -4.21624509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.79, Y:-26.13, Z:-0.42 [[ 9.87528927e-01 1.57435810e-01 7.63667098e-04 2.66789198e+02] [-1.57435764e-01 9.87529223e-01 -1.20295130e-04 -2.61341986e+01] [-7.73082337e-04 -1.43359223e-06 9.99999701e-01 -4.21050009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79420382200004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:266.82, Y:-26.14, Z:-0.42 [[ 9.87910363e-01 1.55024292e-01 7.63668576e-04 2.66819798e+02] [-1.55024245e-01 9.87910658e-01 -1.20285748e-04 -2.61383540e+01] [-7.73083539e-04 4.44392444e-07 9.99999701e-01 -4.22826010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.824203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:266.85, Y:-26.14, Z:-0.42 [[ 9.88374908e-01 1.52034400e-01 7.63668576e-04 2.66849719e+02] [-1.52034353e-01 9.88375203e-01 -1.20285748e-04 -2.61428177e+01] [-7.73078655e-04 2.78355761e-06 9.99999701e-01 -4.18057254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:266.88, Y:-26.15, Z:-0.42 [[ 9.88489224e-01 1.51289360e-01 7.63668576e-04 2.66880323e+02] [-1.51289313e-01 9.88489519e-01 -1.20285748e-04 -2.61475387e+01] [-7.73076337e-04 3.36627200e-06 9.99999701e-01 -4.21414296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.91, Y:-26.15, Z:-0.42 [[ 9.88492906e-01 1.51265304e-01 7.63667931e-04 2.66910637e+02] [-1.51265256e-01 9.88493201e-01 -1.20289844e-04 -2.61526846e+01] [-7.73076237e-04 3.38923203e-06 9.99999701e-01 -4.19721008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91420382200005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:266.94, Y:-26.16, Z:-0.42 [[ 9.88418080e-01 1.51753468e-01 7.63667931e-04 2.66940051e+02] [-1.51753420e-01 9.88418375e-01 -1.20289844e-04 -2.61559331e+01] [-7.73077817e-04 3.00743582e-06 9.99999701e-01 -4.23659101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.944203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:266.97, Y:-26.16, Z:-0.43 [[ 9.88417440e-01 1.51757638e-01 7.63666660e-04 2.66969003e+02] [-1.51757591e-01 9.88417735e-01 -1.20297913e-04 -2.61607440e+01] [-7.73077798e-04 3.01234267e-06 9.99999701e-01 -4.26653111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.00, Y:-26.17, Z:-0.42 [[ 9.88504237e-01 1.51191240e-01 7.63668126e-04 2.66999151e+02] [-1.51191192e-01 9.88504532e-01 -1.20288607e-04 -2.61651295e+01] [-7.73075987e-04 3.44590291e-06 9.99999701e-01 -4.21019198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.03, Y:-26.17, Z:-0.42 [[ 9.88573480e-01 1.50737822e-01 7.63668126e-04 2.67029027e+02] [-1.50737774e-01 9.88573775e-01 -1.20288607e-04 -2.61692471e+01] [-7.73074325e-04 3.80049337e-06 9.99999701e-01 -4.22417384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03420382200005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:267.06, Y:-26.18, Z:-0.43 [[ 9.88791963e-01 1.49297926e-01 7.63669600e-04 2.67057730e+02] [-1.49297878e-01 9.88792258e-01 -1.20279247e-04 -2.61760147e+01] [-7.73068030e-04 4.91690254e-06 9.99999701e-01 -4.28690864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.064203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:267.09, Y:-26.18, Z:-0.42 [[ 9.88936139e-01 1.48339912e-01 7.63671067e-04 2.67087608e+02] [-1.48339863e-01 9.88936434e-01 -1.20269929e-04 -2.61820258e+01] [-7.73062973e-04 5.65641776e-06 9.99999701e-01 -4.24136789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.12, Y:-26.19, Z:-0.42 [[ 9.89079878e-01 1.47378463e-01 7.63671067e-04 2.67116131e+02] [-1.47378414e-01 9.89080173e-01 -1.20269929e-04 -2.61879185e+01] [-7.73057109e-04 6.40793626e-06 9.99999701e-01 -4.20572426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.15, Y:-26.19, Z:-0.42 [[ 9.89052156e-01 1.47564394e-01 7.63669802e-04 2.67146077e+02] [-1.47564345e-01 9.89052450e-01 -1.20277965e-04 -2.61937730e+01] [-7.73058234e-04 6.27074630e-06 9.99999701e-01 -4.19363103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15420382200006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:267.18, Y:-26.20, Z:-0.42 [[ 9.88764697e-01 1.49478394e-01 7.63669802e-04 2.67175119e+02] [-1.49478345e-01 9.88764992e-01 -1.20277965e-04 -2.62009905e+01] [-7.73068923e-04 4.77450745e-06 9.99999701e-01 -4.24186872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18420382200003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:267.21, Y:-26.21, Z:-0.42 [[ 9.88764697e-01 1.49478394e-01 7.63671300e-04 2.67205725e+02] [-1.49478345e-01 9.88764992e-01 -1.20268449e-04 -2.62058106e+01] [-7.73068982e-04 4.76487427e-06 9.99999701e-01 -4.24210825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.23, Y:-26.21, Z:-0.42 [[ 9.88576919e-01 1.50715271e-01 7.63671300e-04 2.67234210e+02] [-1.50715223e-01 9.88577213e-01 -1.20268449e-04 -2.62112503e+01] [-7.73074338e-04 3.79772216e-06 9.99999701e-01 -4.23691946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24420382200003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:267.26, Y:-26.22, Z:-0.42 [[ 9.88068898e-01 1.54010614e-01 7.63674254e-04 2.67264177e+02] [-1.54010567e-01 9.88069193e-01 -1.20249690e-04 -2.62166267e+01] [-7.73082733e-04 1.20107372e-06 9.99999701e-01 -4.21210112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.29, Y:-26.22, Z:-0.42 [[ 9.87843252e-01 1.55451364e-01 7.63674254e-04 2.67293216e+02] [-1.55451318e-01 9.87843547e-01 -1.20249690e-04 -2.62215090e+01] [-7.73083662e-04 7.36757690e-08 9.99999701e-01 -4.24037750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.32, Y:-26.23, Z:-0.42 [[ 9.87414179e-01 1.58153898e-01 7.63675725e-04 2.67323335e+02] [-1.58153853e-01 9.87414474e-01 -1.20240349e-04 -2.62283720e+01] [-7.73080945e-04 -2.05123303e-06 9.99999701e-01 -4.23520670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33420382200006 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:267.35, Y:-26.23, Z:-0.42 [[ 9.87207574e-01 1.59438460e-01 7.63675725e-04 2.67352983e+02] [-1.59438414e-01 9.87207870e-01 -1.20240349e-04 -2.62339384e+01] [-7.73077621e-04 -3.05706375e-06 9.99999701e-01 -4.23574894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.38, Y:-26.24, Z:-0.43 [[ 9.86895529e-01 1.61358703e-01 7.63675725e-04 2.67381899e+02] [-1.61358658e-01 9.86895825e-01 -1.20240349e-04 -2.62389218e+01] [-7.73070211e-04 -4.56102793e-06 9.99999701e-01 -4.25593081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.41, Y:-26.24, Z:-0.43 [[ 9.86714579e-01 1.62461554e-01 7.63677218e-04 2.67412379e+02] [-1.62461509e-01 9.86714874e-01 -1.20230866e-04 -2.62433520e+01] [-7.73064564e-04 -5.43460544e-06 9.99999701e-01 -4.25616902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42420382200004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:267.44, Y:-26.25, Z:-0.43 [[ 9.86429072e-01 1.64186181e-01 7.63677218e-04 2.67443020e+02] [-1.64186137e-01 9.86429368e-01 -1.20230866e-04 -2.62484474e+01] [-7.73053882e-04 -6.78599085e-06 9.99999701e-01 -4.29746002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.47, Y:-26.25, Z:-0.43 [[ 9.86012727e-01 1.66668291e-01 7.63676593e-04 2.67472455e+02] [-1.66668248e-01 9.86013023e-01 -1.20234835e-04 -2.62547375e+01] [-7.73034400e-04 -8.72756246e-06 9.99999701e-01 -4.25119592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.50, Y:-26.26, Z:-0.43 [[ 9.85687045e-01 1.68583705e-01 7.63678096e-04 2.67500924e+02] [-1.68583662e-01 9.85687341e-01 -1.20225291e-04 -2.62605240e+01] [-7.73015856e-04 -1.02391377e-05 9.99999701e-01 -4.26912867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51420382200007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:267.53, Y:-26.27, Z:-0.43 [[ 9.85492716e-01 1.69716007e-01 7.63679589e-04 2.67531028e+02] [-1.69715965e-01 9.85493012e-01 -1.20215805e-04 -2.62653827e+01] [-7.73003445e-04 -1.11368181e-05 9.99999701e-01 -4.29030023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54420382200004 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:267.56, Y:-26.27, Z:-0.43 [[ 9.85127643e-01 1.71822422e-01 7.63679589e-04 2.67561721e+02] [-1.71822380e-01 9.85127939e-01 -1.20215805e-04 -2.62684378e+01] [-7.72977870e-04 -1.27893319e-05 9.99999701e-01 -4.30864782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.59, Y:-26.27, Z:-0.43 [[ 9.85023500e-01 1.72418447e-01 7.63679589e-04 2.67591069e+02] [-1.72418406e-01 9.85023796e-01 -1.20215805e-04 -2.62731472e+01] [-7.72969990e-04 -1.32570243e-05 9.99999701e-01 -4.30616543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.62, Y:-26.28, Z:-0.43 [[ 9.85031746e-01 1.72371330e-01 7.63681065e-04 2.67621402e+02] [-1.72371289e-01 9.85032042e-01 -1.20206429e-04 -2.62793748e+01] [-7.72970461e-04 -1.32295406e-05 9.99999701e-01 -4.26988285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.65, Y:-26.29, Z:-0.42 [[ 9.85285417e-01 1.70915369e-01 7.63681065e-04 2.67650935e+02] [-1.70915327e-01 9.85285713e-01 -1.20206429e-04 -2.62872853e+01] [-7.72989169e-04 -1.20871574e-05 9.99999701e-01 -4.22688172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.68, Y:-26.29, Z:-0.42 [[ 9.85399717e-01 1.70255147e-01 7.63681065e-04 2.67680856e+02] [-1.70255105e-01 9.85400013e-01 -1.20206429e-04 -2.62936414e+01] [-7.72997094e-04 -1.15692188e-05 9.99999701e-01 -4.19188951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.694203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:267.71, Y:-26.30, Z:-0.42 [[ 9.85545587e-01 1.69408717e-01 7.63681065e-04 2.67710019e+02] [-1.69408674e-01 9.85545883e-01 -1.20206429e-04 -2.62970543e+01] [-7.73006746e-04 -1.09052812e-05 9.99999701e-01 -4.19702394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72420382200005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:267.74, Y:-26.30, Z:-0.41 [[ 9.85565204e-01 1.69294555e-01 7.63682541e-04 2.67739755e+02] [-1.69294513e-01 9.85565499e-01 -1.20197047e-04 -2.63011090e+01] [-7.73007871e-04 -1.08252370e-05 9.99999701e-01 -4.13799819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.77, Y:-26.31, Z:-0.41 [[ 9.85602253e-01 1.69078727e-01 7.63684002e-04 2.67770424e+02] [-1.69078684e-01 9.85602549e-01 -1.20187763e-04 -2.63050574e+01] [-7.73010093e-04 -1.06653563e-05 9.99999701e-01 -4.11604842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.80, Y:-26.31, Z:-0.41 [[ 9.85615753e-01 1.69000011e-01 7.63684002e-04 2.67800032e+02] [-1.68999969e-01 9.85616049e-01 -1.20187763e-04 -2.63089782e+01] [-7.73010942e-04 -1.06036202e-05 9.99999701e-01 -4.13416949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.83, Y:-26.31, Z:-0.42 [[ 9.85605861e-01 1.69057692e-01 7.63685451e-04 2.67828724e+02] [-1.69057649e-01 9.85606157e-01 -1.20178559e-04 -2.63136108e+01] [-7.73010192e-04 -1.06581744e-05 9.99999701e-01 -4.15313258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.86, Y:-26.32, Z:-0.41 [[ 9.85796298e-01 1.67943665e-01 7.63686868e-04 2.67859093e+02] [-1.67943623e-01 9.85796594e-01 -1.20169555e-04 -2.63194561e+01] [-7.73021629e-04 -9.79363662e-06 9.99999701e-01 -4.14264951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.89, Y:-26.32, Z:-0.42 [[ 9.86169157e-01 1.65740189e-01 7.63686868e-04 2.67889531e+02] [-1.65740146e-01 9.86169453e-01 -1.20169555e-04 -2.63224095e+01] [-7.73041585e-04 -8.06606393e-06 9.99999701e-01 -4.16047825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.92, Y:-26.33, Z:-0.42 [[ 9.86397435e-01 1.64376144e-01 7.63686868e-04 2.67919225e+02] [-1.64376100e-01 9.86397731e-01 -1.20169555e-04 -2.63252697e+01] [-7.73052001e-04 -6.99692807e-06 9.99999701e-01 -4.20482567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.95, Y:-26.33, Z:-0.42 [[ 9.86939999e-01 1.61086484e-01 7.63688312e-04 2.67949936e+02] [-1.61086439e-01 9.86940294e-01 -1.20160373e-04 -2.63275224e+01] [-7.73070980e-04 -4.42875178e-06 9.99999701e-01 -4.19915821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.98, Y:-26.33, Z:-0.42 [[ 9.87229545e-01 1.59302363e-01 7.63688312e-04 2.67980054e+02] [-1.59302318e-01 9.87229840e-01 -1.20160373e-04 -2.63320066e+01] [-7.73077722e-04 -3.03144766e-06 9.99999701e-01 -4.19156298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.01, Y:-26.34, Z:-0.42 [[ 9.87545075e-01 1.57334487e-01 7.63688312e-04 2.68010483e+02] [-1.57334441e-01 9.87545371e-01 -1.20160373e-04 -2.63368724e+01] [-7.73082228e-04 -1.49068877e-06 9.99999701e-01 -4.18653584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.04, Y:-26.34, Z:-0.42 [[ 9.88040817e-01 1.54190664e-01 7.63688312e-04 2.68040761e+02] [-1.54190617e-01 9.88041112e-01 -1.20160373e-04 -2.63416196e+01] [-7.73083057e-04 9.69781666e-07 9.99999701e-01 -4.18855444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.07, Y:-26.34, Z:-0.42 [[ 9.88218966e-01 1.53044741e-01 7.63688312e-04 2.68070502e+02] [-1.53044694e-01 9.88219261e-01 -1.20160373e-04 -2.63446056e+01] [-7.73081413e-04 1.86631581e-06 9.99999701e-01 -4.22314383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.10, Y:-26.35, Z:-0.42 [[ 9.88201491e-01 1.53157536e-01 7.63686852e-04 2.68101206e+02] [-1.53157489e-01 9.88201786e-01 -1.20169653e-04 -2.63480432e+01] [-7.73081599e-04 1.78746975e-06 9.99999701e-01 -4.19663481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.13, Y:-26.35, Z:-0.41 [[ 9.87985856e-01 1.54542436e-01 7.63686852e-04 2.68131138e+02] [-1.54542389e-01 9.87986151e-01 -1.20169653e-04 -2.63510543e+01] [-7.73083345e-04 7.03926484e-07 9.99999701e-01 -4.14344675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.16, Y:-26.36, Z:-0.41 [[ 9.87844742e-01 1.55441897e-01 7.63688330e-04 2.68160396e+02] [-1.55441850e-01 9.87845037e-01 -1.20160262e-04 -2.63558485e+01] [-7.73083665e-04 -9.44450900e-09 9.99999701e-01 -4.13909888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.19, Y:-26.36, Z:-0.41 [[ 9.87563165e-01 1.57220904e-01 7.63689794e-04 2.68190194e+02] [-1.57220858e-01 9.87563460e-01 -1.20150955e-04 -2.63600586e+01] [-7.73082377e-04 -1.41130734e-06 9.99999701e-01 -4.12272307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20420382200007 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:268.22, Y:-26.36, Z:-0.42 [[ 9.87311358e-01 1.58794517e-01 7.63689794e-04 2.68219402e+02] [-1.58794471e-01 9.87311654e-01 -1.20150955e-04 -2.63622596e+01] [-7.73079146e-04 -2.64331412e-06 9.99999701e-01 -4.17964184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.25, Y:-26.37, Z:-0.42 [[ 9.86779888e-01 1.62064398e-01 7.63691258e-04 2.68247638e+02] [-1.62064353e-01 9.86780184e-01 -1.20141646e-04 -2.63650564e+01] [-7.73066084e-04 -5.21377046e-06 9.99999701e-01 -4.15488581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.28, Y:-26.37, Z:-0.41 [[ 9.86412747e-01 1.64284236e-01 7.63694367e-04 2.68277031e+02] [-1.64284192e-01 9.86413042e-01 -1.20121881e-04 -2.63687841e+01] [-7.73052216e-04 -6.97315751e-06 9.99999701e-01 -4.14779619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.31, Y:-26.37, Z:-0.41 [[ 9.86012574e-01 1.66669193e-01 7.63697257e-04 2.68306911e+02] [-1.66669150e-01 9.86012870e-01 -1.20103507e-04 -2.63718764e+01] [-7.73032879e-04 -8.86120410e-06 9.99999701e-01 -4.13537586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.34, Y:-26.37, Z:-0.42 [[ 9.85129102e-01 1.71814055e-01 7.63700213e-04 2.68335695e+02] [-1.71814014e-01 9.85129398e-01 -1.20084707e-04 -2.63738608e+01] [-7.72975771e-04 -1.29154591e-05 9.99999701e-01 -4.16820915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.36, Y:-26.37, Z:-0.42 [[ 9.84353774e-01 1.76201769e-01 7.63704611e-04 2.68364385e+02] [-1.76201729e-01 9.84354071e-01 -1.20056733e-04 -2.63747776e+01] [-7.72909951e-04 -1.63877742e-05 9.99999701e-01 -4.15977246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.39, Y:-26.38, Z:-0.41 [[ 9.84078007e-01 1.77735458e-01 7.63710186e-04 2.68392923e+02] [-1.77735418e-01 9.84078303e-01 -1.20021256e-04 -2.63757118e+01] [-7.72882657e-04 -1.76280705e-05 9.99999701e-01 -4.14253487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41420382200005 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:268.42, Y:-26.38, Z:-0.42 [[ 9.83915649e-01 1.78632060e-01 7.63717311e-04 2.68422355e+02] [-1.78632020e-01 9.83915945e-01 -1.19975901e-04 -2.63760740e+01] [-7.72865182e-04 -1.83782000e-05 9.99999701e-01 -4.15057285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.45, Y:-26.38, Z:-0.42 [[ 9.83997861e-01 1.78178633e-01 7.63723209e-04 2.68450834e+02] [-1.78178594e-01 9.83998158e-01 -1.19938347e-04 -2.63765806e+01] [-7.72872681e-04 -1.80600510e-05 9.99999701e-01 -4.16268882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.48, Y:-26.38, Z:-0.42 [[ 9.84456382e-01 1.75627585e-01 7.63731206e-04 2.68479498e+02] [-1.75627545e-01 9.84456678e-01 -1.19887402e-04 -2.63774415e+01] [-7.72915821e-04 -1.61083188e-05 9.99999701e-01 -4.18170413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.51, Y:-26.38, Z:-0.42 [[ 9.84759338e-01 1.73920852e-01 7.63736821e-04 2.68507263e+02] [-1.73920811e-01 9.84759634e-01 -1.19851618e-04 -2.63808675e+01] [-7.72941888e-04 -1.48047275e-05 9.99999701e-01 -4.19154537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53420382200005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:268.54, Y:-26.38, Z:-0.42 [[ 9.85125375e-01 1.71835420e-01 7.63743815e-04 2.68536087e+02] [-1.71835379e-01 9.85125671e-01 -1.19807033e-04 -2.63834296e+01] [-7.72970731e-04 -1.32132596e-05 9.99999701e-01 -4.22761261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.56, Y:-26.39, Z:-0.42 [[ 9.85924779e-01 1.67187760e-01 7.63749392e-04 2.68564152e+02] [-1.67187717e-01 9.85925075e-01 -1.19771469e-04 -2.63856540e+01] [-7.73024000e-04 -9.60385853e-06 9.99999701e-01 -4.22329911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.59, Y:-26.38, Z:-0.42 [[ 9.86634192e-01 1.62949034e-01 7.63756337e-04 2.68593840e+02] [-1.62948990e-01 9.86634488e-01 -1.19727172e-04 -2.63848761e+01] [-7.73057769e-04 -6.32640258e-06 9.99999701e-01 -4.20729405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.62, Y:-26.39, Z:-0.42 [[ 9.86808431e-01 1.61890512e-01 7.63760752e-04 2.68621742e+02] [-1.61890467e-01 9.86808726e-01 -1.19698999e-04 -2.63870087e+01] [-7.73063907e-04 -5.52560381e-06 9.99999701e-01 -4.22919005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.65, Y:-26.39, Z:-0.42 [[ 9.86917834e-01 1.61222223e-01 7.63768391e-04 2.68650805e+02] [-1.61222179e-01 9.86918130e-01 -1.19650233e-04 -2.63898816e+01] [-7.73067149e-04 -5.05145511e-06 9.99999701e-01 -4.22198043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.68, Y:-26.39, Z:-0.43 [[ 9.86889623e-01 1.61394822e-01 7.63774297e-04 2.68678705e+02] [-1.61394777e-01 9.86889919e-01 -1.19612521e-04 -2.63914308e+01] [-7.73065996e-04 -5.22482651e-06 9.99999701e-01 -4.27905148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.71, Y:-26.39, Z:-0.43 [[ 9.86875823e-01 1.61479185e-01 7.63781649e-04 2.68707582e+02] [-1.61479140e-01 9.86876118e-01 -1.19565559e-04 -2.63940076e+01] [-7.73065218e-04 -5.33844474e-06 9.99999701e-01 -4.27397597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.74, Y:-26.39, Z:-0.42 [[ 9.86807618e-01 1.61895463e-01 7.63787102e-04 2.68736640e+02] [-1.61895419e-01 9.86807914e-01 -1.19530718e-04 -2.63937694e+01] [-7.73062637e-04 -5.69980965e-06 9.99999701e-01 -4.17632925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.76, Y:-26.39, Z:-0.42 [[ 9.86818792e-01 1.61827343e-01 7.63793018e-04 2.68764979e+02] [-1.61827299e-01 9.86819087e-01 -1.19492901e-04 -2.63948729e+01] [-7.73062747e-04 -5.68472162e-06 9.99999701e-01 -4.19666014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.79, Y:-26.39, Z:-0.42 [[ 9.87111244e-01 1.60033771e-01 7.63800362e-04 2.68794741e+02] [-1.60033726e-01 9.87111540e-01 -1.19445937e-04 -2.63934925e+01] [-7.73071535e-04 -4.32739044e-06 9.99999701e-01 -4.20557162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83420382200006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:268.82, Y:-26.39, Z:-0.42 [[ 9.87447960e-01 1.57942848e-01 7.63806023e-04 2.68823133e+02] [-1.57942803e-01 9.87448255e-01 -1.19409729e-04 -2.63949201e+01] [-7.73078837e-04 -2.72677101e-06 9.99999701e-01 -4.23544952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.85, Y:-26.40, Z:-0.42 [[ 9.88373666e-01 1.52042470e-01 7.63813065e-04 2.68852000e+02] [-1.52042423e-01 9.88373961e-01 -1.19364669e-04 -2.63973577e+01] [-7.73081443e-04 1.84490677e-06 9.99999701e-01 -4.19350508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.88, Y:-26.40, Z:-0.42 [[ 9.88822848e-01 1.49093232e-01 7.63818704e-04 2.68880936e+02] [-1.49093184e-01 9.88823143e-01 -1.19328569e-04 -2.64016156e+01] [-7.73072694e-04 4.11465255e-06 9.99999701e-01 -4.16843826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92420382200004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:268.91, Y:-26.40, Z:-0.42 [[ 9.89452874e-01 1.44853119e-01 7.63824563e-04 2.68909304e+02] [-1.44853070e-01 9.89453169e-01 -1.19291058e-04 -2.64036515e+01] [-7.73048316e-04 7.39054731e-06 9.99999701e-01 -4.17144137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.94, Y:-26.41, Z:-0.42 [[ 9.89668978e-01 1.43369209e-01 7.63831915e-04 2.68936593e+02] [-1.43369160e-01 9.89669273e-01 -1.19243960e-04 -2.64066705e+01] [-7.73036888e-04 8.50210794e-06 9.99999701e-01 -4.19903093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.97, Y:-26.41, Z:-0.42 [[ 9.89878490e-01 1.41915441e-01 7.63839181e-04 2.68965856e+02] [-1.41915392e-01 9.89878784e-01 -1.19197401e-04 -2.64095960e+01] [-7.73024151e-04 9.59040709e-06 9.99999701e-01 -4.18482585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01420382200007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:268.99, Y:-26.41, Z:-0.42 [[ 9.89929782e-01 1.41557206e-01 7.63843532e-04 2.68994093e+02] [-1.41557156e-01 9.89930077e-01 -1.19169512e-04 -2.64127024e+01] [-7.73020989e-04 9.84193119e-06 9.99999701e-01 -4.18594610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04420382200004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:269.02, Y:-26.41, Z:-0.42 [[ 9.89951321e-01 1.41406498e-01 7.63849412e-04 2.69022929e+02] [-1.41406448e-01 9.89951616e-01 -1.19131810e-04 -2.64141822e+01] [-7.73019972e-04 9.92146041e-06 9.99999701e-01 -4.16366952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0742038220001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:269.05, Y:-26.42, Z:-0.42 [[ 9.89958431e-01 1.41356715e-01 7.63855397e-04 2.69051911e+02] [-1.41356666e-01 9.89958726e-01 -1.19093420e-04 -2.64186135e+01] [-7.73019971e-04 9.92148344e-06 9.99999701e-01 -4.16389617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10420382200004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:269.08, Y:-26.42, Z:-0.42 [[ 9.89969009e-01 1.41282613e-01 7.63861384e-04 2.69079403e+02] [-1.41282564e-01 9.89969304e-01 -1.19055007e-04 -2.64216861e+01] [-7.73019726e-04 9.94047293e-06 9.99999701e-01 -4.16083732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.11, Y:-26.43, Z:-0.41 [[ 9.89931473e-01 1.41545382e-01 7.63868823e-04 2.69108183e+02] [-1.41545332e-01 9.89931768e-01 -1.19007263e-04 -2.64264685e+01] [-7.73022942e-04 9.68696919e-06 9.99999701e-01 -4.11557640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16420382200005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:269.14, Y:-26.43, Z:-0.41 [[ 9.89826177e-01 1.42279848e-01 7.63874622e-04 2.69136516e+02] [-1.42279799e-01 9.89826472e-01 -1.18970030e-04 -2.64321910e+01] [-7.73030360e-04 9.07572233e-06 9.99999701e-01 -4.14057473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.17, Y:-26.44, Z:-0.41 [[ 9.89766123e-01 1.42697016e-01 7.63880418e-04 2.69165231e+02] [-1.42696966e-01 9.89766418e-01 -1.18932804e-04 -2.64364984e+01] [-7.73034541e-04 8.71224222e-06 9.99999701e-01 -4.13260750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.19, Y:-26.44, Z:-0.41 [[ 9.89383897e-01 1.45323504e-01 7.63886197e-04 2.69193720e+02] [-1.45323456e-01 9.89384192e-01 -1.18895674e-04 -2.64431682e+01] [-7.73055263e-04 6.62288328e-06 9.99999701e-01 -4.11299062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.22, Y:-26.45, Z:-0.42 [[ 9.89126930e-01 1.47062343e-01 7.63892115e-04 2.69220966e+02] [-1.47062295e-01 9.89127225e-01 -1.18857636e-04 -2.64492516e+01] [-7.73065970e-04 5.22556080e-06 9.99999701e-01 -4.15621851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.25, Y:-26.45, Z:-0.41 [[ 9.88546533e-01 1.50914439e-01 7.63899481e-04 2.69249595e+02] [-1.50914392e-01 9.88546829e-01 -1.18810280e-04 -2.64532691e+01] [-7.73080595e-04 2.16606432e-06 9.99999701e-01 -4.13123121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.28, Y:-26.46, Z:-0.41 [[ 9.88282467e-01 1.52634141e-01 7.63905279e-04 2.69277908e+02] [-1.52634095e-01 9.88282763e-01 -1.18772986e-04 -2.64577241e+01] [-7.73083232e-04 7.83268704e-07 9.99999701e-01 -4.11995434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.30, Y:-26.46, Z:-0.42 [[ 9.87861426e-01 1.55335826e-01 7.63911132e-04 2.69304559e+02] [-1.55335780e-01 9.87861722e-01 -1.18735327e-04 -2.64648845e+01] [-7.73082417e-04 -1.36868186e-06 9.99999701e-01 -4.17153092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.374203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:269.33, Y:-26.47, Z:-0.42 [[ 9.87670757e-01 1.56543580e-01 7.63918401e-04 2.69332892e+02] [-1.56543535e-01 9.87671052e-01 -1.18688546e-04 -2.64697849e+01] [-7.73080021e-04 -2.36128061e-06 9.99999701e-01 -4.19031480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.36, Y:-26.48, Z:-0.42 [[ 9.87334284e-01 1.58651909e-01 7.63924112e-04 2.69360160e+02] [-1.58651864e-01 9.87334579e-01 -1.18651776e-04 -2.64750031e+01] [-7.73073022e-04 -4.04901805e-06 9.99999701e-01 -4.20947746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43420382200003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:269.39, Y:-26.48, Z:-0.42 [[ 9.87179023e-01 1.59615140e-01 7.63931206e-04 2.69388740e+02] [-1.59615096e-01 9.87179319e-01 -1.18606080e-04 -2.64797635e+01] [-7.73068414e-04 -4.84951898e-06 9.99999701e-01 -4.21389070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.42, Y:-26.48, Z:-0.42 [[ 9.87053809e-01 1.60387636e-01 7.63936845e-04 2.69416400e+02] [-1.60387592e-01 9.87054105e-01 -1.18569754e-04 -2.64838628e+01] [-7.73064121e-04 -5.49126418e-06 9.99999701e-01 -4.18494662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.44, Y:-26.49, Z:-0.41 [[ 9.87005978e-01 1.60681720e-01 7.63943849e-04 2.69444795e+02] [-1.60681677e-01 9.87006274e-01 -1.18524605e-04 -2.64882894e+01] [-7.73062110e-04 -5.76728472e-06 9.99999701e-01 -4.13810217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.47, Y:-26.49, Z:-0.41 [[ 9.86932236e-01 1.61134038e-01 7.63949438e-04 2.69473150e+02] [-1.61133995e-01 9.86932532e-01 -1.18488573e-04 -2.64938471e+01] [-7.73059095e-04 -6.15803190e-06 9.99999701e-01 -4.09586020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.50, Y:-26.50, Z:-0.42 [[ 9.86871822e-01 1.61503635e-01 7.63955280e-04 2.69500994e+02] [-1.61503592e-01 9.86872117e-01 -1.18450891e-04 -2.64984238e+01] [-7.73056415e-04 -6.48567528e-06 9.99999701e-01 -4.16279935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58420382200006 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:269.53, Y:-26.50, Z:-0.41 [[ 9.86827037e-01 1.61777053e-01 7.63962529e-04 2.69529346e+02] [-1.61777010e-01 9.86827333e-01 -1.18404123e-04 -2.65023197e+01] [-7.73054175e-04 -6.74718335e-06 9.99999701e-01 -4.12780949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:269.56, Y:-26.51, Z:-0.41 [[ 9.86797379e-01 1.61957861e-01 7.63968302e-04 2.69556782e+02] [-1.61957818e-01 9.86797675e-01 -1.18366859e-04 -2.65070820e+01] [-7.73052588e-04 -6.92653338e-06 9.99999701e-01 -4.10995017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.59, Y:-26.51, Z:-0.41 [[ 9.86540466e-01 1.63515517e-01 7.63975483e-04 2.69585381e+02] [-1.63515475e-01 9.86540762e-01 -1.18320494e-04 -2.65121773e+01] [-7.73040192e-04 -8.19385804e-06 9.99999701e-01 -4.09284501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.61, Y:-26.52, Z:-0.41 [[ 9.86384592e-01 1.64453195e-01 7.63981367e-04 2.69613415e+02] [-1.64453153e-01 9.86384888e-01 -1.18282488e-04 -2.65155943e+01] [-7.73031608e-04 -8.96712062e-06 9.99999701e-01 -4.14063733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.64, Y:-26.52, Z:-0.41 [[ 9.86247863e-01 1.65271201e-01 7.63988681e-04 2.69641977e+02] [-1.65271159e-01 9.86248158e-01 -1.18235233e-04 -2.65183768e+01] [-7.73023308e-04 -9.65604877e-06 9.99999701e-01 -4.09176404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.67, Y:-26.52, Z:-0.41 [[ 9.86069266e-01 1.66333456e-01 7.63994480e-04 2.69670429e+02] [-1.66333414e-01 9.86069562e-01 -1.18197747e-04 -2.65210912e+01] [-7.73011942e-04 -1.05266446e-05 9.99999701e-01 -4.09546025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.70, Y:-26.52, Z:-0.41 [[ 9.86107949e-01 1.66103973e-01 7.64000297e-04 2.69698114e+02] [-1.66103931e-01 9.86108245e-01 -1.18160133e-04 -2.65248660e+01] [-7.73013860e-04 -1.03848065e-05 9.99999701e-01 -4.11488516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.73, Y:-26.53, Z:-0.41 [[ 9.86274166e-01 1.65114162e-01 7.64007553e-04 2.69726251e+02] [-1.65114120e-01 9.86274462e-01 -1.18113201e-04 -2.65285592e+01] [-7.73023300e-04 -9.65643622e-06 9.99999701e-01 -4.09435919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.8242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.75, Y:-26.53, Z:-0.41 [[ 9.86544793e-01 1.63489413e-01 7.64016670e-04 2.69754328e+02] [-1.63489371e-01 9.86545089e-01 -1.18054200e-04 -2.65328619e+01] [-7.73037505e-04 -8.44284829e-06 9.99999701e-01 -4.08149715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.78, Y:-26.54, Z:-0.41 [[ 9.87342880e-01 1.58598403e-01 7.64022451e-04 2.69781956e+02] [-1.58598360e-01 9.87343176e-01 -1.18016772e-04 -2.65385774e+01] [-7.73069625e-04 -4.64968810e-06 9.99999701e-01 -4.10311724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.81, Y:-26.54, Z:-0.41 [[ 9.87768588e-01 1.55925085e-01 7.64029649e-04 2.69809816e+02] [-1.55925040e-01 9.87768884e-01 -1.17970158e-04 -2.65441009e+01] [-7.73079220e-04 -2.60413708e-06 9.99999701e-01 -4.09293839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.84, Y:-26.55, Z:-0.41 [[ 9.88572903e-01 1.50741606e-01 7.64035508e-04 2.69837971e+02] [-1.50741560e-01 9.88573198e-01 -1.17932196e-04 -2.65525864e+01] [-7.73082314e-04 1.41266945e-06 9.99999701e-01 -4.10245195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.87, Y:-26.56, Z:-0.41 [[ 9.88841433e-01 1.48969918e-01 7.64041380e-04 2.69866310e+02] [-1.48969871e-01 9.88841728e-01 -1.17894140e-04 -2.65597174e+01] [-7.73078679e-04 2.75946431e-06 9.99999701e-01 -4.09823602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.89, Y:-26.57, Z:-0.41 [[ 9.89017219e-01 1.47798364e-01 7.64047221e-04 2.69892973e+02] [-1.47798317e-01 9.89017514e-01 -1.17856274e-04 -2.65664244e+01] [-7.73075048e-04 3.63699171e-06 9.99999701e-01 -4.10562166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.92, Y:-26.57, Z:-0.41 [[ 9.88939630e-01 1.48316636e-01 7.64054479e-04 2.69920629e+02] [-1.48316589e-01 9.88939925e-01 -1.17809207e-04 -2.65717085e+01] [-7.73077044e-04 3.18423912e-06 9.99999701e-01 -4.12615129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.95, Y:-26.58, Z:-0.42 [[ 9.88598007e-01 1.50576877e-01 7.64061627e-04 2.69947374e+02] [-1.50576831e-01 9.88598303e-01 -1.17762824e-04 -2.65793276e+01] [-7.73082386e-04 1.37011489e-06 9.99999701e-01 -4.18760300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.98, Y:-26.59, Z:-0.42 [[ 9.88367848e-01 1.52080284e-01 7.64068743e-04 2.69975615e+02] [-1.52080238e-01 9.88368144e-01 -1.17716638e-04 -2.65851174e+01] [-7.73083585e-04 1.47584150e-07 9.99999701e-01 -4.15125913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09420382200005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:270.00, Y:-26.59, Z:-0.42 [[ 9.87856694e-01 1.55365915e-01 7.64074427e-04 2.70004517e+02] [-1.55365870e-01 9.87856990e-01 -1.17679736e-04 -2.65898861e+01] [-7.73079683e-04 -2.46037284e-06 9.99999701e-01 -4.15629800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.124203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.03, Y:-26.59, Z:-0.42 [[ 9.87653817e-01 1.56650421e-01 7.64080217e-04 2.70032387e+02] [-1.56650377e-01 9.87654112e-01 -1.17642129e-04 -2.65947524e+01] [-7.73075657e-04 -3.50375567e-06 9.99999701e-01 -4.17029959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.06, Y:-26.60, Z:-0.42 [[ 9.87317955e-01 1.58753492e-01 7.64087385e-04 2.70059720e+02] [-1.58753448e-01 9.87318251e-01 -1.17595555e-04 -2.66003059e+01] [-7.73066125e-04 -5.19730375e-06 9.99999701e-01 -4.18204931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.09, Y:-26.60, Z:-0.42 [[ 9.87107650e-01 1.60055938e-01 7.64094653e-04 2.70088563e+02] [-1.60055895e-01 9.87107946e-01 -1.17548312e-04 -2.66047584e+01] [-7.73058208e-04 -6.26501537e-06 9.99999701e-01 -4.17966307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.12, Y:-26.61, Z:-0.42 [[ 9.86618915e-01 1.63041505e-01 7.64100215e-04 2.70117375e+02] [-1.63041463e-01 9.86619211e-01 -1.17512145e-04 -2.66088774e+01] [-7.73035308e-04 -8.64031189e-06 9.99999701e-01 -4.15351864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.14, Y:-26.61, Z:-0.42 [[ 9.86418540e-01 1.64249447e-01 7.64105794e-04 2.70144493e+02] [-1.64249405e-01 9.86418836e-01 -1.17475857e-04 -2.66142200e+01] [-7.73023692e-04 -9.62355914e-06 9.99999701e-01 -4.16204038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.17, Y:-26.62, Z:-0.42 [[ 9.86118812e-01 1.66039469e-01 7.64112723e-04 2.70171846e+02] [-1.66039428e-01 9.86119108e-01 -1.17430767e-04 -2.66201480e+01] [-7.73004299e-04 -1.10721511e-05 9.99999701e-01 -4.18009567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.20, Y:-26.62, Z:-0.42 [[ 9.86079738e-01 1.66271365e-01 7.64119582e-04 2.70199657e+02] [-1.66271324e-01 9.86080034e-01 -1.17386120e-04 -2.66231790e+01] [-7.73001014e-04 -1.12991004e-05 9.99999701e-01 -4.20037891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.23, Y:-26.63, Z:-0.42 [[ 9.86133197e-01 1.65954009e-01 7.64126378e-04 2.70228728e+02] [-1.65953968e-01 9.86133493e-01 -1.17341868e-04 -2.66255655e+01] [-7.73003967e-04 -1.10950935e-05 9.99999701e-01 -4.16823791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.26, Y:-26.63, Z:-0.42 [[ 9.86200638e-01 1.65552763e-01 7.64131803e-04 2.70257583e+02] [-1.65552722e-01 9.86200934e-01 -1.17306530e-04 -2.66290760e+01] [-7.73007918e-04 -1.08163254e-05 9.99999701e-01 -4.15270898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.29, Y:-26.63, Z:-0.41 [[ 9.86250613e-01 1.65254784e-01 7.64137435e-04 2.70285705e+02] [-1.65254743e-01 9.86250909e-01 -1.17269830e-04 -2.66334841e+01] [-7.73010640e-04 -1.06198931e-05 9.99999701e-01 -4.10643958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.31, Y:-26.64, Z:-0.42 [[ 9.86281324e-01 1.65071395e-01 7.64143436e-04 2.70313391e+02] [-1.65071354e-01 9.86281620e-01 -1.17230712e-04 -2.66385264e+01] [-7.73012063e-04 -1.05157290e-05 9.99999701e-01 -4.16775906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45420382200007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.34, Y:-26.64, Z:-0.42 [[ 9.86366903e-01 1.64559257e-01 7.64150906e-04 2.70342423e+02] [-1.64559216e-01 9.86367199e-01 -1.17182002e-04 -2.66421938e+01] [-7.73016771e-04 -1.01636251e-05 9.99999701e-01 -4.15908474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.37, Y:-26.64, Z:-0.42 [[ 9.86504968e-01 1.63729547e-01 7.64158791e-04 2.70371161e+02] [-1.63729506e-01 9.86505264e-01 -1.17130558e-04 -2.66438669e+01] [-7.73024403e-04 -9.56546408e-06 9.99999701e-01 -4.16277937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51420382200007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:270.40, Y:-26.65, Z:-0.42 [[ 9.86687647e-01 1.62625038e-01 7.64164493e-04 2.70399564e+02] [-1.62624996e-01 9.86687943e-01 -1.17093345e-04 -2.66494253e+01] [-7.73034202e-04 -8.73769129e-06 9.99999701e-01 -4.15930020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.43, Y:-26.65, Z:-0.41 [[ 9.86890541e-01 1.61389205e-01 7.64170174e-04 2.70427052e+02] [-1.61389163e-01 9.86890837e-01 -1.17056256e-04 -2.66529554e+01] [-7.73044159e-04 -7.80707253e-06 9.99999701e-01 -4.14811408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.46, Y:-26.66, Z:-0.41 [[ 9.87019920e-01 1.60596060e-01 7.64177232e-04 2.70456114e+02] [-1.60596018e-01 9.87020215e-01 -1.17010162e-04 -2.66555166e+01] [-7.73049747e-04 -7.23245913e-06 9.99999701e-01 -4.09517040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.48, Y:-26.66, Z:-0.41 [[ 9.87198221e-01 1.59496361e-01 7.64182965e-04 2.70483354e+02] [-1.59496319e-01 9.87198516e-01 -1.16972713e-04 -2.66596219e+01] [-7.73057011e-04 -6.40911551e-06 9.99999701e-01 -4.10500138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.634203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:270.51, Y:-26.67, Z:-0.42 [[ 9.87383463e-01 1.58345547e-01 7.64190072e-04 2.70510516e+02] [-1.58345504e-01 9.87383759e-01 -1.16926263e-04 -2.66656340e+01] [-7.73063619e-04 -5.55500371e-06 9.99999701e-01 -4.19661176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.54, Y:-26.67, Z:-0.42 [[ 9.87586096e-01 1.57076791e-01 7.64197163e-04 2.70539028e+02] [-1.57076748e-01 9.87586392e-01 -1.16879898e-04 -2.66701903e+01] [-7.73069838e-04 -4.60864273e-06 9.99999701e-01 -4.15726562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.57, Y:-26.67, Z:-0.42 [[ 9.87739980e-01 1.56106210e-01 7.64202734e-04 2.70566352e+02] [-1.56106166e-01 9.87740275e-01 -1.16843460e-04 -2.66739327e+01] [-7.73073809e-04 -3.88580204e-06 9.99999701e-01 -4.17631668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.59, Y:-26.68, Z:-0.42 [[ 9.87858208e-01 1.55356293e-01 7.64209643e-04 2.70594688e+02] [-1.55356249e-01 9.87858503e-01 -1.16798255e-04 -2.66773465e+01] [-7.73076338e-04 -3.34462844e-06 9.99999701e-01 -4.16887104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.62, Y:-26.68, Z:-0.42 [[ 9.87817135e-01 1.55617232e-01 7.64215232e-04 2.70623007e+02] [-1.55617189e-01 9.87817431e-01 -1.16761673e-04 -2.66805580e+01] [-7.73075256e-04 -3.58584421e-06 9.99999701e-01 -4.17564827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.65, Y:-26.68, Z:-0.42 [[ 9.87763142e-01 1.55959580e-01 7.64220798e-04 2.70650780e+02] [-1.55959536e-01 9.87763438e-01 -1.16725235e-04 -2.66845965e+01] [-7.73073781e-04 -3.89063648e-06 9.99999701e-01 -4.19200156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.68, Y:-26.69, Z:-0.42 [[ 9.87528701e-01 1.57437229e-01 7.64227717e-04 2.70679844e+02] [-1.57437186e-01 9.87528997e-01 -1.16679919e-04 -2.66874581e+01] [-7.73066793e-04 -5.09309242e-06 9.99999701e-01 -4.21855535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.71, Y:-26.69, Z:-0.42 [[ 9.87446582e-01 1.57951462e-01 7.64233256e-04 2.70708523e+02] [-1.57951419e-01 9.87446877e-01 -1.16643624e-04 -2.66908510e+01] [-7.73063773e-04 -5.53237894e-06 9.99999701e-01 -4.20014533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.74, Y:-26.70, Z:-0.42 [[ 9.87389979e-01 1.58304914e-01 7.64238965e-04 2.70735830e+02] [-1.58304871e-01 9.87390275e-01 -1.16606207e-04 -2.66954869e+01] [-7.73061457e-04 -5.84695057e-06 9.99999701e-01 -4.23676208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.76, Y:-26.70, Z:-0.42 [[ 9.87389743e-01 1.58306387e-01 7.64246061e-04 2.70764042e+02] [-1.58306344e-01 9.87390038e-01 -1.16559680e-04 -2.66997716e+01] [-7.73061090e-04 -5.89516748e-06 9.99999701e-01 -4.21987825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.93420382200003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.79, Y:-26.70, Z:-0.43 [[ 9.87456313e-01 1.57890612e-01 7.64251639e-04 2.70791674e+02] [-1.57890570e-01 9.87456609e-01 -1.16523097e-04 -2.67019424e+01] [-7.73063235e-04 -5.60665927e-06 9.99999701e-01 -4.25730637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.82, Y:-26.71, Z:-0.42 [[ 9.87597509e-01 1.57005018e-01 7.64259292e-04 2.70820359e+02] [-1.57004975e-01 9.87597805e-01 -1.16472883e-04 -2.67060743e+01] [-7.73067626e-04 -4.96418240e-06 9.99999701e-01 -4.22048104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.85, Y:-26.71, Z:-0.42 [[ 9.87604926e-01 1.56958357e-01 7.64264788e-04 2.70849358e+02] [-1.56958314e-01 9.87605222e-01 -1.16436803e-04 -2.67103988e+01] [-7.73067625e-04 -4.96415188e-06 9.99999701e-01 -4.22070770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.88, Y:-26.71, Z:-0.42 [[ 9.87906818e-01 1.55046881e-01 7.64270288e-04 2.70877932e+02] [-1.55046838e-01 9.87907113e-01 -1.16400693e-04 -2.67141911e+01] [-7.73075619e-04 -3.50465262e-06 9.99999701e-01 -4.19548009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.91, Y:-26.72, Z:-0.42 [[ 9.88064838e-01 1.54036657e-01 7.64276084e-04 2.70905794e+02] [-1.54036613e-01 9.88065134e-01 -1.16362623e-04 -2.67182386e+01] [-7.73078661e-04 -2.75268339e-06 9.99999701e-01 -4.20709405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.93, Y:-26.72, Z:-0.42 [[ 9.88234109e-01 1.52946927e-01 7.64283279e-04 2.70932910e+02] [-1.52946883e-01 9.88234404e-01 -1.16315349e-04 -2.67223769e+01] [-7.73081106e-04 -1.94794998e-06 9.99999701e-01 -4.23064827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.96, Y:-26.73, Z:-0.42 [[ 9.88535983e-01 1.50983529e-01 7.64291005e-04 2.70960026e+02] [-1.50983484e-01 9.88536279e-01 -1.16264558e-04 -2.67274516e+01] [-7.73083419e-04 -4.63620275e-07 9.99999701e-01 -4.24671833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.99, Y:-26.73, Z:-0.42 [[ 9.88661679e-01 1.50158253e-01 7.64297858e-04 2.70987975e+02] [-1.50158208e-01 9.88661974e-01 -1.16219495e-04 -2.67331706e+01] [-7.73083545e-04 1.36164172e-07 9.99999701e-01 -4.18358277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.02, Y:-26.74, Z:-0.42 [[ 9.88678215e-01 1.50049336e-01 7.64303558e-04 2.71015273e+02] [-1.50049291e-01 9.88678510e-01 -1.16181994e-04 -2.67368488e+01] [-7.73083534e-04 1.83398723e-07 9.99999701e-01 -4.17783298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.04, Y:-26.74, Z:-0.42 [[ 9.88770236e-01 1.49441750e-01 7.64310657e-04 2.71043086e+02] [-1.49441705e-01 9.88770531e-01 -1.16135276e-04 -2.67409040e+01] [-7.73083313e-04 6.11216055e-07 9.99999701e-01 -4.15575688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23420382200004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:271.07, Y:-26.75, Z:-0.42 [[ 9.88768332e-01 1.49454342e-01 7.64317497e-04 2.71071370e+02] [-1.49454297e-01 9.88768628e-01 -1.16090240e-04 -2.67473903e+01] [-7.73083354e-04 5.55818326e-07 9.99999701e-01 -4.16996295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.10, Y:-26.76, Z:-0.42 [[ 9.88810954e-01 1.49172092e-01 7.64323151e-04 2.71098546e+02] [-1.49172047e-01 9.88811249e-01 -1.16053006e-04 -2.67551924e+01] [-7.73083199e-04 7.38834636e-07 9.99999701e-01 -4.17221621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.13, Y:-26.76, Z:-0.42 [[ 9.88593033e-01 1.50609531e-01 7.64330196e-04 2.71126556e+02] [-1.50609487e-01 9.88593328e-01 -1.16006590e-04 -2.67609439e+01] [-7.73083430e-04 -4.32071528e-07 9.99999701e-01 -4.17360233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.3242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.16, Y:-26.77, Z:-0.42 [[ 9.88088878e-01 1.53882374e-01 7.64335734e-04 2.71155144e+02] [-1.53882330e-01 9.88089174e-01 -1.15970090e-04 -2.67656659e+01] [-7.73077616e-04 -3.02900786e-06 9.99999701e-01 -4.16634456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.18, Y:-26.77, Z:-0.41 [[ 9.87762885e-01 1.55961211e-01 7.64341376e-04 2.71184012e+02] [-1.55961168e-01 9.87763180e-01 -1.15932890e-04 -2.67702678e+01] [-7.73069302e-04 -4.69336808e-06 9.99999701e-01 -4.14606145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.21, Y:-26.77, Z:-0.42 [[ 9.87090882e-01 1.60159316e-01 7.64347153e-04 2.71212138e+02] [-1.60159274e-01 9.87091178e-01 -1.15894793e-04 -2.67730770e+01] [-7.73041962e-04 -8.01859155e-06 9.99999701e-01 -4.16304337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.24, Y:-26.78, Z:-0.41 [[ 9.86847375e-01 1.61652942e-01 7.64355182e-04 2.71240890e+02] [-1.61652901e-01 9.86847671e-01 -1.15841815e-04 -2.67772926e+01] [-7.73028301e-04 -9.24204149e-06 9.99999701e-01 -4.14110613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.27, Y:-26.78, Z:-0.42 [[ 9.86564616e-01 1.63369746e-01 7.64360873e-04 2.71267657e+02] [-1.63369706e-01 9.86564912e-01 -1.15804251e-04 -2.67830173e+01] [-7.73010528e-04 -1.06250344e-05 9.99999701e-01 -4.16126825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.30, Y:-26.79, Z:-0.41 [[ 9.86536942e-01 1.63536780e-01 7.64369339e-04 2.71296286e+02] [-1.63536739e-01 9.86537238e-01 -1.15748340e-04 -2.67883393e+01] [-7.73007927e-04 -1.08124562e-05 9.99999701e-01 -4.13002990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.32, Y:-26.79, Z:-0.42 [[ 9.86526960e-01 1.63596984e-01 7.64375027e-04 2.71324375e+02] [-1.63596944e-01 9.86527256e-01 -1.15710767e-04 -2.67915288e+01] [-7.73006730e-04 -1.08976270e-05 9.99999701e-01 -4.16399316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.35, Y:-26.79, Z:-0.42 [[ 9.86511060e-01 1.63692837e-01 7.64382102e-04 2.71353455e+02] [-1.63692797e-01 9.86511356e-01 -1.15664015e-04 -2.67947070e+01] [-7.73004994e-04 -1.10200142e-05 9.99999701e-01 -4.15884660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.38, Y:-26.80, Z:-0.42 [[ 9.86452632e-01 1.64044571e-01 7.64387490e-04 2.71381869e+02] [-1.64044531e-01 9.86452928e-01 -1.15628391e-04 -2.67985578e+01] [-7.73000488e-04 -1.13316559e-05 9.99999701e-01 -4.16547735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.41, Y:-26.80, Z:-0.41 [[ 9.86463741e-01 1.63977754e-01 7.64392950e-04 2.71410490e+02] [-1.63977714e-01 9.86464037e-01 -1.15592286e-04 -2.68032042e+01] [-7.73000719e-04 -1.13158097e-05 9.99999701e-01 -4.14058344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.44, Y:-26.81, Z:-0.42 [[ 9.86718037e-01 1.62440546e-01 7.64398713e-04 2.71437800e+02] [-1.62440505e-01 9.86718333e-01 -1.15554162e-04 -2.68073374e+01] [-7.73016905e-04 -1.01499377e-05 9.99999701e-01 -4.16117094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65420382200006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:271.47, Y:-26.81, Z:-0.42 [[ 9.86858358e-01 1.61585880e-01 7.64405903e-04 2.71466280e+02] [-1.61585839e-01 9.86858654e-01 -1.15506580e-04 -2.68111756e+01] [-7.73024813e-04 -9.52853558e-06 9.99999701e-01 -4.16400799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.49, Y:-26.82, Z:-0.42 [[ 9.87252765e-01 1.59158394e-01 7.64411534e-04 2.71494858e+02] [-1.59158353e-01 9.87253060e-01 -1.15469307e-04 -2.68157106e+01] [-7.73045536e-04 -7.66508817e-06 9.99999701e-01 -4.15643397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71420382200006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:271.52, Y:-26.82, Z:-0.42 [[ 9.87331484e-01 1.58669331e-01 7.64417143e-04 2.71522301e+02] [-1.58669289e-01 9.87331780e-01 -1.15432159e-04 -2.68193508e+01] [-7.73048882e-04 -7.31972003e-06 9.99999701e-01 -4.18262464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.55, Y:-26.82, Z:-0.41 [[ 9.87441213e-01 1.57985019e-01 7.64424115e-04 2.71550712e+02] [-1.57984977e-01 9.87441509e-01 -1.15385968e-04 -2.68216181e+01] [-7.73053356e-04 -6.83066605e-06 9.99999701e-01 -4.12104516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:271.58, Y:-26.82, Z:-0.41 [[ 9.87432208e-01 1.58041293e-01 7.64429763e-04 2.71578357e+02] [-1.58041251e-01 9.87432504e-01 -1.15348544e-04 -2.68244229e+01] [-7.73052628e-04 -6.91256874e-06 9.99999701e-01 -4.14384477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80420382200003 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:271.61, Y:-26.83, Z:-0.41 [[ 9.87376615e-01 1.58388242e-01 7.64436801e-04 2.71606738e+02] [-1.58388200e-01 9.87376911e-01 -1.15301879e-04 -2.68290903e+01] [-7.73049709e-04 -7.23139054e-06 9.99999701e-01 -4.13569337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:271.63, Y:-26.83, Z:-0.41 [[ 9.87367182e-01 1.58447039e-01 7.64442559e-04 2.71633844e+02] [-1.58446997e-01 9.87367478e-01 -1.15263691e-04 -2.68337706e+01] [-7.73048912e-04 -7.31604285e-06 9.99999701e-01 -4.13335554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.66, Y:-26.84, Z:-0.42 [[ 9.87493116e-01 1.57660274e-01 7.64449715e-04 2.71661819e+02] [-1.57660232e-01 9.87493412e-01 -1.15216210e-04 -2.68354431e+01] [-7.73054077e-04 -6.74810481e-06 9.99999701e-01 -4.17014500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.69, Y:-26.84, Z:-0.41 [[ 9.87843685e-01 1.55448606e-01 7.64456510e-04 2.71690539e+02] [-1.55448564e-01 9.87843981e-01 -1.15171110e-04 -2.68383646e+01] [-7.73066951e-04 -5.06261264e-06 9.99999701e-01 -4.11917920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92420382200004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:271.72, Y:-26.84, Z:-0.42 [[ 9.88030127e-01 1.54259147e-01 7.64462272e-04 2.71717835e+02] [-1.54259104e-01 9.88030422e-01 -1.15132851e-04 -2.68413189e+01] [-7.73072277e-04 -4.17053988e-06 9.99999701e-01 -4.18044326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95420382200007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:271.75, Y:-26.85, Z:-0.42 [[ 9.88226220e-01 1.52997891e-01 7.64470487e-04 2.71746241e+02] [-1.52997847e-01 9.88226515e-01 -1.15078282e-04 -2.68453249e+01] [-7.73076739e-04 -3.23896352e-06 9.99999701e-01 -4.16087810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.78, Y:-26.85, Z:-0.41 [[ 9.88387289e-01 1.51953885e-01 7.64475900e-04 2.71775067e+02] [-1.51953841e-01 9.88387584e-01 -1.15042312e-04 -2.68502434e+01] [-7.73079614e-04 -2.45869051e-06 9.99999701e-01 -4.12714993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.80, Y:-26.85, Z:-0.41 [[ 9.88252847e-01 1.52825800e-01 7.64481574e-04 2.71802685e+02] [-1.52825757e-01 9.88253143e-01 -1.15004593e-04 -2.68541215e+01] [-7.73076987e-04 -3.17885906e-06 9.99999701e-01 -4.14985103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.83, Y:-26.86, Z:-0.41 [[ 9.88139591e-01 1.53556388e-01 7.64489624e-04 2.71831075e+02] [-1.53556345e-01 9.88139887e-01 -1.14951057e-04 -2.68575510e+01] [-7.73074159e-04 -3.80454270e-06 9.99999701e-01 -4.13283030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.86, Y:-26.86, Z:-0.42 [[ 9.87923689e-01 1.54939345e-01 7.64494976e-04 2.71858930e+02] [-1.54939302e-01 9.87923985e-01 -1.14915450e-04 -2.68607966e+01] [-7.73067847e-04 -4.92262261e-06 9.99999701e-01 -4.17106056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.89, Y:-26.86, Z:-0.41 [[ 9.87821975e-01 1.55586508e-01 7.64501627e-04 2.71887798e+02] [-1.55586466e-01 9.87822271e-01 -1.14871188e-04 -2.68645771e+01] [-7.73064140e-04 -5.47382204e-06 9.99999701e-01 -4.11664444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.92, Y:-26.87, Z:-0.41 [[ 9.87638958e-01 1.56744071e-01 7.64507367e-04 2.71915818e+02] [-1.56744029e-01 9.87639254e-01 -1.14832972e-04 -2.68674900e+01] [-7.73056873e-04 -6.41844849e-06 9.99999701e-01 -4.14200350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.94, Y:-26.87, Z:-0.41 [[ 9.87633195e-01 1.56780381e-01 7.64514505e-04 2.71944054e+02] [-1.56780339e-01 9.87633491e-01 -1.14785428e-04 -2.68716593e+01] [-7.73056233e-04 -6.49494398e-06 9.99999701e-01 -4.12466047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.194203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:271.97, Y:-26.88, Z:-0.42 [[ 9.87817918e-01 1.55612266e-01 7.64520086e-04 2.71971686e+02] [-1.55612224e-01 9.87818213e-01 -1.14748243e-04 -2.68770997e+01] [-7.73063100e-04 -5.61829988e-06 9.99999701e-01 -4.17142034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.00, Y:-26.88, Z:-0.42 [[ 9.88030759e-01 1.54255096e-01 7.64527032e-04 2.72000336e+02] [-1.54255054e-01 9.88031055e-01 -1.14701945e-04 -2.68824194e+01] [-7.73069810e-04 -4.60310920e-06 9.99999701e-01 -4.15308108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.03, Y:-26.89, Z:-0.41 [[ 9.88200849e-01 1.53161672e-01 7.64532465e-04 2.72028164e+02] [-1.53161629e-01 9.88201145e-01 -1.14665722e-04 -2.68878574e+01] [-7.73074251e-04 -3.78427383e-06 9.99999701e-01 -4.13602042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.06, Y:-26.89, Z:-0.41 [[ 9.88160224e-01 1.53423552e-01 7.64539445e-04 2.72056475e+02] [-1.53423509e-01 9.88160520e-01 -1.14619164e-04 -2.68935199e+01] [-7.73072975e-04 -4.03622596e-06 9.99999701e-01 -4.11554076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.08, Y:-26.90, Z:-0.41 [[ 9.87772231e-01 1.55902007e-01 7.64545106e-04 2.72084405e+02] [-1.55901965e-01 9.87772527e-01 -1.14581392e-04 -2.68993790e+01] [-7.73060120e-04 -6.01376716e-06 9.99999701e-01 -4.08934939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.11, Y:-26.90, Z:-0.41 [[ 9.87457357e-01 1.57884084e-01 7.64550753e-04 2.72111618e+02] [-1.57884043e-01 9.87457653e-01 -1.14543702e-04 -2.69035070e+01] [-7.73046119e-04 -7.60334255e-06 9.99999701e-01 -4.08979073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.14, Y:-26.91, Z:-0.41 [[ 9.86785497e-01 1.62030239e-01 7.64557760e-04 2.72139667e+02] [-1.62030199e-01 9.86785793e-01 -1.14496912e-04 -2.69081740e+01] [-7.73006697e-04 -1.08975540e-05 9.99999701e-01 -4.05740264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.17, Y:-26.91, Z:-0.41 [[ 9.86094940e-01 1.66181181e-01 7.64563476e-04 2.72166507e+02] [-1.66181142e-01 9.86095236e-01 -1.14458729e-04 -2.69137246e+01] [-7.72953288e-04 -1.41888584e-05 9.99999701e-01 -4.06665487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.20, Y:-26.92, Z:-0.40 [[ 9.85812000e-01 1.67851468e-01 7.64571963e-04 2.72195514e+02] [-1.67851430e-01 9.85812297e-01 -1.14402010e-04 -2.69173969e+01] [-7.72926988e-04 -1.55556223e-05 9.99999701e-01 -4.03546722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.22, Y:-26.92, Z:-0.41 [[ 9.85518250e-01 1.69567669e-01 7.64577570e-04 2.72223375e+02] [-1.69567631e-01 9.85518546e-01 -1.14364520e-04 -2.69204960e+01] [-7.72897901e-04 -1.69392860e-05 9.99999701e-01 -4.06144142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.25, Y:-26.92, Z:-0.41 [[ 9.85217716e-01 1.71305188e-01 7.64584536e-04 2.72252364e+02] [-1.71305151e-01 9.85218013e-01 -1.14317929e-04 -2.69222708e+01] [-7.72865712e-04 -1.83492199e-05 9.99999701e-01 -4.10820496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.28, Y:-26.92, Z:-0.41 [[ 9.85254064e-01 1.71096012e-01 7.64589874e-04 2.72281476e+02] [-1.71095975e-01 9.85254360e-01 -1.14282221e-04 -2.69215736e+01] [-7.72868739e-04 -1.82212272e-05 9.99999701e-01 -4.08179651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.31, Y:-26.92, Z:-0.41 [[ 9.85377806e-01 1.70381910e-01 7.64595623e-04 2.72308785e+02] [-1.70381872e-01 9.85378102e-01 -1.14243746e-04 -2.69240875e+01] [-7.72880851e-04 -1.76999825e-05 9.99999701e-01 -4.12562446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.34, Y:-26.93, Z:-0.41 [[ 9.85640433e-01 1.68856012e-01 7.64602790e-04 2.72337627e+02] [-1.68855974e-01 9.85640729e-01 -1.14195755e-04 -2.69281228e+01] [-7.72906291e-04 -1.65517958e-05 9.99999701e-01 -4.10248747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.37, Y:-26.93, Z:-0.41 [[ 9.86288234e-01 1.65030105e-01 7.64608397e-04 2.72366342e+02] [-1.65030066e-01 9.86288530e-01 -1.14158203e-04 -2.69313475e+01] [-7.72964032e-04 -1.35904813e-05 9.99999701e-01 -4.08941688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.39, Y:-26.93, Z:-0.41 [[ 9.86718532e-01 1.62437539e-01 7.64614065e-04 2.72393636e+02] [-1.62437499e-01 9.86718828e-01 -1.14120227e-04 -2.69342175e+01] [-7.72996503e-04 -1.15974541e-05 9.99999701e-01 -4.08941360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.42, Y:-26.94, Z:-0.41 [[ 9.87711546e-01 1.56286010e-01 7.64621114e-04 2.72421361e+02] [-1.56285969e-01 9.87711842e-01 -1.14072977e-04 -2.69364063e+01] [-7.73053339e-04 -6.82835522e-06 9.99999701e-01 -4.09085726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.45, Y:-26.94, Z:-0.41 [[ 9.88234770e-01 1.52942649e-01 7.64628116e-04 2.72450322e+02] [-1.52942606e-01 9.88235066e-01 -1.14026020e-04 -2.69392771e+01] [-7.73071759e-04 -4.25973895e-06 9.99999701e-01 -4.08044066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.48, Y:-26.94, Z:-0.41 [[ 9.89143826e-01 1.46948652e-01 7.64633759e-04 2.72477929e+02] [-1.46948608e-01 9.89144122e-01 -1.13988173e-04 -2.69414058e+01] [-7.73083396e-04 3.88830825e-07 9.99999701e-01 -4.10940867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.51, Y:-26.95, Z:-0.41 [[ 9.89575789e-01 1.44011014e-01 7.64640773e-04 2.72505929e+02] [-1.44010969e-01 9.89576085e-01 -1.13941100e-04 -2.69469341e+01] [-7.73078996e-04 2.63669477e-06 9.99999701e-01 -4.07976098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79420382200004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:272.53, Y:-26.95, Z:-0.41 [[ 9.90221817e-01 1.39499704e-01 7.64646411e-04 2.72532860e+02] [-1.39499658e-01 9.90222113e-01 -1.13903251e-04 -2.69516962e+01] [-7.73059254e-04 6.12157170e-06 9.99999701e-01 -4.11556989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.8242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.56, Y:-26.96, Z:-0.41 [[ 9.90459599e-01 1.37801298e-01 7.64653418e-04 2.72561358e+02] [-1.37801251e-01 9.90459894e-01 -1.13856191e-04 -2.69568020e+01] [-7.73048075e-04 7.39975977e-06 9.99999701e-01 -4.07421769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.59, Y:-26.96, Z:-0.41 [[ 9.90820131e-01 1.35184625e-01 7.64658931e-04 2.72589536e+02] [-1.35184578e-01 9.90820426e-01 -1.13819158e-04 -2.69644449e+01] [-7.73026288e-04 9.40421877e-06 9.99999701e-01 -4.06939447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.62, Y:-26.97, Z:-0.41 [[ 9.90826828e-01 1.35135535e-01 7.64664541e-04 2.72618553e+02] [-1.35135488e-01 9.90827123e-01 -1.13781452e-04 -2.69686740e+01] [-7.73026285e-04 9.40439912e-06 9.99999701e-01 -4.06962115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91420382200005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:272.65, Y:-26.97, Z:-0.41 [[ 9.90872405e-01 1.34800938e-01 7.64670177e-04 2.72646296e+02] [-1.34800891e-01 9.90872700e-01 -1.13743566e-04 -2.69736584e+01] [-7.73023542e-04 9.62713998e-06 9.99999701e-01 -4.11705461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.944203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.67, Y:-26.98, Z:-0.41 [[ 9.90676152e-01 1.36235740e-01 7.64677179e-04 2.72674295e+02] [-1.36235693e-01 9.90676447e-01 -1.13696474e-04 -2.69795146e+01] [-7.73037194e-04 8.46006027e-06 9.99999701e-01 -4.09122297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.70, Y:-26.99, Z:-0.41 [[ 9.90180921e-01 1.39789695e-01 7.64682787e-04 2.72701189e+02] [-1.39789649e-01 9.90181216e-01 -1.13658745e-04 -2.69854047e+01] [-7.73062853e-04 5.64798236e-06 9.99999701e-01 -4.08784956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.73, Y:-26.99, Z:-0.41 [[ 9.89792113e-01 1.42516625e-01 7.64688361e-04 2.72728353e+02] [-1.42516580e-01 9.89792408e-01 -1.13621227e-04 -2.69898995e+01] [-7.73075648e-04 3.48062407e-06 9.99999701e-01 -4.11087549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.76, Y:-27.00, Z:-0.41 [[ 9.88904698e-01 1.48549365e-01 7.64695292e-04 2.72756766e+02] [-1.48549322e-01 9.88904993e-01 -1.13574559e-04 -2.69968622e+01] [-7.73082422e-04 -1.28055212e-06 9.99999701e-01 -4.11517120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.78, Y:-27.00, Z:-0.42 [[ 9.88480478e-01 1.51346489e-01 7.64700856e-04 2.72784070e+02] [-1.51346447e-01 9.88480774e-01 -1.13537084e-04 -2.70017709e+01] [-7.73075533e-04 -3.50556600e-06 9.99999701e-01 -4.15163764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.81, Y:-27.01, Z:-0.41 [[ 9.88104791e-01 1.53780156e-01 7.64707800e-04 2.72812467e+02] [-1.53780114e-01 9.88105087e-01 -1.13490298e-04 -2.70055110e+01] [-7.73064223e-04 -5.45654489e-06 9.99999701e-01 -4.14340136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.84, Y:-27.01, Z:-0.42 [[ 9.87568869e-01 1.57185064e-01 7.64713398e-04 2.72839794e+02] [-1.57185023e-01 9.87569165e-01 -1.13452567e-04 -2.70082983e+01] [-7.73040420e-04 -8.15926961e-06 9.99999701e-01 -4.18053511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15420382200006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:272.87, Y:-27.01, Z:-0.42 [[ 9.87200523e-01 1.59482105e-01 7.64720360e-04 2.72869133e+02] [-1.59482065e-01 9.87200820e-01 -1.13405619e-04 -2.70104806e+01] [-7.73018733e-04 -1.00050961e-05 9.99999701e-01 -4.21535417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.90, Y:-27.01, Z:-0.42 [[ 9.87110470e-01 1.60038540e-01 7.64728823e-04 2.72897838e+02] [-1.60038500e-01 9.87110767e-01 -1.13348520e-04 -2.70143835e+01] [-7.73012186e-04 -1.04985431e-05 9.99999701e-01 -4.16164973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.93, Y:-27.02, Z:-0.42 [[ 9.87101680e-01 1.60092752e-01 7.64734331e-04 2.72925725e+02] [-1.60092712e-01 9.87101976e-01 -1.13311346e-04 -2.70180501e+01] [-7.73011094e-04 -1.05785734e-05 9.99999701e-01 -4.16087940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.95, Y:-27.02, Z:-0.41 [[ 9.87213732e-01 1.59400319e-01 7.64741173e-04 2.72954245e+02] [-1.59400279e-01 9.87214029e-01 -1.13265149e-04 -2.70227691e+01] [-7.73017715e-04 -1.00830456e-05 9.99999701e-01 -4.12220128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.98, Y:-27.03, Z:-0.41 [[ 9.87664099e-01 1.56585576e-01 7.64746720e-04 2.72982556e+02] [-1.56585536e-01 9.87664395e-01 -1.13227686e-04 -2.70265952e+01] [-7.73042929e-04 -7.91735463e-06 9.99999701e-01 -4.11756106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.01, Y:-27.03, Z:-0.41 [[ 9.88046012e-01 1.54157368e-01 7.64752238e-04 2.73011015e+02] [-1.54157326e-01 9.88046308e-01 -1.13190407e-04 -2.70298000e+01] [-7.73059760e-04 -6.05483026e-06 9.99999701e-01 -4.11321332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.04, Y:-27.04, Z:-0.41 [[ 9.88922482e-01 1.48430926e-01 7.64757805e-04 2.73038989e+02] [-1.48430882e-01 9.88922778e-01 -1.13152777e-04 -2.70352616e+01] [-7.73081785e-04 -1.61435045e-06 9.99999701e-01 -4.12400564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.07, Y:-27.04, Z:-0.41 [[ 9.89372318e-01 1.45402312e-01 7.64763380e-04 2.73067029e+02] [-1.45402268e-01 9.89372613e-01 -1.13115090e-04 -2.70414068e+01] [-7.73083139e-04 7.14609419e-07 9.99999701e-01 -4.13260223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:-27.05, Z:-0.42 [[ 9.90020422e-01 1.40921889e-01 7.64768969e-04 2.73093967e+02] [-1.40921844e-01 9.90020718e-01 -1.13077285e-04 -2.70485882e+01] [-7.73072189e-04 4.17616859e-06 9.99999701e-01 -4.15579083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.12, Y:-27.06, Z:-0.41 [[ 9.90312975e-01 1.38851097e-01 7.64775900e-04 2.73122599e+02] [-1.38851051e-01 9.90313270e-01 -1.13030394e-04 -2.70550616e+01] [-7.73062116e-04 5.74552860e-06 9.99999701e-01 -4.12613006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.15, Y:-27.06, Z:-0.41 [[ 9.90328739e-01 1.38738619e-01 7.64781472e-04 2.73149327e+02] [-1.38738574e-01 9.90329034e-01 -1.12992682e-04 -2.70611690e+01] [-7.73061745e-04 5.79520954e-06 9.99999701e-01 -4.14927408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:-27.07, Z:-0.41 [[ 9.90323456e-01 1.38776320e-01 7.64788388e-04 2.73177383e+02] [-1.38776274e-01 9.90323752e-01 -1.12945847e-04 -2.70714325e+01] [-7.73062315e-04 5.71843899e-06 9.99999701e-01 -4.13032245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.21, Y:-27.08, Z:-0.41 [[ 9.90281455e-01 1.39075718e-01 7.64793892e-04 2.73205703e+02] [-1.39075672e-01 9.90281750e-01 -1.12908566e-04 -2.70782617e+01] [-7.73064274e-04 5.44703461e-06 9.99999701e-01 -4.13001182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.23, Y:-27.09, Z:-0.42 [[ 9.89937154e-01 1.41505640e-01 7.64799423e-04 2.73233675e+02] [-1.41505595e-01 9.89937449e-01 -1.12871087e-04 -2.70878262e+01] [-7.73075486e-04 3.51188441e-06 9.99999701e-01 -4.15716134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5742038220001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.26, Y:-27.09, Z:-0.42 [[ 9.89620370e-01 1.43704344e-01 7.64803559e-04 2.73263030e+02] [-1.43704300e-01 9.89620665e-01 -1.12843056e-04 -2.70946161e+01] [-7.73081445e-04 1.76622749e-06 9.99999701e-01 -4.15080809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.29, Y:-27.10, Z:-0.42 [[ 9.88830481e-01 1.49042592e-01 7.64806337e-04 2.73290659e+02] [-1.49042550e-01 9.88830777e-01 -1.12824223e-04 -2.71036427e+01] [-7.73079660e-04 -2.42465539e-06 9.99999701e-01 -4.16010960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.32, Y:-27.11, Z:-0.41 [[ 9.88360441e-01 1.52128411e-01 7.64810492e-04 2.73319763e+02] [-1.52128369e-01 9.88360737e-01 -1.12796051e-04 -2.71099822e+01] [-7.73068146e-04 -4.86621771e-06 9.99999701e-01 -4.11428170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.35, Y:-27.12, Z:-0.41 [[ 9.87281606e-01 1.58979387e-01 7.64813306e-04 2.73347655e+02] [-1.58979347e-01 9.87281902e-01 -1.12776967e-04 -2.71181412e+01] [-7.73015549e-04 -1.02468949e-05 9.99999701e-01 -4.14349455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.38, Y:-27.12, Z:-0.41 [[ 9.86783331e-01 1.62043428e-01 7.64815879e-04 2.73376930e+02] [-1.62043389e-01 9.86783627e-01 -1.12759519e-04 -2.71247733e+01] [-7.72979726e-04 -1.26641437e-05 9.99999701e-01 -4.14472135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.41, Y:-27.13, Z:-0.41 [[ 9.86270709e-01 1.65134807e-01 7.64818616e-04 2.73405545e+02] [-1.65134769e-01 9.86271005e-01 -1.12740947e-04 -2.71309309e+01] [-7.72935880e-04 -1.51050514e-05 9.99999701e-01 -4.12939484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.43, Y:-27.14, Z:-0.41 [[ 9.85443906e-01 1.69999188e-01 7.64821385e-04 2.73434011e+02] [-1.69999152e-01 9.85444202e-01 -1.12722162e-04 -2.71357324e+01] [-7.72851476e-04 -1.89376198e-05 9.99999701e-01 -4.11421491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.46, Y:-27.14, Z:-0.41 [[ 9.84841054e-01 1.73457524e-01 7.64825515e-04 2.73462036e+02] [-1.73457488e-01 9.84841351e-01 -1.12694131e-04 -2.71417510e+01] [-7.72779439e-04 -2.16789065e-05 9.99999701e-01 -4.11835296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.49, Y:-27.15, Z:-0.41 [[ 9.84658166e-01 1.74492726e-01 7.64830840e-04 2.73491525e+02] [-1.74492691e-01 9.84658463e-01 -1.12657982e-04 -2.71473053e+01] [-7.72755157e-04 -2.25277893e-05 9.99999701e-01 -4.10032489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.52, Y:-27.15, Z:-0.41 [[ 9.84485406e-01 1.75464813e-01 7.64833589e-04 2.73519612e+02] [-1.75464778e-01 9.84485703e-01 -1.12639313e-04 -2.71511646e+01] [-7.72731970e-04 -2.33095962e-05 9.99999701e-01 -4.12400415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.55, Y:-27.15, Z:-0.41 [[ 9.84384979e-01 1.76027350e-01 7.64836487e-04 2.73548147e+02] [-1.76027316e-01 9.84385276e-01 -1.12619635e-04 -2.71527806e+01] [-7.72717912e-04 -2.37710368e-05 9.99999701e-01 -4.14129896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.58, Y:-27.16, Z:-0.41 [[ 9.84617815e-01 1.74720274e-01 7.64840420e-04 2.73577939e+02] [-1.74720239e-01 9.84618111e-01 -1.12592916e-04 -2.71563286e+01] [-7.72747995e-04 -2.27721103e-05 9.99999701e-01 -4.12973129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.61, Y:-27.16, Z:-0.41 [[ 9.84774329e-01 1.73835948e-01 7.64843116e-04 2.73606960e+02] [-1.73835913e-01 9.84774625e-01 -1.12574604e-04 -2.71592127e+01] [-7.72767606e-04 -2.20966212e-05 9.99999701e-01 -4.13612522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96420382200006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.64, Y:-27.16, Z:-0.42 [[ 9.84999428e-01 1.72555910e-01 7.64847153e-04 2.73636488e+02] [-1.72555875e-01 9.84999725e-01 -1.12547169e-04 -2.71612631e+01] [-7.72794914e-04 -2.11199724e-05 9.99999701e-01 -4.15221173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.67, Y:-27.16, Z:-0.41 [[ 9.85529511e-01 1.69502205e-01 7.64849866e-04 2.73665502e+02] [-1.69502168e-01 9.85529808e-01 -1.12528723e-04 -2.71620241e+01] [-7.72856209e-04 -1.87433332e-05 9.99999701e-01 -4.14542441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02420382200006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:273.69, Y:-27.16, Z:-0.42 [[ 9.85821578e-01 1.67795208e-01 7.64853926e-04 2.73694096e+02] [-1.67795171e-01 9.85821874e-01 -1.12501121e-04 -2.71638867e+01] [-7.72886880e-04 -1.74327624e-05 9.99999701e-01 -4.19360410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05420382200003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:273.72, Y:-27.16, Z:-0.42 [[ 9.86552832e-01 1.63440891e-01 7.64857907e-04 2.73723682e+02] [-1.63440853e-01 9.86553128e-01 -1.12474049e-04 -2.71641130e+01] [-7.72955820e-04 -1.40474367e-05 9.99999701e-01 -4.18469880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.75, Y:-27.17, Z:-0.41 [[ 9.86955472e-01 1.60991649e-01 7.64860591e-04 2.73753517e+02] [-1.60991610e-01 9.86955768e-01 -1.12455799e-04 -2.71668184e+01] [-7.72988017e-04 -1.21472723e-05 9.99999701e-01 -4.13803659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.78, Y:-27.17, Z:-0.42 [[ 9.87675491e-01 1.56513704e-01 7.64863334e-04 2.73782207e+02] [-1.56513664e-01 9.87675787e-01 -1.12437134e-04 -2.71677385e+01] [-7.73034948e-04 -8.66016073e-06 9.99999701e-01 -4.17165189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.81, Y:-27.17, Z:-0.42 [[ 9.88044798e-01 1.54165144e-01 7.64866337e-04 2.73810979e+02] [-1.54165103e-01 9.88045094e-01 -1.12416708e-04 -2.71707819e+01] [-7.73053170e-04 -6.84295465e-06 9.99999701e-01 -4.17216433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.84, Y:-27.17, Z:-0.42 [[ 9.88734693e-01 1.49676727e-01 7.64871574e-04 2.73840467e+02] [-1.49676685e-01 9.88734988e-01 -1.12381059e-04 -2.71711693e+01] [-7.73076116e-04 -3.36838932e-06 9.99999701e-01 -4.15587522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.87, Y:-27.17, Z:-0.42 [[ 9.89098360e-01 1.47254367e-01 7.64874309e-04 2.73868706e+02] [-1.47254324e-01 9.89098656e-01 -1.12362447e-04 -2.71738429e+01] [-7.73082012e-04 -1.49353740e-06 9.99999701e-01 -4.17986837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.90, Y:-27.18, Z:-0.42 [[ 9.89476702e-01 1.44690259e-01 7.64878404e-04 2.73896343e+02] [-1.44690215e-01 9.89476998e-01 -1.12334560e-04 -2.71775424e+01] [-7.73083304e-04 4.82009373e-07 9.99999701e-01 -4.18898387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.93, Y:-27.18, Z:-0.41 [[ 9.90339093e-01 1.38664687e-01 7.64884993e-04 2.73926096e+02] [-1.38664642e-01 9.90339389e-01 -1.12289681e-04 -2.71816152e+01] [-7.73066350e-04 5.14235698e-06 9.99999701e-01 -4.12098574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29420382200004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:273.96, Y:-27.19, Z:-0.42 [[ 9.91006629e-01 1.33810598e-01 7.64884993e-04 2.73955238e+02] [-1.33810551e-01 9.91006924e-01 -1.12289681e-04 -2.71870777e+01] [-7.73031873e-04 8.93013560e-06 9.99999701e-01 -4.18958876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.3242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.98, Y:-27.19, Z:-0.42 [[ 9.91244867e-01 1.32034191e-01 7.64886434e-04 2.73984454e+02] [-1.32034144e-01 9.91245163e-01 -1.12279862e-04 -2.71937265e+01] [-7.73014758e-04 1.03057119e-05 9.99999701e-01 -4.16113235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35420382200004 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:274.01, Y:-27.20, Z:-0.42 [[ 9.91539498e-01 1.29803076e-01 7.64885308e-04 2.74014253e+02] [-1.29803028e-01 9.91539793e-01 -1.12287534e-04 -2.71993550e+01] [-7.72989487e-04 1.20530954e-05 9.99999701e-01 -4.17830089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.04, Y:-27.20, Z:-0.42 [[ 9.91549513e-01 1.29726551e-01 7.64885308e-04 2.74042915e+02] [-1.29726503e-01 9.91549808e-01 -1.12287534e-04 -2.72036170e+01] [-7.72988555e-04 1.21127530e-05 9.99999701e-01 -4.16191425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.07, Y:-27.21, Z:-0.41 [[ 9.91324746e-01 1.31433114e-01 7.64888291e-04 2.74072394e+02] [-1.31433066e-01 9.91325041e-01 -1.12267210e-04 -2.72078153e+01] [-7.73008545e-04 1.07616496e-05 9.99999701e-01 -4.14695710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.444203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:274.10, Y:-27.21, Z:-0.42 [[ 9.91085000e-01 1.33228889e-01 7.64891089e-04 2.74101369e+02] [-1.33228842e-01 9.91085295e-01 -1.12248143e-04 -2.72132897e+01] [-7.73027006e-04 9.34189615e-06 9.99999701e-01 -4.19711029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47420382200005 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:274.13, Y:-27.22, Z:-0.42 [[ 9.90543360e-01 1.37197911e-01 7.64893891e-04 2.74129969e+02] [-1.37197866e-01 9.90543655e-01 -1.12229045e-04 -2.72205262e+01] [-7.73058381e-04 6.22592598e-06 9.99999701e-01 -4.18038480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.504203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:274.16, Y:-27.22, Z:-0.42 [[ 9.90245230e-01 1.39333411e-01 7.64895286e-04 2.74159718e+02] [-1.39333366e-01 9.90245525e-01 -1.12219541e-04 -2.72243317e+01] [-7.73070065e-04 4.54943038e-06 9.99999701e-01 -4.18534684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53420382200005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:274.19, Y:-27.23, Z:-0.42 [[ 9.89608327e-01 1.43787251e-01 7.64896674e-04 2.74189425e+02] [-1.43787207e-01 9.89608623e-01 -1.12210078e-04 -2.72272727e+01] [-7.73082723e-04 1.06167092e-06 9.99999701e-01 -4.20299646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.564203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:274.22, Y:-27.23, Z:-0.42 [[ 9.89307892e-01 1.45840017e-01 7.64899408e-04 2.74216533e+02] [-1.45839974e-01 9.89308187e-01 -1.12191436e-04 -2.72311475e+01] [-7.73083248e-04 -5.61037271e-07 9.99999701e-01 -4.21749215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.25, Y:-27.24, Z:-0.41 [[ 9.88762611e-01 1.49492184e-01 7.64906229e-04 2.74245915e+02] [-1.49492142e-01 9.88762907e-01 -1.12144915e-04 -2.72353895e+01] [-7.73075695e-04 -3.46277180e-06 9.99999701e-01 -4.14439879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.28, Y:-27.24, Z:-0.41 [[ 9.88474643e-01 1.51384594e-01 7.64908954e-04 2.74275327e+02] [-1.51384552e-01 9.88474939e-01 -1.12126324e-04 -2.72396803e+01] [-7.73067529e-04 -4.96137122e-06 9.99999701e-01 -4.11216285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65420382200006 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:274.30, Y:-27.24, Z:-0.41 [[ 9.87835569e-01 1.55500172e-01 7.64911725e-04 2.74304073e+02] [-1.55500132e-01 9.87835865e-01 -1.12107418e-04 -2.72431938e+01] [-7.73039958e-04 -8.20017922e-06 9.99999701e-01 -4.12251006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.33, Y:-27.25, Z:-0.41 [[ 9.87268795e-01 1.59058924e-01 7.64915861e-04 2.74333180e+02] [-1.59058885e-01 9.87269091e-01 -1.12079189e-04 -2.72451816e+01] [-7.73004982e-04 -1.10143782e-05 9.99999701e-01 -4.08772486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.36, Y:-27.25, Z:-0.41 [[ 9.87065606e-01 1.60315015e-01 7.64921331e-04 2.74360593e+02] [-1.60314976e-01 9.87065903e-01 -1.12041846e-04 -2.72484876e+01] [-7.72989754e-04 -1.20356927e-05 9.99999701e-01 -4.09245625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.39, Y:-27.25, Z:-0.41 [[ 9.86885876e-01 1.61417726e-01 7.64928130e-04 2.74388770e+02] [-1.61417688e-01 9.86886172e-01 -1.11995407e-04 -2.72518707e+01] [-7.72975038e-04 -1.29462451e-05 9.99999701e-01 -4.07986876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.42, Y:-27.25, Z:-0.41 [[ 9.86637483e-01 1.62929102e-01 7.64933578e-04 2.74416895e+02] [-1.62929064e-01 9.86637779e-01 -1.11958188e-04 -2.72528074e+01] [-7.72953613e-04 -1.41677667e-05 9.99999701e-01 -4.08307317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.45, Y:-27.26, Z:-0.41 [[ 9.86645148e-01 1.62882679e-01 7.64940322e-04 2.74445925e+02] [-1.62882641e-01 9.86645444e-01 -1.11912091e-04 -2.72569632e+01] [-7.72953425e-04 -1.41779785e-05 9.99999701e-01 -4.08329986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.48, Y:-27.26, Z:-0.41 [[ 9.86527480e-01 1.63593847e-01 7.64945586e-04 2.74475064e+02] [-1.63593810e-01 9.86527776e-01 -1.11876099e-04 -2.72592364e+01] [-7.72942309e-04 -1.47715161e-05 9.99999701e-01 -4.07015824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.50, Y:-27.26, Z:-0.41 [[ 9.86232229e-01 1.65364463e-01 7.64951027e-04 2.74503613e+02] [-1.65364426e-01 9.86232525e-01 -1.11838883e-04 -2.72600978e+01] [-7.72913760e-04 -1.61965768e-05 9.99999701e-01 -4.09260684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89420382200007 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:274.53, Y:-27.26, Z:-0.42 [[ 9.86085056e-01 1.66239816e-01 7.64956429e-04 2.74531832e+02] [-1.66239779e-01 9.86085353e-01 -1.11801917e-04 -2.72613643e+01] [-7.72898261e-04 -1.69199883e-05 9.99999701e-01 -4.15434834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.56, Y:-27.26, Z:-0.41 [[ 9.85963280e-01 1.66960548e-01 7.64963121e-04 2.74560537e+02] [-1.66960511e-01 9.85963577e-01 -1.11756114e-04 -2.72590447e+01] [-7.72884637e-04 -1.75312094e-05 9.99999701e-01 -4.13297474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95420382200007 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:274.59, Y:-27.26, Z:-0.42 [[ 9.85997754e-01 1.66756843e-01 7.64969655e-04 2.74589215e+02] [-1.66756806e-01 9.85998050e-01 -1.11711374e-04 -2.72599775e+01] [-7.72887224e-04 -1.74167327e-05 9.99999701e-01 -4.16149596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.62, Y:-27.26, Z:-0.42 [[ 9.86563044e-01 1.63379235e-01 7.64975032e-04 2.74617406e+02] [-1.63379198e-01 9.86563341e-01 -1.11674541e-04 -2.72599645e+01] [-7.72941624e-04 -1.48070321e-05 9.99999701e-01 -4.16457658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01420382200007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:274.65, Y:-27.26, Z:-0.42 [[ 9.87006167e-01 1.60680555e-01 7.64981722e-04 2.74645714e+02] [-1.60680516e-01 9.87006464e-01 -1.11628694e-04 -2.72614677e+01] [-7.72978464e-04 -1.27394486e-05 9.99999701e-01 -4.19323833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04420382200004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:274.67, Y:-27.26, Z:-0.42 [[ 9.88046717e-01 1.54152843e-01 7.64988131e-04 2.74674641e+02] [-1.54152803e-01 9.88047013e-01 -1.11584754e-04 -2.72615644e+01] [-7.73045345e-04 -7.67411510e-06 9.99999701e-01 -4.21775933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.70, Y:-27.27, Z:-0.42 [[ 9.88643060e-01 1.50280788e-01 7.64993618e-04 2.74702354e+02] [-1.50280747e-01 9.88643356e-01 -1.11547126e-04 -2.72651450e+01] [-7.73069247e-04 -4.68351993e-06 9.99999701e-01 -4.19643417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.73, Y:-27.27, Z:-0.42 [[ 9.89678763e-01 1.43301643e-01 7.65000470e-04 2.74730253e+02] [-1.43301600e-01 9.89679059e-01 -1.11500116e-04 -2.72660781e+01] [-7.73083094e-04 7.23505858e-07 9.99999701e-01 -4.18766622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.134203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:274.76, Y:-27.27, Z:-0.42 [[ 9.90081456e-01 1.40492439e-01 7.65007165e-04 2.74758461e+02] [-1.40492394e-01 9.90081752e-01 -1.11454158e-04 -2.72683290e+01] [-7.73078100e-04 2.87100681e-06 9.99999701e-01 -4.18719545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16420382200005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:274.79, Y:-27.27, Z:-0.42 [[ 9.90659376e-01 1.36357677e-01 7.65013716e-04 2.74787210e+02] [-1.36357632e-01 9.90659671e-01 -1.11409178e-04 -2.72727292e+01] [-7.73059733e-04 6.05308803e-06 9.99999701e-01 -4.16489006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.194203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:274.82, Y:-27.28, Z:-0.41 [[ 9.90874052e-01 1.34788828e-01 7.65019015e-04 2.74815875e+02] [-1.34788783e-01 9.90874347e-01 -1.11372778e-04 -2.72767210e+01] [-7.73049523e-04 7.24041368e-06 9.99999701e-01 -4.13252935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22420382200005 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:274.84, Y:-27.28, Z:-0.42 [[ 9.90950775e-01 1.34223609e-01 7.65024464e-04 2.74844987e+02] [-1.34223563e-01 9.90951070e-01 -1.11335335e-04 -2.72797712e+01] [-7.73045641e-04 7.64352749e-06 9.99999701e-01 -4.15429991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.87, Y:-27.28, Z:-0.41 [[ 9.91100886e-01 1.33110664e-01 7.65029908e-04 2.74873202e+02] [-1.33110617e-01 9.91101181e-01 -1.11297917e-04 -2.72810703e+01] [-7.73036985e-04 8.47386064e-06 9.99999701e-01 -4.12665764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28420382200005 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:274.90, Y:-27.28, Z:-0.42 [[ 9.91007520e-01 1.33803998e-01 7.65036657e-04 2.74902517e+02] [-1.33803952e-01 9.91007815e-01 -1.11251501e-04 -2.72828123e+01] [-7.73043202e-04 7.88614655e-06 9.99999701e-01 -4.17026616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.314203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:274.93, Y:-27.29, Z:-0.42 [[ 9.90931835e-01 1.34363364e-01 7.65040743e-04 2.74930634e+02] [-1.34363318e-01 9.90932130e-01 -1.11223395e-04 -2.72862313e+01] [-7.73047803e-04 7.42139063e-06 9.99999701e-01 -4.20005806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.96, Y:-27.29, Z:-0.42 [[ 9.90720587e-01 1.35912225e-01 7.65046182e-04 2.74959152e+02] [-1.35912180e-01 9.90720882e-01 -1.11185974e-04 -2.72893155e+01] [-7.73058762e-04 6.17513860e-06 9.99999701e-01 -4.17099587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.374203822 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:274.99, Y:-27.29, Z:-0.42 [[ 9.90477464e-01 1.37672830e-01 7.65051673e-04 2.74986470e+02] [-1.37672785e-01 9.90477759e-01 -1.11148177e-04 -2.72920941e+01] [-7.73068751e-04 4.76296974e-06 9.99999701e-01 -4.22812737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40420382200006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:275.02, Y:-27.30, Z:-0.42 [[ 9.90244820e-01 1.39336323e-01 7.65058509e-04 2.75015604e+02] [-1.39336279e-01 9.90245116e-01 -1.11101105e-04 -2.72953457e+01] [-7.73075871e-04 3.41688812e-06 9.99999701e-01 -4.21843903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.04, Y:-27.30, Z:-0.42 [[ 9.89868681e-01 1.41983832e-01 7.65063928e-04 2.75043245e+02] [-1.41983788e-01 9.89868977e-01 -1.11063777e-04 -2.72967661e+01] [-7.73082308e-04 1.31187907e-06 9.99999701e-01 -4.18415433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.07, Y:-27.30, Z:-0.41 [[ 9.89702801e-01 1.43135531e-01 7.65072030e-04 2.75071828e+02] [-1.43135488e-01 9.89703097e-01 -1.11007935e-04 -2.72996052e+01] [-7.73083337e-04 3.55906389e-07 9.99999701e-01 -4.14842943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.10, Y:-27.30, Z:-0.42 [[ 9.89768834e-01 1.42678205e-01 7.65077518e-04 2.75099469e+02] [-1.42678161e-01 9.89769130e-01 -1.10970101e-04 -2.73046502e+01] [-7.73083124e-04 6.74894204e-07 9.99999701e-01 -4.19254267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.13, Y:-27.31, Z:-0.42 [[ 9.90099179e-01 1.40367483e-01 7.65084330e-04 2.75127938e+02] [-1.40367440e-01 9.90099475e-01 -1.10923117e-04 -2.73085446e+01] [-7.73079592e-04 2.43195829e-06 9.99999701e-01 -4.16533868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.16, Y:-27.31, Z:-0.42 [[ 9.90259291e-01 1.39233439e-01 7.65089846e-04 2.75155121e+02] [-1.39233395e-01 9.90259587e-01 -1.10885055e-04 -2.73127488e+01] [-7.73076462e-04 3.27889973e-06 9.99999701e-01 -4.17870210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:275.18, Y:-27.32, Z:-0.42 [[ 9.90455406e-01 1.37831428e-01 7.65096682e-04 2.75182412e+02] [-1.37831384e-01 9.90455702e-01 -1.10837865e-04 -2.73180994e+01] [-7.73071313e-04 4.32562866e-06 9.99999701e-01 -4.17871214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.21, Y:-27.32, Z:-0.41 [[ 9.90478107e-01 1.37668201e-01 7.65103421e-04 2.75210795e+02] [-1.37668157e-01 9.90478403e-01 -1.10791330e-04 -2.73218560e+01] [-7.73070857e-04 4.40600905e-06 9.99999701e-01 -4.12377309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64420382200007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.24, Y:-27.32, Z:-0.41 [[ 9.90479779e-01 1.37656175e-01 7.65109011e-04 2.75238317e+02] [-1.37656131e-01 9.90480074e-01 -1.10752714e-04 -2.73245821e+01] [-7.73071025e-04 4.37637801e-06 9.99999701e-01 -4.12729701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67420382200004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:275.27, Y:-27.33, Z:-0.42 [[ 9.90462216e-01 1.37782486e-01 7.65115957e-04 2.75265734e+02] [-1.37782442e-01 9.90462511e-01 -1.10704706e-04 -2.73289537e+01] [-7.73071842e-04 4.22928312e-06 9.99999701e-01 -4.16029931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.29, Y:-27.34, Z:-0.42 [[ 9.90557968e-01 1.37092399e-01 7.65122738e-04 2.75293205e+02] [-1.37092354e-01 9.90558264e-01 -1.10657820e-04 -2.73363274e+01] [-7.73068997e-04 4.72050810e-06 9.99999701e-01 -4.15538139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.32, Y:-27.34, Z:-0.41 [[ 9.90631288e-01 1.36561582e-01 7.65129428e-04 2.75321441e+02] [-1.36561537e-01 9.90631584e-01 -1.10611544e-04 -2.73419224e+01] [-7.73066664e-04 5.08800565e-06 9.99999701e-01 -4.11718738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.35, Y:-27.35, Z:-0.41 [[ 9.90792392e-01 1.35387780e-01 7.65134863e-04 2.75348033e+02] [-1.35387735e-01 9.90792687e-01 -1.10573934e-04 -2.73485246e+01] [-7.73060387e-04 5.96593687e-06 9.99999701e-01 -4.12130871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79420382200004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:275.38, Y:-27.35, Z:-0.41 [[ 9.90838075e-01 1.35053041e-01 7.65141244e-04 2.75376796e+02] [-1.35052996e-01 9.90838370e-01 -1.10529763e-04 -2.73533419e+01] [-7.73058684e-04 6.18248078e-06 9.99999701e-01 -4.11251613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.8242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.40, Y:-27.36, Z:-0.41 [[ 9.90862902e-01 1.34870765e-01 7.65146720e-04 2.75404039e+02] [-1.34870720e-01 9.90863198e-01 -1.10491843e-04 -2.73589818e+01] [-7.73057845e-04 6.28637946e-06 9.99999701e-01 -4.08817362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.43, Y:-27.36, Z:-0.41 [[ 9.90893934e-01 1.34642589e-01 7.65153525e-04 2.75432287e+02] [-1.34642543e-01 9.90894229e-01 -1.10444694e-04 -2.73648861e+01] [-7.73056772e-04 6.41676089e-06 9.99999701e-01 -4.07651482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.46, Y:-27.37, Z:-0.41 [[ 9.90899553e-01 1.34601227e-01 7.65158982e-04 2.75459137e+02] [-1.34601182e-01 9.90899848e-01 -1.10406878e-04 -2.73744377e+01] [-7.73056821e-04 6.41082342e-06 9.99999701e-01 -4.11137369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91420382200005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:275.49, Y:-27.38, Z:-0.42 [[ 9.90854044e-01 1.34935826e-01 7.65166078e-04 2.75487234e+02] [-1.34935781e-01 9.90854340e-01 -1.10357676e-04 -2.73801195e+01] [-7.73059334e-04 6.10006674e-06 9.99999701e-01 -4.15940011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.52, Y:-27.39, Z:-0.41 [[ 9.90646068e-01 1.36454320e-01 7.65171489e-04 2.75515266e+02] [-1.36454276e-01 9.90646364e-01 -1.10320145e-04 -2.73886644e+01] [-7.73068014e-04 4.87729655e-06 9.99999701e-01 -4.13772957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.54, Y:-27.39, Z:-0.41 [[ 9.90402461e-01 1.38211356e-01 7.65176904e-04 2.75542315e+02] [-1.38211312e-01 9.90402757e-01 -1.10282577e-04 -2.73949784e+01] [-7.73075620e-04 3.46803166e-06 9.99999701e-01 -4.13974730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.57, Y:-27.40, Z:-0.41 [[ 9.89709236e-01 1.43091031e-01 7.65183648e-04 2.75570189e+02] [-1.43090988e-01 9.89709532e-01 -1.10235762e-04 -2.74026390e+01] [-7.73083299e-04 -3.89532995e-07 9.99999701e-01 -4.12296122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.60, Y:-27.41, Z:-0.41 [[ 9.88721970e-01 1.49760747e-01 7.65189048e-04 2.75598622e+02] [-1.49760706e-01 9.88722266e-01 -1.10198265e-04 -2.74066052e+01] [-7.73062824e-04 -5.63980621e-06 9.99999701e-01 -4.10907964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.63, Y:-27.41, Z:-0.41 [[ 9.88195092e-01 1.53198805e-01 7.65194501e-04 2.75626252e+02] [-1.53198765e-01 9.88195389e-01 -1.10160390e-04 -2.74110005e+01] [-7.73038117e-04 -8.36689593e-06 9.99999701e-01 -4.11973377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.65, Y:-27.42, Z:-0.41 [[ 9.87127079e-01 1.59936062e-01 7.65201263e-04 2.75653960e+02] [-1.59936024e-01 9.87127376e-01 -1.10113398e-04 -2.74158439e+01] [-7.72962218e-04 -1.36873307e-05 9.99999701e-01 -4.14345061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.68, Y:-27.42, Z:-0.41 [[ 9.86670816e-01 1.62727122e-01 7.65207955e-04 2.75682347e+02] [-1.62727085e-01 9.86671112e-01 -1.10066873e-04 -2.74187363e+01] [-7.72919450e-04 -1.59202892e-05 9.99999701e-01 -4.12964675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.71, Y:-27.42, Z:-0.41 [[ 9.86024308e-01 1.66599753e-01 7.65213056e-04 2.75711514e+02] [-1.66599717e-01 9.86024605e-01 -1.10031398e-04 -2.74184812e+01] [-7.72850106e-04 -1.89906456e-05 9.99999701e-01 -4.11767185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.74, Y:-27.42, Z:-0.41 [[ 9.85900025e-01 1.67333663e-01 7.65218165e-04 2.75740729e+02] [-1.67333628e-01 9.85900322e-01 -1.09995861e-04 -2.74197510e+01] [-7.72834845e-04 -1.96018099e-05 9.99999701e-01 -4.08935799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.77, Y:-27.42, Z:-0.41 [[ 9.85949018e-01 1.67044752e-01 7.65223602e-04 2.75769584e+02] [-1.67044717e-01 9.85949314e-01 -1.09958019e-04 -2.74175861e+01] [-7.72839596e-04 -1.94135589e-05 9.99999701e-01 -4.13711470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.80, Y:-27.42, Z:-0.41 [[ 9.86155614e-01 1.65820743e-01 7.65230356e-04 2.75797987e+02] [-1.65820708e-01 9.86155911e-01 -1.09910995e-04 -2.74192393e+01] [-7.72861962e-04 -1.85016941e-05 9.99999701e-01 -4.14169690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.83, Y:-27.42, Z:-0.41 [[ 9.87041068e-01 1.60466026e-01 7.65236813e-04 2.75827004e+02] [-1.60465989e-01 9.87041364e-01 -1.09866027e-04 -2.74208765e+01] [-7.72950152e-04 -1.43522015e-05 9.99999701e-01 -4.11101215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.85, Y:-27.42, Z:-0.41 [[ 9.87674597e-01 1.56519344e-01 7.65242247e-04 2.75854695e+02] [-1.56519306e-01 9.87674893e-01 -1.09828160e-04 -2.74233694e+01] [-7.73000786e-04 -1.13007015e-05 9.99999701e-01 -4.12378790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.88, Y:-27.42, Z:-0.41 [[ 9.88969109e-01 1.48119938e-01 7.65249012e-04 2.75883347e+02] [-1.48119897e-01 9.88969405e-01 -1.09781005e-04 -2.74241605e+01] [-7.73068616e-04 -4.77858212e-06 9.99999701e-01 -4.10520290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.91, Y:-27.43, Z:-0.41 [[ 9.89601849e-01 1.43831828e-01 7.65254691e-04 2.75911460e+02] [-1.43831786e-01 9.89602145e-01 -1.09741404e-04 -2.74268111e+01] [-7.73081990e-04 -1.46765227e-06 9.99999701e-01 -4.13856323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.94, Y:-27.43, Z:-0.41 [[ 9.90787372e-01 1.35424512e-01 7.65261777e-04 2.75940046e+02] [-1.35424468e-01 9.90787667e-01 -1.09691968e-04 -2.74290195e+01] [-7.73066912e-04 5.04624776e-06 9.99999701e-01 -4.14591454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42420382200004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.97, Y:-27.43, Z:-0.42 [[ 9.91350774e-01 1.31236645e-01 7.65267222e-04 2.75967671e+02] [-1.31236599e-01 9.91351070e-01 -1.09653967e-04 -2.74318861e+01] [-7.73039098e-04 8.27447770e-06 9.99999701e-01 -4.17921987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45420382200007 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:276.00, Y:-27.43, Z:-0.42 [[ 9.92247153e-01 1.24277921e-01 7.65273953e-04 2.75996854e+02] [-1.24277874e-01 9.92247448e-01 -1.09606971e-04 -2.74321410e+01] [-7.72962854e-04 1.36505854e-05 9.99999701e-01 -4.16882398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.02, Y:-27.44, Z:-0.42 [[ 9.92594448e-01 1.21472945e-01 7.65279469e-04 2.76024407e+02] [-1.21472896e-01 9.92594743e-01 -1.09568447e-04 -2.74357071e+01] [-7.72921979e-04 1.57963187e-05 9.99999701e-01 -4.17265290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.05, Y:-27.44, Z:-0.42 [[ 9.93085288e-01 1.17392612e-01 7.65286297e-04 2.76053066e+02] [-1.17392563e-01 9.93085583e-01 -1.09520734e-04 -2.74399503e+01] [-7.72851713e-04 1.89245098e-05 9.99999701e-01 -4.16991191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54420382200004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:276.08, Y:-27.44, Z:-0.42 [[ 9.93226563e-01 1.16191264e-01 7.65291593e-04 2.76081159e+02] [-1.16191214e-01 9.93226857e-01 -1.09483717e-04 -2.74433290e+01] [-7.72829215e-04 1.98219771e-05 9.99999701e-01 -4.21779765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.11, Y:-27.45, Z:-0.42 [[ 9.93393423e-01 1.14755925e-01 7.65298706e-04 2.76108822e+02] [-1.14755875e-01 9.93393717e-01 -1.09433971e-04 -2.74455702e+01] [-7.72801123e-04 2.08884643e-05 9.99999701e-01 -4.16921124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.14, Y:-27.45, Z:-0.42 [[ 9.93391228e-01 1.14774921e-01 7.65305177e-04 2.76136321e+02] [-1.14774870e-01 9.93391523e-01 -1.09388701e-04 -2.74490971e+01] [-7.72802754e-04 2.08279735e-05 9.99999701e-01 -4.16697440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.634203822 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:276.16, Y:-27.46, Z:-0.42 [[ 9.93296758e-01 1.15589642e-01 7.65311583e-04 2.76164567e+02] [-1.15589592e-01 9.93297052e-01 -1.09343861e-04 -2.74552798e+01] [-7.72820758e-04 2.01488489e-05 9.99999701e-01 -4.18934272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.19, Y:-27.46, Z:-0.42 [[ 9.93308220e-01 1.15491104e-01 7.65316903e-04 2.76191875e+02] [-1.15491055e-01 9.93308514e-01 -1.09306614e-04 -2.74613066e+01] [-7.72819738e-04 2.01879015e-05 9.99999701e-01 -4.16703682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.22, Y:-27.47, Z:-0.42 [[ 9.93313727e-01 1.15443729e-01 7.65323516e-04 2.76220913e+02] [-1.15443679e-01 9.93314021e-01 -1.09260296e-04 -2.74653635e+01] [-7.72819995e-04 2.01779894e-05 9.99999701e-01 -4.16726349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.25, Y:-27.47, Z:-0.41 [[ 9.93125433e-01 1.17052500e-01 7.65328725e-04 2.76249502e+02] [-1.17052451e-01 9.93125728e-01 -1.09223794e-04 -2.74695944e+01] [-7.72852566e-04 1.88893255e-05 9.99999701e-01 -4.13461607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.754203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:276.28, Y:-27.47, Z:-0.42 [[ 9.92935113e-01 1.18656126e-01 7.65334054e-04 2.76278119e+02] [-1.18656078e-01 9.92935407e-01 -1.09186442e-04 -2.74729785e+01] [-7.72882921e-04 1.76035150e-05 9.99999701e-01 -4.17650984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78420382200005 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:276.31, Y:-27.48, Z:-0.42 [[ 9.92484627e-01 1.22366986e-01 7.65339398e-04 2.76305761e+02] [-1.22366938e-01 9.92484922e-01 -1.09148971e-04 -2.74784861e+01] [-7.72944043e-04 1.46764366e-05 9.99999701e-01 -4.19220917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.33, Y:-27.48, Z:-0.42 [[ 9.92251650e-01 1.24242011e-01 7.65346061e-04 2.76332782e+02] [-1.24241964e-01 9.92251945e-01 -1.09102233e-04 -2.74833145e+01] [-7.72971198e-04 1.31687734e-05 9.99999701e-01 -4.16789843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.36, Y:-27.49, Z:-0.42 [[ 9.91711286e-01 1.28484007e-01 7.65353982e-04 2.76361166e+02] [-1.28483962e-01 9.91711581e-01 -1.09046632e-04 -2.74893996e+01] [-7.73021156e-04 9.80706428e-06 9.99999701e-01 -4.15899166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.39, Y:-27.49, Z:-0.42 [[ 9.91465368e-01 1.30368086e-01 7.65359361e-04 2.76388303e+02] [-1.30368041e-01 9.91465664e-01 -1.09008869e-04 -2.74945944e+01] [-7.73038804e-04 8.30011850e-06 9.99999701e-01 -4.19656283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.42, Y:-27.50, Z:-0.42 [[ 9.90892358e-01 1.34654182e-01 7.65366057e-04 2.76417209e+02] [-1.34654138e-01 9.90892654e-01 -1.08961837e-04 -2.74983621e+01] [-7.73067770e-04 4.90974493e-06 9.99999701e-01 -4.16635381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.93420382200003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:276.45, Y:-27.50, Z:-0.42 [[ 9.90608776e-01 1.36724788e-01 7.65371430e-04 2.76445485e+02] [-1.36724745e-01 9.90609071e-01 -1.08924082e-04 -2.75013709e+01] [-7.73076503e-04 3.25593780e-06 9.99999701e-01 -4.20144675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96420382200006 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:276.47, Y:-27.51, Z:-0.42 [[ 9.90102805e-01 1.40341902e-01 7.65376852e-04 2.76472398e+02] [-1.40341860e-01 9.90103101e-01 -1.08885967e-04 -2.75062588e+01] [-7.73083259e-04 3.93891111e-07 9.99999701e-01 -4.21646140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99420382200003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:276.50, Y:-27.51, Z:-0.42 [[ 9.89924614e-01 1.41593337e-01 7.65384966e-04 2.76501281e+02] [-1.41593295e-01 9.89924910e-01 -1.08828903e-04 -2.75093463e+01] [-7.73083091e-04 -6.40970142e-07 9.99999701e-01 -4.21087338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02420382200006 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:276.53, Y:-27.51, Z:-0.42 [[ 9.89688623e-01 1.43233530e-01 7.65390334e-04 2.76530732e+02] [-1.43233489e-01 9.89688919e-01 -1.08791138e-04 -2.75096600e+01] [-7.73080871e-04 -1.96017609e-06 9.99999701e-01 -4.19890624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05420382200003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:276.56, Y:-27.52, Z:-0.42 [[ 9.89790706e-01 1.42526395e-01 7.65395918e-04 2.76557582e+02] [-1.42526354e-01 9.89791002e-01 -1.08751841e-04 -2.75163734e+01] [-7.73082000e-04 -1.44752792e-06 9.99999701e-01 -4.21534956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.58, Y:-27.52, Z:-0.42 [[ 9.89963637e-01 1.41320242e-01 7.65402894e-04 2.76584469e+02] [-1.41320200e-01 9.89963933e-01 -1.08702716e-04 -2.75222533e+01] [-7.73083154e-04 -5.55153390e-07 9.99999701e-01 -4.18507535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.61, Y:-27.53, Z:-0.42 [[ 9.90140773e-01 1.40073779e-01 7.65410964e-04 2.76612609e+02] [-1.40073737e-01 9.90141069e-01 -1.08645865e-04 -2.75261206e+01] [-7.73083267e-04 3.60726985e-07 9.99999701e-01 -4.15882302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.64, Y:-27.53, Z:-0.42 [[ 9.90529933e-01 1.37294812e-01 7.65416303e-04 2.76640443e+02] [-1.37294769e-01 9.90530229e-01 -1.08608239e-04 -2.75294638e+01] [-7.73079334e-04 2.49205760e-06 9.99999701e-01 -4.16563869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17420382200004 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:276.67, Y:-27.53, Z:-0.42 [[ 9.90724599e-01 1.35882978e-01 7.65422937e-04 2.76669158e+02] [-1.35882935e-01 9.90724894e-01 -1.08561467e-04 -2.75342018e+01] [-7.73075213e-04 3.54660065e-06 9.99999701e-01 -4.21551203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.70, Y:-27.54, Z:-0.42 [[ 9.91104675e-01 1.33082442e-01 7.65428250e-04 2.76697858e+02] [-1.33082398e-01 9.91104971e-01 -1.08523994e-04 -2.75406237e+01] [-7.73062381e-04 5.69361081e-06 9.99999701e-01 -4.17904642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23420382200004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:276.73, Y:-27.55, Z:-0.42 [[ 9.91225906e-01 1.32176463e-01 7.65436461e-04 2.76726203e+02] [-1.32176419e-01 9.91226202e-01 -1.08466050e-04 -2.75450313e+01] [-7.73057334e-04 6.34170894e-06 9.99999701e-01 -4.19504840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.75, Y:-27.55, Z:-0.42 [[ 9.91487800e-01 1.30197373e-01 7.65442002e-04 2.76754054e+02] [-1.30197328e-01 9.91488096e-01 -1.08426928e-04 -2.75527138e+01] [-7.73043534e-04 7.84547318e-06 9.99999701e-01 -4.15787549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.78, Y:-27.56, Z:-0.41 [[ 9.91595914e-01 1.29371393e-01 7.65446122e-04 2.76781035e+02] [-1.29371348e-01 9.91596209e-01 -1.08397834e-04 -2.75585886e+01] [-7.73037052e-04 8.46005285e-06 9.99999701e-01 -4.14159411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.3242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.81, Y:-27.56, Z:-0.41 [[ 9.91600523e-01 1.29336063e-01 7.65452652e-04 2.76808538e+02] [-1.29336018e-01 9.91600818e-01 -1.08351709e-04 -2.75634476e+01] [-7.73037259e-04 8.44101365e-06 9.99999701e-01 -4.12548965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35420382200004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:276.84, Y:-27.57, Z:-0.42 [[ 9.91502835e-01 1.30082829e-01 7.65459085e-04 2.76836549e+02] [-1.30082784e-01 9.91503130e-01 -1.08306237e-04 -2.75699069e+01] [-7.73043861e-04 7.81289287e-06 9.99999701e-01 -4.15837349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.384203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:276.86, Y:-27.57, Z:-0.42 [[ 9.91427503e-01 1.30655728e-01 7.65464238e-04 2.76863838e+02] [-1.30655684e-01 9.91427799e-01 -1.08269806e-04 -2.75745573e+01] [-7.73048595e-04 7.32940988e-06 9.99999701e-01 -4.17261217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.89, Y:-27.58, Z:-0.41 [[ 9.91269281e-01 1.31850772e-01 7.65470652e-04 2.76892590e+02] [-1.31850728e-01 9.91269577e-01 -1.08224444e-04 -2.75803666e+01] [-7.73057246e-04 6.35170454e-06 9.99999701e-01 -4.13178073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.92, Y:-27.59, Z:-0.41 [[ 9.90908494e-01 1.34535385e-01 7.65475732e-04 2.76921205e+02] [-1.34535341e-01 9.90908790e-01 -1.08188502e-04 -2.75861131e+01] [-7.73071813e-04 4.22136718e-06 9.99999701e-01 -4.13515549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.95, Y:-27.59, Z:-0.41 [[ 9.90711581e-01 1.35977856e-01 7.65480805e-04 2.76949380e+02] [-1.35977813e-01 9.90711877e-01 -1.08152592e-04 -2.75905976e+01] [-7.73077283e-04 3.05962001e-06 9.99999701e-01 -4.11390727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.504203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:276.98, Y:-27.59, Z:-0.42 [[ 9.90511429e-01 1.37428246e-01 7.65486105e-04 2.76977779e+02] [-1.37428203e-01 9.90511725e-01 -1.08115068e-04 -2.75944344e+01] [-7.73081026e-04 1.88983073e-06 9.99999701e-01 -4.16236835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.01, Y:-27.60, Z:-0.41 [[ 9.90243173e-01 1.39348024e-01 7.65491456e-04 2.77006207e+02] [-1.39347982e-01 9.90243469e-01 -1.08077167e-04 -2.75992386e+01] [-7.73083255e-04 3.52986759e-07 9.99999701e-01 -4.12613319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.03, Y:-27.61, Z:-0.42 [[ 9.90188433e-01 1.39736470e-01 7.65496791e-04 2.77033909e+02] [-1.39736428e-01 9.90188729e-01 -1.08039370e-04 -2.76052495e+01] [-7.73083334e-04 1.15472459e-08 9.99999701e-01 -4.15096362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.06, Y:-27.61, Z:-0.41 [[ 9.90261782e-01 1.39215720e-01 7.65503408e-04 2.77062071e+02] [-1.39215678e-01 9.90262078e-01 -1.07992464e-04 -2.76109057e+01] [-7.73083244e-04 3.70734485e-07 9.99999701e-01 -4.10774511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.09, Y:-27.62, Z:-0.41 [[ 9.90423364e-01 1.38061489e-01 7.65508933e-04 2.77089037e+02] [-1.38061447e-01 9.90423659e-01 -1.07953289e-04 -2.76161200e+01] [-7.73082350e-04 1.23218836e-06 9.99999701e-01 -4.13209698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:277.12, Y:-27.62, Z:-0.42 [[ 9.90486061e-01 1.37610960e-01 7.65515788e-04 2.77117706e+02] [-1.37610917e-01 9.90486357e-01 -1.07904652e-04 -2.76201276e+01] [-7.73081807e-04 1.53472369e-06 9.99999701e-01 -4.16849985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.15, Y:-27.63, Z:-0.41 [[ 9.90682709e-01 1.36188044e-01 7.65521130e-04 2.77145852e+02] [-1.36188001e-01 9.90683005e-01 -1.07866738e-04 -2.76267476e+01] [-7.73078934e-04 2.60691988e-06 9.99999701e-01 -4.12470973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.17, Y:-27.63, Z:-0.41 [[ 9.90737005e-01 1.35792494e-01 7.65525129e-04 2.77174285e+02] [-1.35792451e-01 9.90737300e-01 -1.07838355e-04 -2.76328897e+01] [-7.73077939e-04 2.88691558e-06 9.99999701e-01 -4.12540421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74420382200003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:277.20, Y:-27.64, Z:-0.42 [[ 9.90652586e-01 1.36406993e-01 7.65530387e-04 2.77202433e+02] [-1.36406951e-01 9.90652882e-01 -1.07801017e-04 -2.76394744e+01] [-7.73079696e-04 2.36969082e-06 9.99999701e-01 -4.15606858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.23, Y:-27.64, Z:-0.41 [[ 9.90624608e-01 1.36610026e-01 7.65535646e-04 2.77230782e+02] [-1.36609984e-01 9.90624904e-01 -1.07763655e-04 -2.76444728e+01] [-7.73080272e-04 2.17351591e-06 9.99999701e-01 -4.10102294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.26, Y:-27.65, Z:-0.41 [[ 9.90534437e-01 1.37262314e-01 7.65539557e-04 2.77258819e+02] [-1.37262272e-01 9.90534733e-01 -1.07735865e-04 -2.76492080e+01] [-7.73081595e-04 1.63638574e-06 9.99999701e-01 -4.09757959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.29, Y:-27.65, Z:-0.41 [[ 9.90498555e-01 1.37521005e-01 7.65544886e-04 2.77287201e+02] [-1.37520962e-01 9.90498851e-01 -1.07697986e-04 -2.76536393e+01] [-7.73082065e-04 1.39623001e-06 9.99999701e-01 -4.12415882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:277.32, Y:-27.66, Z:-0.41 [[ 9.90311145e-01 1.38864143e-01 7.65548871e-04 2.77315515e+02] [-1.38864101e-01 9.90311441e-01 -1.07669654e-04 -2.76598110e+01] [-7.73083259e-04 3.19202205e-07 9.99999701e-01 -4.12682033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89420382200007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:277.34, Y:-27.66, Z:-0.42 [[ 9.90148469e-01 1.40019370e-01 7.65554222e-04 2.77344274e+02] [-1.40019328e-01 9.90148765e-01 -1.07631592e-04 -2.76640947e+01] [-7.73083075e-04 -6.21132168e-07 9.99999701e-01 -4.16765422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.37, Y:-27.67, Z:-0.41 [[ 9.89619061e-01 1.43713357e-01 7.65559576e-04 2.77373166e+02] [-1.43713316e-01 9.89619357e-01 -1.07593496e-04 -2.76687639e+01] [-7.73075197e-04 -3.54453118e-06 9.99999701e-01 -4.13500307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.40, Y:-27.67, Z:-0.42 [[ 9.89362150e-01 1.45471473e-01 7.65562262e-04 2.77402480e+02] [-1.45471433e-01 9.89362447e-01 -1.07574380e-04 -2.76735309e+01] [-7.73067556e-04 -4.93741944e-06 9.99999701e-01 -4.17360009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.43, Y:-27.68, Z:-0.41 [[ 9.89118164e-01 1.47121284e-01 7.65554245e-04 2.77430653e+02] [-1.47121244e-01 9.89118460e-01 -1.07631443e-04 -2.76773623e+01] [-7.73058712e-04 -6.16907761e-06 9.99999701e-01 -4.14322787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.46, Y:-27.68, Z:-0.42 [[ 9.88721116e-01 1.49766380e-01 7.65567230e-04 2.77459072e+02] [-1.49766341e-01 9.88721412e-01 -1.07538998e-04 -2.76783582e+01] [-7.73038440e-04 -8.33012471e-06 9.99999701e-01 -4.16541635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.49, Y:-27.68, Z:-0.41 [[ 9.88689216e-01 1.49976827e-01 7.65573768e-04 2.77488004e+02] [-1.49976789e-01 9.88689512e-01 -1.07492437e-04 -2.76823098e+01] [-7.73036130e-04 -8.54168209e-06 9.99999701e-01 -4.14880136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.52, Y:-27.68, Z:-0.41 [[ 9.88796873e-01 1.49265397e-01 7.65578783e-04 2.77515249e+02] [-1.49265358e-01 9.88797169e-01 -1.07456705e-04 -2.76846930e+01] [-7.73041701e-04 -8.02153770e-06 9.99999701e-01 -4.13963071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.54, Y:-27.69, Z:-0.41 [[ 9.89104174e-01 1.47215309e-01 7.65583386e-04 2.77544290e+02] [-1.47215270e-01 9.89104470e-01 -1.07423906e-04 -2.76856508e+01] [-7.73056392e-04 -6.45213104e-06 9.99999701e-01 -4.12214926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.134203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:277.57, Y:-27.69, Z:-0.41 [[ 9.89290868e-01 1.45955445e-01 7.65588697e-04 2.77573073e+02] [-1.45955406e-01 9.89291164e-01 -1.07386036e-04 -2.76905600e+01] [-7.73063711e-04 -5.50578400e-06 9.99999701e-01 -4.14487394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.60, Y:-27.69, Z:-0.42 [[ 9.89602323e-01 1.43828564e-01 7.65591335e-04 2.77601076e+02] [-1.43828524e-01 9.89602619e-01 -1.07367226e-04 -2.76938341e+01] [-7.73073665e-04 -3.86301534e-06 9.99999701e-01 -4.16881947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.63, Y:-27.70, Z:-0.41 [[ 9.89719110e-01 1.43022713e-01 7.65597861e-04 2.77629555e+02] [-1.43022673e-01 9.89719406e-01 -1.07320677e-04 -2.76966729e+01] [-7.73076355e-04 -3.28052770e-06 9.99999701e-01 -4.14622234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.66, Y:-27.70, Z:-0.42 [[ 9.89872428e-01 1.41957706e-01 7.65603108e-04 2.77658746e+02] [-1.41957666e-01 9.89872724e-01 -1.07283228e-04 -2.76995689e+01] [-7.73079315e-04 -2.48652107e-06 9.99999701e-01 -4.15113825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.69, Y:-27.70, Z:-0.42 [[ 9.90190005e-01 1.39725328e-01 7.65605745e-04 2.77686601e+02] [-1.39725287e-01 9.90190301e-01 -1.07264405e-04 -2.77018553e+01] [-7.73082938e-04 -7.62340609e-07 9.99999701e-01 -4.17169628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.71, Y:-27.71, Z:-0.41 [[ 9.90507904e-01 1.37453648e-01 7.65612859e-04 2.77714929e+02] [-1.37453607e-01 9.90508200e-01 -1.07213605e-04 -2.77071294e+01] [-7.73082716e-04 9.59674852e-07 9.99999701e-01 -4.12821907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.74, Y:-27.71, Z:-0.41 [[ 9.90666920e-01 1.36302849e-01 7.65618225e-04 2.77743370e+02] [-1.36302807e-01 9.90667216e-01 -1.07175274e-04 -2.77112773e+01] [-7.73081171e-04 1.81908545e-06 9.99999701e-01 -4.13260473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.77, Y:-27.71, Z:-0.41 [[ 9.90929721e-01 1.34378947e-01 7.65623585e-04 2.77773373e+02] [-1.34378905e-01 9.90930017e-01 -1.07136968e-04 -2.77140297e+01] [-7.73076345e-04 3.28154701e-06 9.99999701e-01 -4.12119478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.80, Y:-27.72, Z:-0.41 [[ 9.91044835e-01 1.33527330e-01 7.65626260e-04 2.77801364e+02] [-1.33527288e-01 9.91045131e-01 -1.07117852e-04 -2.77181652e+01] [-7.73073338e-04 3.92659607e-06 9.99999701e-01 -4.14593345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40420382200006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:277.83, Y:-27.72, Z:-0.42 [[ 9.91137516e-01 1.32837638e-01 7.65630243e-04 2.77830214e+02] [-1.32837595e-01 9.91137812e-01 -1.07089374e-04 -2.77216007e+01] [-7.73070583e-04 4.43581645e-06 9.99999701e-01 -4.15306776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.86, Y:-27.73, Z:-0.41 [[ 9.91162901e-01 1.32648099e-01 7.65635479e-04 2.77857664e+02] [-1.32648056e-01 9.91163196e-01 -1.07051924e-04 -2.77259226e+01] [-7.73069943e-04 4.54583712e-06 9.99999701e-01 -4.13897597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.89, Y:-27.73, Z:-0.41 [[ 9.91076643e-01 1.33291043e-01 7.65642000e-04 2.77886678e+02] [-1.33291000e-01 9.91076938e-01 -1.07005272e-04 -2.77320985e+01] [-7.73072973e-04 3.99723765e-06 9.99999701e-01 -4.12111952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.92, Y:-27.74, Z:-0.41 [[ 9.90938170e-01 1.34316626e-01 7.65644617e-04 2.77916259e+02] [-1.34316584e-01 9.90938466e-01 -1.06986543e-04 -2.77359127e+01] [-7.73076774e-04 3.17827979e-06 9.99999701e-01 -4.13609666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.95, Y:-27.74, Z:-0.41 [[ 9.90858829e-01 1.34900688e-01 7.65647232e-04 2.77945246e+02] [-1.34900646e-01 9.90859124e-01 -1.06967819e-04 -2.77401864e+01] [-7.73078579e-04 2.70370181e-06 9.99999701e-01 -4.12209804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55420382200003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:277.97, Y:-27.74, Z:-0.42 [[ 9.90570818e-01 1.36999516e-01 7.65651298e-04 2.77973620e+02] [-1.36999475e-01 9.90571114e-01 -1.06938710e-04 -2.77449884e+01] [-7.73082611e-04 1.03653995e-06 9.99999701e-01 -4.18334097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.00, Y:-27.75, Z:-0.41 [[ 9.90359216e-01 1.38520890e-01 7.65655349e-04 2.78002053e+02] [-1.38520848e-01 9.90359512e-01 -1.06909701e-04 -2.77488850e+01] [-7.73083284e-04 -1.80220540e-07 9.99999701e-01 -4.13670159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.03, Y:-27.75, Z:-0.41 [[ 9.90366067e-01 1.38471897e-01 7.65660629e-04 2.78031106e+02] [-1.38471856e-01 9.90366363e-01 -1.06871874e-04 -2.77528500e+01] [-7.73083284e-04 -1.80170653e-07 9.99999701e-01 -4.13692825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.06, Y:-27.76, Z:-0.41 [[ 9.89878934e-01 1.41912332e-01 7.65665914e-04 2.78061012e+02] [-1.41912292e-01 9.89879230e-01 -1.06833997e-04 -2.77552005e+01] [-7.73077847e-04 -2.90468109e-06 9.99999701e-01 -4.11931414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.09, Y:-27.76, Z:-0.41 [[ 9.89637435e-01 1.43586771e-01 7.65668555e-04 2.78090250e+02] [-1.43586732e-01 9.89637731e-01 -1.06815066e-04 -2.77586154e+01] [-7.73071722e-04 -4.23165689e-06 9.99999701e-01 -4.10029323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.12, Y:-27.76, Z:-0.41 [[ 9.89228110e-01 1.46380191e-01 7.65671214e-04 2.78118005e+02] [-1.46380152e-01 9.89228406e-01 -1.06795997e-04 -2.77596948e+01] [-7.73056534e-04 -6.43346683e-06 9.99999701e-01 -4.08413747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.15, Y:-27.76, Z:-0.41 [[ 9.89046633e-01 1.47601393e-01 7.65677828e-04 2.78146343e+02] [-1.47601355e-01 9.89046929e-01 -1.06748561e-04 -2.77612262e+01] [-7.73047541e-04 -7.43577959e-06 9.99999701e-01 -4.10182922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.17, Y:-27.76, Z:-0.41 [[ 9.88832257e-01 1.49030805e-01 7.65684350e-04 2.78174487e+02] [-1.49030767e-01 9.88832554e-01 -1.06701759e-04 -2.77631213e+01] [-7.73035460e-04 -8.60038422e-06 9.99999701e-01 -4.11076247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.20, Y:-27.77, Z:-0.41 [[ 9.88832315e-01 1.49030424e-01 7.65690523e-04 2.78203269e+02] [-1.49030386e-01 9.88832611e-01 -1.06657441e-04 -2.77673138e+01] [-7.73034963e-04 -8.64483036e-06 9.99999701e-01 -4.09868509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.8242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.23, Y:-27.77, Z:-0.41 [[ 9.89042113e-01 1.47631681e-01 7.65695661e-04 2.78230690e+02] [-1.47631643e-01 9.89042409e-01 -1.06620541e-04 -2.77726905e+01] [-7.73046051e-04 -7.58870310e-06 9.99999701e-01 -4.14193437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.26, Y:-27.78, Z:-0.41 [[ 9.89252621e-01 1.46214450e-01 7.65702064e-04 2.78259477e+02] [-1.46214412e-01 9.89252917e-01 -1.06574541e-04 -2.77762104e+01] [-7.73055738e-04 -6.52753246e-06 9.99999701e-01 -4.13948026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.29, Y:-27.78, Z:-0.41 [[ 9.89674006e-01 1.43334490e-01 7.65707101e-04 2.78288127e+02] [-1.43334450e-01 9.89674302e-01 -1.06538341e-04 -2.77782523e+01] [-7.73071259e-04 -4.31397940e-06 9.99999701e-01 -4.14390755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91420382200005 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:278.32, Y:-27.78, Z:-0.42 [[ 9.90131904e-01 1.40136453e-01 7.65712169e-04 2.78316997e+02] [-1.40136413e-01 9.90132201e-01 -1.06501898e-04 -2.77811662e+01] [-7.73081074e-04 -1.85322955e-06 9.99999701e-01 -4.15153088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.34, Y:-27.79, Z:-0.41 [[ 9.90364956e-01 1.38479844e-01 7.65717474e-04 2.78344321e+02] [-1.38479803e-01 9.90365252e-01 -1.06463744e-04 -2.77855050e+01] [-7.73083062e-04 -5.98444254e-07 9.99999701e-01 -4.11737233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.37, Y:-27.79, Z:-0.41 [[ 9.90844626e-01 1.35004963e-01 7.65724512e-04 2.78373179e+02] [-1.35004921e-01 9.90844922e-01 -1.06413104e-04 -2.77924238e+01] [-7.73080542e-04 2.06227432e-06 9.99999701e-01 -4.11536013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.40, Y:-27.80, Z:-0.41 [[ 9.91063537e-01 1.33388451e-01 7.65727203e-04 2.78402454e+02] [-1.33388409e-01 9.91063833e-01 -1.06393732e-04 -2.77977641e+01] [-7.73076232e-04 3.30381537e-06 9.99999701e-01 -4.09443409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.43, Y:-27.80, Z:-0.41 [[ 9.91297218e-01 1.31640569e-01 7.65729957e-04 2.78430479e+02] [-1.31640526e-01 9.91297514e-01 -1.06373914e-04 -2.78019044e+01] [-7.73069325e-04 4.64707075e-06 9.99999701e-01 -4.08852721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.46, Y:-27.81, Z:-0.41 [[ 9.91341176e-01 1.31309129e-01 7.65734060e-04 2.78459352e+02] [-1.31309086e-01 9.91341471e-01 -1.06344369e-04 -2.78062654e+01] [-7.73067916e-04 4.87571262e-06 9.99999701e-01 -4.07617499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.49, Y:-27.81, Z:-0.41 [[ 9.91339323e-01 1.31323113e-01 7.65739289e-04 2.78488812e+02] [-1.31323070e-01 9.91339619e-01 -1.06306702e-04 -2.78137196e+01] [-7.73068222e-04 4.82678049e-06 9.99999701e-01 -4.08210458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.124203822 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:278.52, Y:-27.82, Z:-0.41 [[ 9.91309024e-01 1.31551631e-01 7.65742947e-04 2.78516992e+02] [-1.31551588e-01 9.91309320e-01 -1.06280343e-04 -2.78187324e+01] [-7.73069473e-04 4.62196182e-06 9.99999701e-01 -4.14584440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.55, Y:-27.83, Z:-0.41 [[ 9.91123183e-01 1.32944538e-01 7.65746880e-04 2.78545434e+02] [-1.32944495e-01 9.91123479e-01 -1.06252003e-04 -2.78253701e+01] [-7.73075335e-04 3.50699136e-06 9.99999701e-01 -4.08655085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.57, Y:-27.83, Z:-0.41 [[ 9.91063391e-01 1.33389539e-01 7.65750802e-04 2.78574124e+02] [-1.33389497e-01 9.91063687e-01 -1.06223731e-04 -2.78312317e+01] [-7.73076947e-04 3.13133685e-06 9.99999701e-01 -4.07707043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.60, Y:-27.84, Z:-0.41 [[ 9.90933692e-01 1.34349665e-01 7.65753449e-04 2.78603240e+02] [-1.34349623e-01 9.90933987e-01 -1.06204641e-04 -2.78398628e+01] [-7.73079677e-04 2.36306978e-06 9.99999701e-01 -4.05458785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.63, Y:-27.85, Z:-0.41 [[ 9.90898269e-01 1.34610678e-01 7.65756114e-04 2.78631200e+02] [-1.34610636e-01 9.90898565e-01 -1.06185423e-04 -2.78456634e+01] [-7.73080326e-04 2.14003414e-06 9.99999701e-01 -4.07129431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.66, Y:-27.85, Z:-0.41 [[ 9.90852833e-01 1.34944716e-01 7.65760102e-04 2.78661480e+02] [-1.34944674e-01 9.90853129e-01 -1.06156660e-04 -2.78516688e+01] [-7.73081073e-04 1.85037953e-06 9.99999701e-01 -4.05582637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.69, Y:-27.86, Z:-0.41 [[ 9.90877346e-01 1.34764606e-01 7.65760102e-04 2.78690048e+02] [-1.34764565e-01 9.90877642e-01 -1.06156660e-04 -2.78611310e+01] [-7.73080724e-04 1.99090258e-06 9.99999701e-01 -4.05533085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.72, Y:-27.87, Z:-0.40 [[ 9.90888566e-01 1.34682081e-01 7.65761409e-04 2.78719431e+02] [-1.34682039e-01 9.90888862e-01 -1.06147231e-04 -2.78694318e+01] [-7.73080581e-04 2.04576970e-06 9.99999701e-01 -4.03972447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.75, Y:-27.87, Z:-0.41 [[ 9.90846888e-01 1.34988364e-01 7.65761409e-04 2.78749028e+02] [-1.34988322e-01 9.90847184e-01 -1.06147231e-04 -2.78744201e+01] [-7.73081176e-04 1.80680598e-06 9.99999701e-01 -4.07797002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39420382200007 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:278.78, Y:-27.88, Z:-0.41 [[ 9.90666096e-01 1.36308839e-01 7.65761409e-04 2.78778096e+02] [-1.36308798e-01 9.90666392e-01 -1.06147231e-04 -2.78819619e+01] [-7.73082898e-04 7.76445692e-07 9.99999701e-01 -4.14842516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.81, Y:-27.89, Z:-0.41 [[ 9.90514546e-01 1.37405779e-01 7.65762671e-04 2.78808076e+02] [-1.37405738e-01 9.90514842e-01 -1.06138122e-04 -2.78892601e+01] [-7.73083282e-04 -8.88306038e-08 9.99999701e-01 -4.08264677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.84, Y:-27.90, Z:-0.41 [[ 9.90287282e-01 1.39034216e-01 7.65762671e-04 2.78837298e+02] [-1.39034175e-01 9.90287578e-01 -1.06138122e-04 -2.79000341e+01] [-7.73082091e-04 -1.35994853e-06 9.99999701e-01 -4.08583252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48420382200004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:278.87, Y:-27.91, Z:-0.41 [[ 9.90220483e-01 1.39509170e-01 7.65762671e-04 2.78867766e+02] [-1.39509130e-01 9.90220779e-01 -1.06138122e-04 -2.79076737e+01] [-7.73081350e-04 -1.73074086e-06 9.99999701e-01 -4.12385348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.90, Y:-27.92, Z:-0.41 [[ 9.89879231e-01 1.41910260e-01 7.65760068e-04 2.78897958e+02] [-1.41910220e-01 9.89879527e-01 -1.06156898e-04 -2.79176441e+01] [-7.73074967e-04 -3.58667097e-06 9.99999701e-01 -4.07355590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.93, Y:-27.92, Z:-0.41 [[ 9.89655091e-01 1.43465031e-01 7.65743221e-04 2.78929215e+02] [-1.43464991e-01 9.89655387e-01 -1.06278286e-04 -2.79231654e+01] [-7.73069121e-04 -4.67849771e-06 9.99999701e-01 -4.05280490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.96, Y:-27.93, Z:-0.41 [[ 9.89115550e-01 1.47138854e-01 7.65740606e-04 2.78959824e+02] [-1.47138816e-01 9.89115846e-01 -1.06297120e-04 -2.79305200e+01] [-7.73046604e-04 -7.53003217e-06 9.99999701e-01 -4.05615600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.99, Y:-27.94, Z:-0.41 [[ 9.88803167e-01 1.49223696e-01 7.65730784e-04 2.78989844e+02] [-1.49223658e-01 9.88803463e-01 -1.06367826e-04 -2.79356170e+01] [-7.73029851e-04 -9.08830579e-06 9.99999701e-01 -4.06555855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.02, Y:-27.94, Z:-0.41 [[ 9.88011957e-01 1.54375471e-01 7.65729527e-04 2.79020996e+02] [-1.54375435e-01 9.88012254e-01 -1.06376878e-04 -2.79416085e+01] [-7.72972136e-04 -1.31082015e-05 9.99999701e-01 -4.05419432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.05, Y:-27.95, Z:-0.41 [[ 9.87643975e-01 1.56712452e-01 7.65725568e-04 2.79051339e+02] [-1.56712416e-01 9.87644272e-01 -1.06405368e-04 -2.79469164e+01] [-7.72939517e-04 -1.49080836e-05 9.99999701e-01 -4.08312122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.694203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:279.08, Y:-27.95, Z:-0.41 [[ 9.87001194e-01 1.60711095e-01 7.65722960e-04 2.79081575e+02] [-1.60711061e-01 9.87001491e-01 -1.06424129e-04 -2.79506876e+01] [-7.72873242e-04 -1.80194068e-05 9.99999701e-01 -4.10719169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.11, Y:-27.95, Z:-0.41 [[ 9.86696863e-01 1.62569104e-01 7.65721683e-04 2.79112353e+02] [-1.62569071e-01 9.86697160e-01 -1.06433322e-04 -2.79537026e+01] [-7.72838180e-04 -1.94652372e-05 9.99999701e-01 -4.09518781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.14, Y:-27.96, Z:-0.41 [[ 9.86375722e-01 1.64506378e-01 7.65721683e-04 2.79142857e+02] [-1.64506345e-01 9.86376019e-01 -1.06433322e-04 -2.79556879e+01] [-7.72798465e-04 -2.09828300e-05 9.99999701e-01 -4.07761797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.17, Y:-27.96, Z:-0.41 [[ 9.86361101e-01 1.64594021e-01 7.65857307e-04 2.79173404e+02] [-1.64593989e-01 9.86361398e-01 -1.05457560e-04 -2.79589780e+01] [-7.72769768e-04 -2.20362743e-05 9.99999701e-01 -4.10914683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.20, Y:-27.96, Z:-0.41 [[ 9.86704144e-01 1.62524906e-01 7.65706373e-04 2.79204253e+02] [-1.62524872e-01 9.86704441e-01 -1.06542302e-04 -2.79610105e+01] [-7.72841657e-04 -1.93205996e-05 9.99999701e-01 -4.09361687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.24, Y:-27.97, Z:-0.41 [[ 9.87037575e-01 1.60487503e-01 7.65706373e-04 2.79235568e+02] [-1.60487469e-01 9.87037872e-01 -1.06542302e-04 -2.79656940e+01] [-7.72879897e-04 -1.77250225e-05 9.99999701e-01 -4.06170209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.27, Y:-27.97, Z:-0.41 [[ 9.87826650e-01 1.55556817e-01 7.65703765e-04 2.79265380e+02] [-1.55556781e-01 9.87826947e-01 -1.06561040e-04 -2.79685524e+01] [-7.72959109e-04 -1.38465779e-05 9.99999701e-01 -4.05322196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90420382200006 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:279.30, Y:-27.97, Z:-0.41 [[ 9.88291491e-01 1.52575692e-01 7.65702466e-04 2.79297210e+02] [-1.52575656e-01 9.88291788e-01 -1.06570378e-04 -2.79706954e+01] [-7.72997508e-04 -1.15049576e-05 9.99999701e-01 -4.08512825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.33, Y:-27.97, Z:-0.41 [[ 9.89160707e-01 1.46834973e-01 7.65698505e-04 2.79327672e+02] [-1.46834934e-01 9.89161003e-01 -1.06598826e-04 -2.79744329e+01] [-7.73051537e-04 -6.98791994e-06 9.99999701e-01 -4.08379248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.36, Y:-27.98, Z:-0.41 [[ 9.89536977e-01 1.44277456e-01 7.65688706e-04 2.79358636e+02] [-1.44277416e-01 9.89537274e-01 -1.06669164e-04 -2.79794702e+01] [-7.73067470e-04 -4.91850591e-06 9.99999701e-01 -4.07450947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.39, Y:-27.98, Z:-0.40 [[ 9.90187191e-01 1.39745271e-01 7.65686187e-04 2.79389340e+02] [-1.39745230e-01 9.90187487e-01 -1.06687244e-04 -2.79826950e+01] [-7.73081919e-04 -1.36065015e-06 9.99999701e-01 -4.02495175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.42, Y:-27.99, Z:-0.41 [[ 9.90495088e-01 1.37545971e-01 7.65813975e-04 2.79420749e+02] [-1.37545930e-01 9.90495384e-01 -1.05770221e-04 -2.79870932e+01] [-7.73083475e-04 -5.69711624e-07 9.99999701e-01 -4.07485776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.45, Y:-27.99, Z:-0.41 [[ 9.91078047e-01 1.33280603e-01 7.65663724e-04 2.79451662e+02] [-1.33280560e-01 9.91078342e-01 -1.06846921e-04 -2.79944743e+01] [-7.73073356e-04 3.84554767e-06 9.99999701e-01 -4.05522623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.48, Y:-28.00, Z:-0.41 [[ 9.91288738e-01 1.31704410e-01 7.65647093e-04 2.79482888e+02] [-1.31704367e-01 9.91289034e-01 -1.06965964e-04 -2.80003930e+01] [-7.73065456e-04 5.19509011e-06 9.99999701e-01 -4.07058488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11420382200004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:279.51, Y:-28.01, Z:-0.41 [[ 9.91544490e-01 1.29764933e-01 7.65629213e-04 2.79514579e+02] [-1.29764889e-01 9.91544786e-01 -1.07093787e-04 -2.80050413e+01] [-7.73052672e-04 6.83646454e-06 9.99999701e-01 -4.09422886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14420382200007 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:279.55, Y:-28.01, Z:-0.41 [[ 9.91402441e-01 1.30845761e-01 7.65610546e-04 2.79545270e+02] [-1.30845717e-01 9.91402737e-01 -1.07227071e-04 -2.80105266e+01] [-7.73058599e-04 6.12831893e-06 9.99999701e-01 -4.11421225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.58, Y:-28.02, Z:-0.41 [[ 9.91208003e-01 1.32310655e-01 7.65593320e-04 2.79576803e+02] [-1.32310611e-01 9.91208298e-01 -1.07349923e-04 -2.80155308e+01] [-7.73065991e-04 5.10998197e-06 9.99999701e-01 -4.08319713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.61, Y:-28.02, Z:-0.41 [[ 9.90991099e-01 1.33925561e-01 7.65574869e-04 2.79607799e+02] [-1.33925518e-01 9.90991395e-01 -1.07481348e-04 -2.80206525e+01] [-7.73072607e-04 3.98304796e-06 9.99999701e-01 -4.11372509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.64, Y:-28.03, Z:-0.41 [[ 9.90626986e-01 1.36592786e-01 7.65557825e-04 2.79638883e+02] [-1.36592744e-01 9.90627281e-01 -1.07602611e-04 -2.80280738e+01] [-7.73080207e-04 2.02440614e-06 9.99999701e-01 -4.08312191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.67, Y:-28.03, Z:-0.41 [[ 9.90115345e-01 1.40253406e-01 7.65553799e-04 2.79669965e+02] [-1.40253365e-01 9.90115641e-01 -1.07631244e-04 -2.80328767e+01] [-7.73082439e-04 -8.04149770e-07 9.99999701e-01 -4.09087724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.70, Y:-28.04, Z:-0.41 [[ 9.89889831e-01 1.41836301e-01 7.65536492e-04 2.79701362e+02] [-1.41836260e-01 9.89890127e-01 -1.07754203e-04 -2.80380142e+01] [-7.73080473e-04 -1.91604319e-06 9.99999701e-01 -4.08517353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.3242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.73, Y:-28.04, Z:-0.41 [[ 9.89400860e-01 1.45207964e-01 7.65518058e-04 2.79732734e+02] [-1.45207924e-01 9.89401156e-01 -1.07885006e-04 -2.80420481e+01] [-7.73070213e-04 -4.41777017e-06 9.99999701e-01 -4.09328217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.76, Y:-28.04, Z:-0.41 [[ 9.89075493e-01 1.47407878e-01 7.65515425e-04 2.79764454e+02] [-1.47407838e-01 9.89075790e-01 -1.07903688e-04 -2.80449189e+01] [-7.73058627e-04 -6.11807990e-06 9.99999701e-01 -4.09998808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.79, Y:-28.05, Z:-0.41 [[ 9.88309112e-01 1.52461511e-01 7.65512797e-04 2.79794196e+02] [-1.52461473e-01 9.88309409e-01 -1.07922324e-04 -2.80483332e+01] [-7.73017501e-04 -1.00505927e-05 9.99999701e-01 -4.12664338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.82, Y:-28.05, Z:-0.41 [[ 9.87938677e-01 1.54843744e-01 7.65514102e-04 2.79824729e+02] [-1.54843707e-01 9.87938973e-01 -1.07913067e-04 -2.80533717e+01] [-7.72990879e-04 -1.19235488e-05 9.99999701e-01 -4.10577345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.85, Y:-28.06, Z:-0.41 [[ 9.87429003e-01 1.58061311e-01 7.65511523e-04 2.79854059e+02] [-1.58061275e-01 9.87429300e-01 -1.07931362e-04 -2.80565530e+01] [-7.72948279e-04 -1.44231700e-05 9.99999701e-01 -4.08913270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47420382200005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:279.88, Y:-28.06, Z:-0.41 [[ 9.87281238e-01 1.58981671e-01 7.65512808e-04 2.79884381e+02] [-1.58981635e-01 9.87281534e-01 -1.07922246e-04 -2.80593819e+01] [-7.72934319e-04 -1.51528696e-05 9.99999701e-01 -4.10167570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.504203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:279.92, Y:-28.06, Z:-0.41 [[ 9.87281238e-01 1.58981671e-01 7.65512808e-04 2.79915067e+02] [-1.58981635e-01 9.87281534e-01 -1.07922246e-04 -2.80637082e+01] [-7.72934319e-04 -1.51528696e-05 9.99999701e-01 -4.10191528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53420382200005 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:279.95, Y:-28.06, Z:-0.41 [[ 9.87252763e-01 1.59158402e-01 7.65512808e-04 2.79946157e+02] [-1.59158366e-01 9.87253059e-01 -1.07922246e-04 -2.80636667e+01] [-7.72931594e-04 -1.52912324e-05 9.99999701e-01 -4.06954956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.98, Y:-28.06, Z:-0.41 [[ 9.87607213e-01 1.56943961e-01 7.65512808e-04 2.79976211e+02] [-1.56943925e-01 9.87607510e-01 -1.07922246e-04 -2.80633432e+01] [-7.72963943e-04 -1.35577960e-05 9.99999701e-01 -4.06413910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.01, Y:-28.07, Z:-0.41 [[ 9.87996628e-01 1.54473546e-01 7.65514119e-04 2.80005319e+02] [-1.54473509e-01 9.87996925e-01 -1.07912948e-04 -2.80670525e+01] [-7.72995291e-04 -1.16340230e-05 9.99999701e-01 -4.08853460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.624203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:280.03, Y:-28.07, Z:-0.41 [[ 9.88470147e-01 1.51413943e-01 7.65515408e-04 2.80034540e+02] [-1.51413904e-01 9.88470444e-01 -1.07903799e-04 -2.80710950e+01] [-7.73027495e-04 -9.24999311e-06 9.99999701e-01 -4.13850165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.07, Y:-28.07, Z:-0.41 [[ 9.89419762e-01 1.45079111e-01 7.65513747e-04 2.80065335e+02] [-1.45079071e-01 9.89420058e-01 -1.07915583e-04 -2.80749588e+01] [-7.73070953e-04 -4.28621344e-06 9.99999701e-01 -4.08970706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.10, Y:-28.08, Z:-0.41 [[ 9.89897667e-01 1.41781602e-01 7.65511150e-04 2.80095381e+02] [-1.41781561e-01 9.89897963e-01 -1.07934001e-04 -2.80780697e+01] [-7.73080984e-04 -1.69175016e-06 9.99999701e-01 -4.08513861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.13, Y:-28.08, Z:-0.41 [[ 9.90715024e-01 1.35952766e-01 7.65511150e-04 2.80125183e+02] [-1.35952724e-01 9.90715320e-01 -1.07934001e-04 -2.80809023e+01] [-7.73077550e-04 2.85851029e-06 9.99999701e-01 -4.09134395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.16, Y:-28.08, Z:-0.41 [[ 9.91379738e-01 1.31017669e-01 7.65509835e-04 2.80155497e+02] [-1.31017625e-01 9.91380033e-01 -1.07943326e-04 -2.80844717e+01] [-7.73053649e-04 6.71754513e-06 9.99999701e-01 -4.07305059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.19, Y:-28.09, Z:-0.41 [[ 9.91738485e-01 1.28273891e-01 7.65508542e-04 2.80185277e+02] [-1.28273846e-01 9.91738781e-01 -1.07952494e-04 -2.80882951e+01] [-7.73031995e-04 8.86591823e-06 9.99999701e-01 -4.08035461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.22, Y:-28.09, Z:-0.41 [[ 9.92074360e-01 1.25649828e-01 7.65507266e-04 2.80217313e+02] [-1.25649782e-01 9.92074655e-01 -1.07961543e-04 -2.80931968e+01] [-7.73005706e-04 1.09200581e-05 9.99999701e-01 -4.06689693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.25, Y:-28.10, Z:-0.40 [[ 9.92589686e-01 1.21511851e-01 7.65489018e-04 2.80249234e+02] [-1.21511804e-01 9.92589981e-01 -1.08090775e-04 -2.80985246e+01] [-7.72951040e-04 1.42738367e-05 9.99999701e-01 -4.03967884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.28, Y:-28.10, Z:-0.41 [[ 9.92709703e-01 1.20527423e-01 7.65470051e-04 2.80279971e+02] [-1.20527376e-01 9.92709998e-01 -1.08224926e-04 -2.81031242e+01] [-7.72933845e-04 1.51758380e-05 9.99999701e-01 -4.05896823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.31, Y:-28.11, Z:-0.41 [[ 9.92687313e-01 1.20711689e-01 7.65452566e-04 2.80310618e+02] [-1.20711641e-01 9.92687608e-01 -1.08348455e-04 -2.81080886e+01] [-7.72934202e-04 1.51571007e-05 9.99999701e-01 -4.08744482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.34, Y:-28.11, Z:-0.41 [[ 9.92590514e-01 1.21505088e-01 7.65435485e-04 2.80341208e+02] [-1.21505041e-01 9.92590809e-01 -1.08468990e-04 -2.81132734e+01] [-7.72943761e-04 1.46610210e-05 9.99999701e-01 -4.08447136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95420382200007 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:280.37, Y:-28.12, Z:-0.41 [[ 9.92169153e-01 1.24899106e-01 7.65432937e-04 2.80371710e+02] [-1.24899059e-01 9.92169448e-01 -1.08486972e-04 -2.81187798e+01] [-7.72989100e-04 1.20355732e-05 9.99999701e-01 -4.09711859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.40, Y:-28.12, Z:-0.41 [[ 9.91905285e-01 1.26977633e-01 7.65430287e-04 2.80402995e+02] [-1.26977587e-01 9.91905581e-01 -1.08505663e-04 -2.81238907e+01] [-7.73012365e-04 1.04348495e-05 9.99999701e-01 -4.06237154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01420382200007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:280.43, Y:-28.13, Z:-0.41 [[ 9.91344596e-01 1.31283307e-01 7.65427598e-04 2.80433284e+02] [-1.31283262e-01 9.91344891e-01 -1.08524626e-04 -2.81277004e+01] [-7.73050211e-04 7.09746914e-06 9.99999701e-01 -4.10116622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.46, Y:-28.13, Z:-0.41 [[ 9.91067451e-01 1.33359372e-01 7.65426260e-04 2.80464349e+02] [-1.33359328e-01 9.91067746e-01 -1.08534067e-04 -2.81334997e+01] [-7.73063313e-04 5.48784977e-06 9.99999701e-01 -4.07725502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.49, Y:-28.14, Z:-0.41 [[ 9.90577282e-01 1.36952774e-01 7.65423601e-04 2.80494810e+02] [-1.36952731e-01 9.90577578e-01 -1.08552810e-04 -2.81420478e+01] [-7.73078066e-04 2.70309522e-06 9.99999701e-01 -4.05192775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10420382200004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:280.53, Y:-28.15, Z:-0.41 [[ 9.90340592e-01 1.38653977e-01 7.65420955e-04 2.80525577e+02] [-1.38653934e-01 9.90340888e-01 -1.08571466e-04 -2.81475160e+01] [-7.73081534e-04 1.39410338e-06 9.99999701e-01 -4.08340075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.55, Y:-28.15, Z:-0.41 [[ 9.89936928e-01 1.41507219e-01 7.65418303e-04 2.80554907e+02] [-1.41507177e-01 9.89937224e-01 -1.08590157e-04 -2.81536032e+01] [-7.73082361e-04 -8.14777339e-07 9.99999701e-01 -4.07000521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.59, Y:-28.16, Z:-0.41 [[ 9.89759398e-01 1.42743646e-01 7.65416984e-04 2.80585219e+02] [-1.42743605e-01 9.89759694e-01 -1.08599458e-04 -2.81595394e+01] [-7.73080762e-04 -1.77104518e-06 9.99999701e-01 -4.06342607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.62, Y:-28.17, Z:-0.41 [[ 9.89327274e-01 1.45708471e-01 7.65414325e-04 2.80615790e+02] [-1.45708431e-01 9.89327570e-01 -1.08618196e-04 -2.81672041e+01] [-7.73072085e-04 -4.06837668e-06 9.99999701e-01 -4.06800017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.65, Y:-28.17, Z:-0.41 [[ 9.89034685e-01 1.47681436e-01 7.65397055e-04 2.80646076e+02] [-1.47681396e-01 9.89034981e-01 -1.08739755e-04 -2.81725692e+01] [-7.73063305e-04 -5.48751658e-06 9.99999701e-01 -4.07777870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.68, Y:-28.18, Z:-0.41 [[ 9.88265569e-01 1.52743506e-01 7.65379960e-04 2.80675960e+02] [-1.52743468e-01 9.88265866e-01 -1.08859948e-04 -2.81786847e+01] [-7.73026539e-04 -9.32425048e-06 9.99999701e-01 -4.08903012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.71, Y:-28.18, Z:-0.41 [[ 9.87793257e-01 1.55768722e-01 7.65378671e-04 2.80706593e+02] [-1.55768684e-01 9.87793554e-01 -1.08869010e-04 -2.81839235e+01] [-7.72994504e-04 -1.16819548e-05 9.99999701e-01 -4.07473076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.74, Y:-28.19, Z:-0.41 [[ 9.86902887e-01 1.61313686e-01 7.65376032e-04 2.80736541e+02] [-1.61313650e-01 9.86903184e-01 -1.08887561e-04 -2.81905558e+01] [-7.72917096e-04 -1.60041525e-05 9.99999701e-01 -4.12243855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.77, Y:-28.20, Z:-0.41 [[ 9.86571453e-01 1.63328450e-01 7.65369026e-04 2.80767729e+02] [-1.63328414e-01 9.86571750e-01 -1.08936780e-04 -2.81951266e+01] [-7.72883935e-04 -1.75325922e-05 9.99999701e-01 -4.09324083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.80, Y:-28.20, Z:-0.41 [[ 9.86284265e-01 1.65053820e-01 7.65366398e-04 2.80797364e+02] [-1.65053786e-01 9.86284561e-01 -1.08955239e-04 -2.82002143e+01] [-7.72852541e-04 -1.88657839e-05 9.99999701e-01 -4.11431314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.83, Y:-28.21, Z:-0.41 [[ 9.86374046e-01 1.64516430e-01 7.65365094e-04 2.80828426e+02] [-1.64516395e-01 9.86374343e-01 -1.08964400e-04 -2.82070077e+01] [-7.72862926e-04 -1.84354506e-05 9.99999701e-01 -4.10019785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.43420382200003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:280.86, Y:-28.22, Z:-0.41 [[ 9.86637325e-01 1.62930057e-01 7.65362521e-04 2.80859977e+02] [-1.62930022e-01 9.86637621e-01 -1.08982472e-04 -2.82152432e+01] [-7.72891978e-04 -1.71743578e-05 9.99999701e-01 -4.10976789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.89, Y:-28.22, Z:-0.41 [[ 9.86720086e-01 1.62428096e-01 7.65344221e-04 2.80891654e+02] [-1.62428060e-01 9.86720383e-01 -1.09110832e-04 -2.82217543e+01] [-7.72903408e-04 -1.66515280e-05 9.99999701e-01 -4.06234477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.92, Y:-28.23, Z:-0.41 [[ 9.86896639e-01 1.61351905e-01 7.65325561e-04 2.80923569e+02] [-1.61351869e-01 9.86896936e-01 -1.09241561e-04 -2.82308128e+01] [-7.72923785e-04 -1.56765801e-05 9.99999701e-01 -4.06433427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.96, Y:-28.24, Z:-0.40 [[ 9.86980385e-01 1.60838842e-01 7.65304191e-04 2.80956148e+02] [-1.60838805e-01 9.86980682e-01 -1.09391070e-04 -2.82373865e+01] [-7.72934785e-04 -1.51237710e-05 9.99999701e-01 -4.04892005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.99, Y:-28.24, Z:-0.41 [[ 9.87049219e-01 1.60415879e-01 7.65282467e-04 2.80987834e+02] [-1.60415842e-01 9.87049515e-01 -1.09542834e-04 -2.82432893e+01] [-7.72944098e-04 -1.46392633e-05 9.99999701e-01 -4.06748814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.02, Y:-28.25, Z:-0.41 [[ 9.87078956e-01 1.60232795e-01 7.65268938e-04 2.81018671e+02] [-1.60232758e-01 9.87079253e-01 -1.09637268e-04 -2.82489663e+01] [-7.72948577e-04 -1.44005126e-05 9.99999701e-01 -4.10997886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.05, Y:-28.26, Z:-0.41 [[ 9.87020853e-01 1.60590319e-01 7.65251587e-04 2.81049483e+02] [-1.60590282e-01 9.87021149e-01 -1.09758240e-04 -2.82574951e+01] [-7.72945612e-04 -1.45582970e-05 9.99999701e-01 -4.08775570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.08, Y:-28.26, Z:-0.41 [[ 9.86821239e-01 1.61812411e-01 7.65232866e-04 2.81079739e+02] [-1.61812375e-01 9.86821536e-01 -1.09888609e-04 -2.82630010e+01] [-7.72929613e-04 -1.53837335e-05 9.99999701e-01 -4.10851456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.11, Y:-28.27, Z:-0.41 [[ 9.86150492e-01 1.65851205e-01 7.65215554e-04 2.81111354e+02] [-1.65851169e-01 9.86150788e-01 -1.10009033e-04 -2.82661126e+01] [-7.72863052e-04 -1.84264320e-05 9.99999701e-01 -4.14246585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.14, Y:-28.27, Z:-0.41 [[ 9.85367480e-01 1.70441612e-01 7.65197420e-04 2.81143283e+02] [-1.70441578e-01 9.85367777e-01 -1.10135024e-04 -2.82678872e+01] [-7.72772472e-04 -2.18979850e-05 9.99999701e-01 -4.12428603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.17, Y:-28.27, Z:-0.41 [[ 9.85010162e-01 1.72494622e-01 7.65178383e-04 2.81174342e+02] [-1.72494588e-01 9.85010459e-01 -1.10267124e-04 -2.82707643e+01] [-7.72729197e-04 -2.33748930e-05 9.99999701e-01 -4.14535941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.21, Y:-28.27, Z:-0.42 [[ 9.84419361e-01 1.75834969e-01 7.65160835e-04 2.81205047e+02] [-1.75834936e-01 9.84419658e-01 -1.10388759e-04 -2.82682329e+01] [-7.72649572e-04 -2.58731752e-05 9.99999701e-01 -4.15453829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.24, Y:-28.27, Z:-0.41 [[ 9.84249532e-01 1.76783124e-01 7.65159542e-04 2.81236026e+02] [-1.76783092e-01 9.84249829e-01 -1.10397721e-04 -2.82686336e+01] [-7.72624603e-04 -2.66083644e-05 9.99999701e-01 -4.09761433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.8242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.27, Y:-28.27, Z:-0.41 [[ 9.84317985e-01 1.76401585e-01 7.65159542e-04 2.81267078e+02] [-1.76401552e-01 9.84318282e-01 -1.10397721e-04 -2.82681537e+01] [-7.72634859e-04 -2.63088686e-05 9.99999701e-01 -4.09008549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85420382200004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:281.30, Y:-28.27, Z:-0.41 [[ 9.84544165e-01 1.75134811e-01 7.65159542e-04 2.81298739e+02] [-1.75134778e-01 9.84544462e-01 -1.10397721e-04 -2.82698467e+01] [-7.72668074e-04 -2.53146147e-05 9.99999701e-01 -4.09913701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.33, Y:-28.27, Z:-0.41 [[ 9.84901779e-01 1.73112393e-01 7.65156785e-04 2.81328740e+02] [-1.73112360e-01 9.84902076e-01 -1.10416826e-04 -2.82709453e+01] [-7.72719027e-04 -2.37083682e-05 9.99999701e-01 -4.11955229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91420382200005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:281.36, Y:-28.27, Z:-0.41 [[ 9.85947143e-01 1.67055814e-01 7.65155409e-04 2.81359501e+02] [-1.67055779e-01 9.85947440e-01 -1.10426362e-04 -2.82681182e+01] [-7.72850382e-04 -1.89490764e-05 9.99999701e-01 -4.09744225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.39, Y:-28.27, Z:-0.41 [[ 9.87274827e-01 1.59021476e-01 7.65155409e-04 2.81390685e+02] [-1.59021438e-01 9.87275124e-01 -1.10426362e-04 -2.82679945e+01] [-7.72979064e-04 -1.26549456e-05 9.99999701e-01 -4.06375224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.42, Y:-28.27, Z:-0.41 [[ 9.88015877e-01 1.54350382e-01 7.65154069e-04 2.81420014e+02] [-1.54350342e-01 9.88016174e-01 -1.10435648e-04 -2.82700357e+01] [-7.73030380e-04 -8.98961867e-06 9.99999701e-01 -4.06174136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.45, Y:-28.27, Z:-0.41 [[ 9.89449501e-01 1.44876155e-01 7.65155403e-04 2.81450864e+02] [-1.44876113e-01 9.89449796e-01 -1.10426404e-04 -2.82700303e+01] [-7.73081010e-04 -1.59139045e-06 9.99999701e-01 -4.05547395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03420382200005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:281.48, Y:-28.27, Z:-0.40 [[ 9.90134311e-01 1.40119454e-01 7.65154084e-04 2.81482285e+02] [-1.40119410e-01 9.90134606e-01 -1.10435544e-04 -2.82737950e+01] [-7.73079705e-04 2.13308185e-06 9.99999701e-01 -4.04572749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.51, Y:-28.28, Z:-0.41 [[ 9.91201012e-01 1.32363016e-01 7.65151288e-04 2.81513426e+02] [-1.32362970e-01 9.91201308e-01 -1.10454907e-04 -2.82792732e+01] [-7.73039102e-04 8.20531892e-06 9.99999701e-01 -4.06497626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09420382200005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:281.54, Y:-28.28, Z:-0.41 [[ 9.91606907e-01 1.29287108e-01 7.65133203e-04 2.81544966e+02] [-1.29287061e-01 9.91607202e-01 -1.10580046e-04 -2.82835481e+01] [-7.73008169e-04 1.07301139e-05 9.99999701e-01 -4.06974799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.58, Y:-28.29, Z:-0.41 [[ 9.92041088e-01 1.25912245e-01 7.65129070e-04 2.81575851e+02] [-1.25912197e-01 9.92041383e-01 -1.10608636e-04 -2.82888635e+01] [-7.72966682e-04 1.33892294e-05 9.99999701e-01 -4.09017613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15420382200006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:281.61, Y:-28.29, Z:-0.41 [[ 9.92125348e-01 1.25246588e-01 7.65111251e-04 2.81607197e+02] [-1.25246540e-01 9.92125643e-01 -1.10731759e-04 -2.82929552e+01] [-7.72955267e-04 1.40322482e-05 9.99999701e-01 -4.10921181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.64, Y:-28.30, Z:-0.41 [[ 9.92131122e-01 1.25200847e-01 7.65108514e-04 2.81638055e+02] [-1.25200799e-01 9.92131417e-01 -1.10750665e-04 -2.82980811e+01] [-7.72954271e-04 1.40869837e-05 9.99999701e-01 -4.08315706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.67, Y:-28.30, Z:-0.41 [[ 9.91801284e-01 1.27787428e-01 7.65105778e-04 2.81668888e+02] [-1.27787381e-01 9.91801579e-01 -1.10769559e-04 -2.83032097e+01] [-7.72988077e-04 1.20905275e-05 9.99999701e-01 -4.08751058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.70, Y:-28.31, Z:-0.41 [[ 9.91492112e-01 1.30164534e-01 7.65103054e-04 2.81700371e+02] [-1.30164487e-01 9.91492407e-01 -1.10788372e-04 -2.83079126e+01] [-7.73014586e-04 1.02565502e-05 9.99999701e-01 -4.08756856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27420382200006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:281.73, Y:-28.31, Z:-0.41 [[ 9.90680509e-01 1.36204054e-01 7.65097790e-04 2.81729582e+02] [-1.36204009e-01 9.90680804e-01 -1.10824716e-04 -2.83100233e+01] [-7.73062469e-04 5.58249963e-06 9.99999701e-01 -4.14210706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.76, Y:-28.31, Z:-0.41 [[ 9.89693863e-01 1.43197317e-01 7.65099147e-04 2.81759179e+02] [-1.43197274e-01 9.89694159e-01 -1.10815348e-04 -2.83109861e+01] [-7.73082617e-04 1.13157707e-07 9.99999701e-01 -4.10161419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33420382200006 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:281.79, Y:-28.31, Z:-0.41 [[ 9.89215017e-01 1.46468644e-01 7.65101854e-04 2.81789168e+02] [-1.46468603e-01 9.89215313e-01 -1.10796650e-04 -2.83134769e+01] [-7.73078706e-04 -2.46168945e-06 9.99999701e-01 -4.13923462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:281.82, Y:-28.32, Z:-0.41 [[ 9.88800212e-01 1.49243278e-01 7.65104562e-04 2.81817845e+02] [-1.49243237e-01 9.88800508e-01 -1.10777950e-04 -2.83173840e+01] [-7.73068644e-04 -4.64942050e-06 9.99999701e-01 -4.13586587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39420382200007 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:281.85, Y:-28.32, Z:-0.41 [[ 9.88122755e-01 1.53664687e-01 7.65108590e-04 2.81847165e+02] [-1.53664648e-01 9.88123051e-01 -1.10750125e-04 -2.83200589e+01] [-7.73039817e-04 -8.13542339e-06 9.99999701e-01 -4.11506290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42420382200004 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:281.88, Y:-28.32, Z:-0.41 [[ 9.88126551e-01 1.53640272e-01 7.65111334e-04 2.81877018e+02] [-1.53640232e-01 9.88126848e-01 -1.10731165e-04 -2.83243349e+01] [-7.73039816e-04 -8.13547896e-06 9.99999701e-01 -4.11529603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45420382200007 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:281.91, Y:-28.33, Z:-0.41 [[ 9.87896341e-01 1.55113615e-01 7.65114069e-04 2.81905394e+02] [-1.55113576e-01 9.87896638e-01 -1.10712260e-04 -2.83271348e+01] [-7.73026595e-04 -9.30734250e-06 9.99999701e-01 -4.11856880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.94, Y:-28.33, Z:-0.41 [[ 9.87614519e-01 1.56897979e-01 7.65118149e-04 2.81935545e+02] [-1.56897941e-01 9.87614816e-01 -1.10684060e-04 -2.83278231e+01] [-7.73008125e-04 -1.07322769e-05 9.99999701e-01 -4.07013298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.96, Y:-28.33, Z:-0.41 [[ 9.87549506e-01 1.57306667e-01 7.65120861e-04 2.81964407e+02] [-1.57306629e-01 9.87549802e-01 -1.10665308e-04 -2.83297608e+01] [-7.73003346e-04 -1.10711133e-05 9.99999701e-01 -4.09946677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.99, Y:-28.33, Z:-0.41 [[ 9.87558855e-01 1.57247964e-01 7.65124891e-04 2.81992840e+02] [-1.57247925e-01 9.87559152e-01 -1.10637440e-04 -2.83296458e+01] [-7.73003600e-04 -1.10533181e-05 9.99999701e-01 -4.10836412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5742038220001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:282.02, Y:-28.33, Z:-0.41 [[ 9.87603907e-01 1.56964766e-01 7.65131446e-04 2.82022130e+02] [-1.56964728e-01 9.87604203e-01 -1.10592086e-04 -2.83308121e+01] [-7.73006093e-04 -1.08774731e-05 9.99999701e-01 -4.12304452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.05, Y:-28.33, Z:-0.41 [[ 9.87787838e-01 1.55803086e-01 7.65136857e-04 2.82049835e+02] [-1.55803047e-01 9.87788134e-01 -1.10554638e-04 -2.83318337e+01] [-7.73017862e-04 -1.00061269e-05 9.99999701e-01 -4.11130165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.08, Y:-28.33, Z:-0.41 [[ 9.88088400e-01 1.53885436e-01 7.65143564e-04 2.82079227e+02] [-1.53885397e-01 9.88088697e-01 -1.10508203e-04 -2.83327709e+01] [-7.73035309e-04 -8.55254762e-06 9.99999701e-01 -4.09762749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66420382200005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:282.11, Y:-28.33, Z:-0.41 [[ 9.88285484e-01 1.52614603e-01 7.65148957e-04 2.82107639e+02] [-1.52614563e-01 9.88285780e-01 -1.10470848e-04 -2.83346505e+01] [-7.73045298e-04 -7.59613805e-06 9.99999701e-01 -4.12007898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.14, Y:-28.34, Z:-0.41 [[ 9.88430414e-01 1.51673106e-01 7.65154445e-04 2.82136399e+02] [-1.51673066e-01 9.88430710e-01 -1.10432820e-04 -2.83379007e+01] [-7.73051841e-04 -6.89816277e-06 9.99999701e-01 -4.09732976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.16, Y:-28.34, Z:-0.41 [[ 9.88715236e-01 1.49805194e-01 7.65159938e-04 2.82164624e+02] [-1.49805153e-01 9.88715532e-01 -1.10394753e-04 -2.83386712e+01] [-7.73063222e-04 -5.47592785e-06 9.99999701e-01 -4.13333452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.754203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:282.19, Y:-28.34, Z:-0.41 [[ 9.88860575e-01 1.48842798e-01 7.65166776e-04 2.82193509e+02] [-1.48842757e-01 9.88860871e-01 -1.10347335e-04 -2.83393720e+01] [-7.73067890e-04 -4.77140349e-06 9.99999701e-01 -4.12640955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.22, Y:-28.34, Z:-0.41 [[ 9.89193076e-01 1.46616755e-01 7.65172217e-04 2.82221458e+02] [-1.46616714e-01 9.89193372e-01 -1.10309590e-04 -2.83394590e+01] [-7.73076520e-04 -3.06955351e-06 9.99999701e-01 -4.11057804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.25, Y:-28.34, Z:-0.41 [[ 9.89377356e-01 1.45368021e-01 7.65179012e-04 2.82249845e+02] [-1.45367979e-01 9.89377652e-01 -1.10262439e-04 -2.83421381e+01] [-7.73079647e-04 -2.14136605e-06 9.99999701e-01 -4.07786407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.28, Y:-28.34, Z:-0.41 [[ 9.89733431e-01 1.42923580e-01 7.65184471e-04 2.82277601e+02] [-1.42923537e-01 9.89733727e-01 -1.10224542e-04 -2.83423648e+01] [-7.73082564e-04 -2.69957134e-07 9.99999701e-01 -4.07584650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.31, Y:-28.34, Z:-0.41 [[ 9.89940805e-01 1.41480097e-01 7.65191264e-04 2.82306339e+02] [-1.41480055e-01 9.89941100e-01 -1.10177360e-04 -2.83432462e+01] [-7.73082186e-04 8.09762602e-07 9.99999701e-01 -4.06271478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.34, Y:-28.35, Z:-0.41 [[ 9.90003259e-01 1.41042414e-01 7.65196489e-04 2.82335326e+02] [-1.41042371e-01 9.90003554e-01 -1.10141063e-04 -2.83461208e+01] [-7.73081805e-04 1.11488412e-06 9.99999701e-01 -4.06338615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.93420382200003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:282.36, Y:-28.35, Z:-0.41 [[ 9.90021103e-01 1.40917107e-01 7.65201723e-04 2.82364624e+02] [-1.40917064e-01 9.90021398e-01 -1.10104690e-04 -2.83473889e+01] [-7.73081714e-04 1.17598607e-06 9.99999701e-01 -4.09783813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.39, Y:-28.35, Z:-0.41 [[ 9.90076520e-01 1.40527215e-01 7.65205815e-04 2.82392064e+02] [-1.40527172e-01 9.90076816e-01 -1.10076240e-04 -2.83496739e+01] [-7.73081245e-04 1.45169088e-06 9.99999701e-01 -4.08339748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.42, Y:-28.35, Z:-0.41 [[ 9.90070110e-01 1.40572370e-01 7.65212582e-04 2.82420780e+02] [-1.40572327e-01 9.90070406e-01 -1.10029176e-04 -2.83515622e+01] [-7.73081394e-04 1.36888496e-06 9.99999701e-01 -4.09856120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.45, Y:-28.35, Z:-0.41 [[ 9.89920895e-01 1.41619336e-01 7.65217974e-04 2.82449985e+02] [-1.41619293e-01 9.89921191e-01 -1.09991665e-04 -2.83504961e+01] [-7.73082435e-04 5.13418463e-07 9.99999701e-01 -4.12007078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05420382200003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:282.48, Y:-28.35, Z:-0.42 [[ 9.89735380e-01 1.42910085e-01 7.65223391e-04 2.82478348e+02] [-1.42910043e-01 9.89735676e-01 -1.09953966e-04 -2.83503598e+01] [-7.73082421e-04 -5.32777198e-07 9.99999701e-01 -4.15939634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.51, Y:-28.35, Z:-0.41 [[ 9.89691458e-01 1.43213942e-01 7.65231339e-04 2.82506958e+02] [-1.43213900e-01 9.89691753e-01 -1.09898624e-04 -2.83526410e+01] [-7.73082161e-04 -8.26035032e-07 9.99999701e-01 -4.05458683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.53, Y:-28.35, Z:-0.41 [[ 9.89587485e-01 1.43930622e-01 7.65236858e-04 2.82534802e+02] [-1.43930581e-01 9.89587781e-01 -1.09860179e-04 -2.83528035e+01] [-7.73081288e-04 -1.42472751e-06 9.99999701e-01 -4.05927179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.56, Y:-28.35, Z:-0.41 [[ 9.89512694e-01 1.44443906e-01 7.65243711e-04 2.82564049e+02] [-1.44443864e-01 9.89512990e-01 -1.09812422e-04 -2.83541829e+01] [-7.73080328e-04 -1.87397290e-06 9.99999701e-01 -4.05570622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.59, Y:-28.35, Z:-0.41 [[ 9.89424259e-01 1.45048441e-01 7.65249092e-04 2.82591676e+02] [-1.45048400e-01 9.89424555e-01 -1.09774912e-04 -2.83542046e+01] [-7.73078922e-04 -2.38419508e-06 9.99999701e-01 -4.08021903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.62, Y:-28.35, Z:-0.41 [[ 9.89206127e-01 1.46528673e-01 7.65253961e-04 2.82621577e+02] [-1.46528632e-01 9.89206423e-01 -1.09740960e-04 -2.83505808e+01] [-7.73074331e-04 -3.57518612e-06 9.99999701e-01 -4.09125231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23420382200004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:282.65, Y:-28.35, Z:-0.41 [[ 9.89183960e-01 1.46678249e-01 7.65259139e-04 2.82650418e+02] [-1.46678208e-01 9.89184256e-01 -1.09704844e-04 -2.83509689e+01] [-7.73073606e-04 -3.72856723e-06 9.99999701e-01 -4.09790808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.68, Y:-28.35, Z:-0.41 [[ 9.89280111e-01 1.46028342e-01 7.65264493e-04 2.82679299e+02] [-1.46028301e-01 9.89280407e-01 -1.09667481e-04 -2.83527272e+01] [-7.73075729e-04 -3.25841562e-06 9.99999701e-01 -4.09711027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29420382200004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:282.71, Y:-28.35, Z:-0.41 [[ 9.89605419e-01 1.43807262e-01 7.65269885e-04 2.82707966e+02] [-1.43807220e-01 9.89605715e-01 -1.09629840e-04 -2.83533152e+01] [-7.73081019e-04 -1.56105148e-06 9.99999701e-01 -4.12917595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.3242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.74, Y:-28.36, Z:-0.41 [[ 9.89856477e-01 1.42068888e-01 7.65275351e-04 2.82735466e+02] [-1.42068846e-01 9.89856773e-01 -1.09591672e-04 -2.83555163e+01] [-7.73082557e-04 -2.41759845e-07 9.99999701e-01 -4.11708489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35420382200004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:282.77, Y:-28.35, Z:-0.41 [[ 9.90136228e-01 1.40105906e-01 7.65282140e-04 2.82765012e+02] [-1.40105863e-01 9.90136523e-01 -1.09544244e-04 -2.83549463e+01] [-7.73081593e-04 1.24320914e-06 9.99999701e-01 -4.10675485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.79, Y:-28.36, Z:-0.41 [[ 9.90363749e-01 1.38488481e-01 7.65287251e-04 2.82793915e+02] [-1.38488438e-01 9.90364044e-01 -1.09508525e-04 -2.83571856e+01] [-7.73078647e-04 2.46983720e-06 9.99999701e-01 -4.07202431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.82, Y:-28.36, Z:-0.41 [[ 9.90920874e-01 1.34444173e-01 7.65292622e-04 2.82821388e+02] [-1.34444129e-01 9.90921170e-01 -1.09470978e-04 -2.83612959e+01] [-7.73062395e-04 5.58797669e-06 9.99999701e-01 -4.12065501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.444203822 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:282.85, Y:-28.37, Z:-0.41 [[ 9.91192177e-01 1.32429160e-01 7.65299286e-04 2.82849456e+02] [-1.32429115e-01 9.91192473e-01 -1.09424373e-04 -2.83657255e+01] [-7.73049869e-04 7.11267571e-06 9.99999701e-01 -4.13310730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.88, Y:-28.37, Z:-0.41 [[ 9.91715044e-01 1.28454997e-01 7.65304622e-04 2.82876804e+02] [-1.28454951e-01 9.91715339e-01 -1.09387043e-04 -2.83694380e+01] [-7.73015645e-04 1.01736087e-05 9.99999701e-01 -4.10371318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.504203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:282.90, Y:-28.37, Z:-0.41 [[ 9.91850980e-01 1.27401127e-01 7.65311245e-04 2.82904762e+02] [-1.27401081e-01 9.91851276e-01 -1.09340684e-04 -2.83731588e+01] [-7.73005061e-04 1.09481850e-05 9.99999701e-01 -4.14329151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.93, Y:-28.38, Z:-0.41 [[ 9.92006042e-01 1.26188060e-01 7.65317801e-04 2.82933574e+02] [-1.26188013e-01 9.92006337e-01 -1.09294775e-04 -2.83765000e+01] [-7.72991804e-04 1.18471446e-05 9.99999701e-01 -4.10407870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.96, Y:-28.38, Z:-0.41 [[ 9.92136086e-01 1.25161500e-01 7.65323029e-04 2.82962123e+02] [-1.25161453e-01 9.92136381e-01 -1.09258153e-04 -2.83803057e+01] [-7.72979735e-04 1.26100140e-05 9.99999701e-01 -4.10430486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.99, Y:-28.39, Z:-0.41 [[ 9.92041428e-01 1.25909568e-01 7.65328398e-04 2.82989321e+02] [-1.25909521e-01 9.92041723e-01 -1.09220534e-04 -2.83863746e+01] [-7.72989613e-04 1.19891622e-05 9.99999701e-01 -4.09960332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.02, Y:-28.39, Z:-0.41 [[ 9.91874923e-01 1.27214588e-01 7.65335075e-04 2.83016615e+02] [-1.27214542e-01 9.91875218e-01 -1.09173726e-04 -2.83891316e+01] [-7.73005385e-04 1.09249303e-05 9.99999701e-01 -4.10138620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65420382200006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:283.04, Y:-28.39, Z:-0.41 [[ 9.91192652e-01 1.32425604e-01 7.65341678e-04 2.83044627e+02] [-1.32425559e-01 9.91192948e-01 -1.09127421e-04 -2.83884756e+01] [-7.73052538e-04 6.81549794e-06 9.99999701e-01 -4.13228143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68420382200003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:283.07, Y:-28.39, Z:-0.41 [[ 9.90818806e-01 1.35194337e-01 7.65348095e-04 2.83073547e+02] [-1.35194293e-01 9.90819101e-01 -1.09082393e-04 -2.83907645e+01] [-7.73068834e-04 4.61019133e-06 9.99999701e-01 -4.12749042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.10, Y:-28.39, Z:-0.41 [[ 9.90493341e-01 1.37558556e-01 7.65353404e-04 2.83102833e+02] [-1.37558513e-01 9.90493636e-01 -1.09045130e-04 -2.83929686e+01] [-7.73077767e-04 2.72759912e-06 9.99999701e-01 -4.09078918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.13, Y:-28.39, Z:-0.41 [[ 9.89672284e-01 1.43346381e-01 7.65358723e-04 2.83132311e+02] [-1.43346340e-01 9.89672580e-01 -1.09007787e-04 -2.83923147e+01] [-7.73080414e-04 -1.82938631e-06 9.99999701e-01 -4.08408691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.16, Y:-28.39, Z:-0.41 [[ 9.89327662e-01 1.45705841e-01 7.65364019e-04 2.83160706e+02] [-1.45705801e-01 9.89327958e-01 -1.08970593e-04 -2.83945588e+01] [-7.73073673e-04 -3.71035517e-06 9.99999701e-01 -4.08157021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.19, Y:-28.40, Z:-0.41 [[ 9.88983819e-01 1.48021686e-01 7.65369325e-04 2.83188795e+02] [-1.48021646e-01 9.88984115e-01 -1.08933308e-04 -2.83965549e+01] [-7.73062597e-04 -5.55794850e-06 9.99999701e-01 -4.08888243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.22, Y:-28.40, Z:-0.41 [[ 9.89235018e-01 1.46333502e-01 7.65375930e-04 2.83217246e+02] [-1.46333462e-01 9.89235314e-01 -1.08886885e-04 -2.83989262e+01] [-7.73070697e-04 -4.28538950e-06 9.99999701e-01 -4.10016095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.25, Y:-28.40, Z:-0.41 [[ 9.89594126e-01 1.43884955e-01 7.65381128e-04 2.83245790e+02] [-1.43884914e-01 9.89594422e-01 -1.08850335e-04 -2.84011848e+01] [-7.73078820e-04 -2.40914581e-06 9.99999701e-01 -4.10849324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.27, Y:-28.40, Z:-0.41 [[ 9.90417751e-01 1.38101750e-01 7.65386335e-04 2.83274128e+02] [-1.38101707e-01 9.90418046e-01 -1.08813707e-04 -2.84048464e+01] [-7.73079802e-04 2.06986772e-06 9.99999701e-01 -4.10500284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.30, Y:-28.41, Z:-0.41 [[ 9.90768990e-01 1.35558928e-01 7.65391689e-04 2.83302768e+02] [-1.35558885e-01 9.90769285e-01 -1.08776036e-04 -2.84104269e+01] [-7.73072139e-04 4.01627934e-06 9.99999701e-01 -4.11268422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95420382200007 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:283.33, Y:-28.42, Z:-0.42 [[ 9.90956934e-01 1.34178127e-01 7.65397032e-04 2.83330850e+02] [-1.34178083e-01 9.90957229e-01 -1.08738424e-04 -2.84152340e+01] [-7.73066040e-04 5.05558854e-06 9.99999701e-01 -4.16095517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.36, Y:-28.42, Z:-0.41 [[ 9.91183772e-01 1.32492051e-01 7.65402389e-04 2.83357804e+02] [-1.32492007e-01 9.91184068e-01 -1.08700705e-04 -2.84203883e+01] [-7.73056633e-04 6.33267643e-06 9.99999701e-01 -4.14243556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01420382200007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:283.39, Y:-28.43, Z:-0.42 [[ 9.90958532e-01 1.34166325e-01 7.65411712e-04 2.83385332e+02] [-1.34166281e-01 9.90958827e-01 -1.08635020e-04 -2.84282090e+01] [-7.73066654e-04 4.96035716e-06 9.99999701e-01 -4.15161646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.41, Y:-28.43, Z:-0.41 [[ 9.90777880e-01 1.35493936e-01 7.65417080e-04 2.83412568e+02] [-1.35493892e-01 9.90778176e-01 -1.08597180e-04 -2.84316323e+01] [-7.73072798e-04 3.88634478e-06 9.99999701e-01 -4.14232954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.44, Y:-28.43, Z:-0.41 [[ 9.90237007e-01 1.39391837e-01 7.65423776e-04 2.83441113e+02] [-1.39391795e-01 9.90237303e-01 -1.08549967e-04 -2.84325868e+01] [-7.73082155e-04 7.96400742e-07 9.99999701e-01 -4.11588855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10420382200004 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:283.47, Y:-28.44, Z:-0.41 [[ 9.89984523e-01 1.41173860e-01 7.65430323e-04 2.83469970e+02] [-1.41173818e-01 9.89984819e-01 -1.08503785e-04 -2.84363617e+01] [-7.73082297e-04 -6.41653690e-07 9.99999701e-01 -4.10582710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.134203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:283.50, Y:-28.44, Z:-0.41 [[ 9.89582034e-01 1.43968094e-01 7.65435866e-04 2.83498041e+02] [-1.43968053e-01 9.89582330e-01 -1.08464665e-04 -2.84394034e+01] [-7.73077259e-04 -2.86362756e-06 9.99999701e-01 -4.12875592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.53, Y:-28.44, Z:-0.41 [[ 9.89446212e-01 1.44898614e-01 7.65442747e-04 2.83526625e+02] [-1.44898574e-01 9.89446508e-01 -1.08416080e-04 -2.84426609e+01] [-7.73073993e-04 -3.63968242e-06 9.99999701e-01 -4.07915169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.55, Y:-28.45, Z:-0.41 [[ 9.89130295e-01 1.47039701e-01 7.65448093e-04 2.83554427e+02] [-1.47039661e-01 9.89130591e-01 -1.08378324e-04 -2.84466873e+01] [-7.73064041e-04 -5.35094436e-06 9.99999701e-01 -4.06374677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:-28.45, Z:-0.41 [[ 9.88982576e-01 1.48029994e-01 7.65454719e-04 2.83581220e+02] [-1.48029954e-01 9.88982872e-01 -1.08331506e-04 -2.84505591e+01] [-7.73057919e-04 -6.17225511e-06 9.99999701e-01 -4.08358871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:-28.45, Z:-0.41 [[ 9.88750537e-01 1.49572025e-01 7.65463842e-04 2.83609519e+02] [-1.49571986e-01 9.88750833e-01 -1.08267006e-04 -2.84533610e+01] [-7.73046727e-04 -7.44288658e-06 9.99999701e-01 -4.08134278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:-28.46, Z:-0.41 [[ 9.88633247e-01 1.50345327e-01 7.65468987e-04 2.83636850e+02] [-1.50345288e-01 9.88633543e-01 -1.08230620e-04 -2.84556738e+01] [-7.73040284e-04 -8.08426632e-06 9.99999701e-01 -4.09996275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:-28.46, Z:-0.41 [[ 9.88643786e-01 1.50276010e-01 7.65475371e-04 2.83665072e+02] [-1.50275971e-01 9.88644082e-01 -1.08185450e-04 -2.84595215e+01] [-7.73040373e-04 -8.07568185e-06 9.99999701e-01 -4.10018298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:-28.46, Z:-0.41 [[ 9.88533341e-01 1.51000822e-01 7.65482952e-04 2.83692673e+02] [-1.51000784e-01 9.88533637e-01 -1.08131779e-04 -2.84612023e+01] [-7.73033634e-04 -8.69665677e-06 9.99999701e-01 -4.08704710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.374203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:283.72, Y:-28.47, Z:-0.41 [[ 9.88561088e-01 1.50819063e-01 7.65490784e-04 2.83720879e+02] [-1.50819024e-01 9.88561384e-01 -1.08076306e-04 -2.84656823e+01] [-7.73034596e-04 -8.61054258e-06 9.99999701e-01 -4.11116043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.75, Y:-28.47, Z:-0.41 [[ 9.88890917e-01 1.48641074e-01 7.65496098e-04 2.83749714e+02] [-1.48641035e-01 9.88891213e-01 -1.08038654e-04 -2.84697792e+01] [-7.73051347e-04 -6.94568881e-06 9.99999701e-01 -4.07088469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.78, Y:-28.47, Z:-0.41 [[ 9.89066066e-01 1.47471121e-01 7.65501368e-04 2.83777706e+02] [-1.47471081e-01 9.89066362e-01 -1.08001306e-04 -2.84730061e+01] [-7.73058726e-04 -6.06888729e-06 9.99999701e-01 -4.06693111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46420382200006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:283.81, Y:-28.48, Z:-0.41 [[ 9.89398906e-01 1.45221273e-01 7.65507935e-04 2.83806742e+02] [-1.45221233e-01 9.89399203e-01 -1.07954733e-04 -2.84764113e+01] [-7.73070265e-04 -4.35771155e-06 9.99999701e-01 -4.09840700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.83, Y:-28.48, Z:-0.41 [[ 9.89544263e-01 1.44227478e-01 7.65513181e-04 2.83834152e+02] [-1.44227437e-01 9.89544559e-01 -1.07917521e-04 -2.84800103e+01] [-7.73074075e-04 -3.61884093e-06 9.99999701e-01 -4.06959414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.86, Y:-28.48, Z:-0.41 [[ 9.89868523e-01 1.41984931e-01 7.65519708e-04 2.83862193e+02] [-1.41984890e-01 9.89868819e-01 -1.07871205e-04 -2.84833899e+01] [-7.73080175e-04 -1.91392189e-06 9.99999701e-01 -4.06290025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.89, Y:-28.49, Z:-0.40 [[ 9.90043522e-01 1.40759507e-01 7.65529129e-04 2.83890700e+02] [-1.40759466e-01 9.90043818e-01 -1.07804301e-04 -2.84867418e+01] [-7.73081862e-04 -1.02452133e-06 9.99999701e-01 -4.01777903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.92, Y:-28.49, Z:-0.40 [[ 9.90385700e-01 1.38331411e-01 7.65534381e-04 2.83918636e+02] [-1.38331369e-01 9.90385996e-01 -1.07766995e-04 -2.84930226e+01] [-7.73082091e-04 8.33472058e-07 9.99999701e-01 -3.99886205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.95, Y:-28.50, Z:-0.40 [[ 9.90685662e-01 1.36166564e-01 7.65539647e-04 2.83945630e+02] [-1.36166522e-01 9.90685958e-01 -1.07729576e-04 -2.85004614e+01] [-7.73078544e-04 2.48527527e-06 9.99999701e-01 -4.00482540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.97, Y:-28.51, Z:-0.40 [[ 9.90837190e-01 1.35059532e-01 7.65548806e-04 2.83974036e+02] [-1.35059489e-01 9.90837486e-01 -1.07664450e-04 -2.85051047e+01] [-7.73075564e-04 3.28331107e-06 9.99999701e-01 -3.99082630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67420382200004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:284.00, Y:-28.51, Z:-0.40 [[ 9.90992512e-01 1.33915105e-01 7.65554007e-04 2.84002489e+02] [-1.33915062e-01 9.90992808e-01 -1.07627453e-04 -2.85091093e+01] [-7.73071457e-04 4.13878782e-06 9.99999701e-01 -4.02071001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70420382200007 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:284.03, Y:-28.51, Z:-0.40 [[ 9.91196014e-01 1.32400440e-01 7.65559271e-04 2.84030677e+02] [-1.32400397e-01 9.91196309e-01 -1.07589998e-04 -2.85144490e+01] [-7.73064487e-04 5.28242589e-06 9.99999701e-01 -4.02407821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.06, Y:-28.52, Z:-0.40 [[ 9.91252103e-01 1.31979855e-01 7.65564551e-04 2.84057522e+02] [-1.31979811e-01 9.91252399e-01 -1.07552413e-04 -2.85188436e+01] [-7.73062450e-04 5.57249067e-06 9.99999701e-01 -4.00924114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.09, Y:-28.53, Z:-0.40 [[ 9.91219725e-01 1.32222808e-01 7.65573710e-04 2.84085164e+02] [-1.32222765e-01 9.91220020e-01 -1.07487184e-04 -2.85277225e+01] [-7.73064245e-04 5.31714431e-06 9.99999701e-01 -4.01787057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.11, Y:-28.54, Z:-0.40 [[ 9.91160840e-01 1.32663494e-01 7.65578961e-04 2.84112262e+02] [-1.32663451e-01 9.91161136e-01 -1.07449771e-04 -2.85363858e+01] [-7.73066774e-04 4.93565847e-06 9.99999701e-01 -4.03401018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.8242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.14, Y:-28.55, Z:-0.40 [[ 9.90974330e-01 1.34049588e-01 7.65585499e-04 2.84138547e+02] [-1.34049545e-01 9.90974625e-01 -1.07403163e-04 -2.85463080e+01] [-7.73073153e-04 3.80738931e-06 9.99999701e-01 -4.03812879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.17, Y:-28.55, Z:-0.40 [[ 9.90887323e-01 1.34691229e-01 7.65596692e-04 2.84166642e+02] [-1.34691186e-01 9.90887619e-01 -1.07323319e-04 -2.85512076e+01] [-7.73075793e-04 3.22618956e-06 9.99999701e-01 -4.00624278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.19, Y:-28.56, Z:-0.40 [[ 9.90656364e-01 1.36379550e-01 7.65601926e-04 2.84193242e+02] [-1.36379508e-01 9.90656660e-01 -1.07285967e-04 -2.85607515e+01] [-7.73080259e-04 1.87111163e-06 9.99999701e-01 -4.00111021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.22, Y:-28.57, Z:-0.40 [[ 9.90483492e-01 1.37629451e-01 7.65608448e-04 2.84221534e+02] [-1.37629409e-01 9.90483788e-01 -1.07239403e-04 -2.85690829e+01] [-7.73082056e-04 8.48620256e-07 9.99999701e-01 -3.99196820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.25, Y:-28.58, Z:-0.40 [[ 9.89969845e-01 1.41276748e-01 7.65613607e-04 2.84248324e+02] [-1.41276708e-01 9.89970141e-01 -1.07202565e-04 -2.85794051e+01] [-7.73079840e-04 -2.03606275e-06 9.99999701e-01 -4.02001417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.28, Y:-28.59, Z:-0.40 [[ 9.89641979e-01 1.43555452e-01 7.65620025e-04 2.84276770e+02] [-1.43555412e-01 9.89642275e-01 -1.07156709e-04 -2.85863078e+01] [-7.73072873e-04 -3.86212024e-06 9.99999701e-01 -4.01317138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.30, Y:-28.60, Z:-0.40 [[ 9.88914894e-01 1.48481470e-01 7.65625143e-04 2.84303402e+02] [-1.48481431e-01 9.88915190e-01 -1.07120127e-04 -2.85966240e+01] [-7.73043688e-04 -7.74842816e-06 9.99999701e-01 -4.04965124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.33, Y:-28.60, Z:-0.40 [[ 9.88478598e-01 1.51358763e-01 7.65631490e-04 2.84330852e+02] [-1.51358726e-01 9.88478894e-01 -1.07074743e-04 -2.86026956e+01] [-7.73017269e-04 -1.00439146e-05 9.99999701e-01 -4.01201096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.064203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.36, Y:-28.61, Z:-0.40 [[ 9.87431843e-01 1.58043567e-01 7.65639350e-04 2.84357902e+02] [-1.58043531e-01 9.87432140e-01 -1.07018513e-04 -2.86092933e+01] [-7.72930489e-04 -1.53308590e-05 9.99999701e-01 -4.01233073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.39, Y:-28.61, Z:-0.40 [[ 9.86855243e-01 1.61604898e-01 7.65645862e-04 2.84385982e+02] [-1.61604864e-01 9.86855540e-01 -1.06971901e-04 -2.86148200e+01] [-7.72869044e-04 -1.81663138e-05 9.99999701e-01 -4.01376568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.41, Y:-28.62, Z:-0.40 [[ 9.85823766e-01 1.67782349e-01 7.65650889e-04 2.84413958e+02] [-1.67782317e-01 9.85824063e-01 -1.06935908e-04 -2.86211090e+01] [-7.72739028e-04 -2.30427200e-05 9.99999701e-01 -4.02589231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.44, Y:-28.62, Z:-0.40 [[ 9.85460479e-01 1.69903084e-01 7.65655925e-04 2.84440807e+02] [-1.69903052e-01 9.85460776e-01 -1.06899839e-04 -2.86249226e+01] [-7.72686494e-04 -2.47417122e-05 9.99999701e-01 -4.03599414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18420382200003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:284.47, Y:-28.63, Z:-0.41 [[ 9.85068510e-01 1.72161097e-01 7.65667139e-04 2.84469117e+02] [-1.72161066e-01 9.85068808e-01 -1.06819460e-04 -2.86294773e+01] [-7.72624971e-04 -2.65935849e-05 9.99999701e-01 -4.09514996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.50, Y:-28.63, Z:-0.41 [[ 9.85039291e-01 1.72328201e-01 7.65672111e-04 2.84496275e+02] [-1.72328170e-01 9.85039588e-01 -1.06783809e-04 -2.86334389e+01] [-7.72619202e-04 -2.67606268e-05 9.99999701e-01 -4.09787300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24420382200003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:284.53, Y:-28.64, Z:-0.41 [[ 9.85336423e-01 1.70621063e-01 7.65678282e-04 2.84525357e+02] [-1.70621032e-01 9.85336720e-01 -1.06739542e-04 -2.86361619e+01] [-7.72662941e-04 -2.54664602e-05 9.99999701e-01 -4.08157511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.55, Y:-28.64, Z:-0.41 [[ 9.85688284e-01 1.68576456e-01 7.65683397e-04 2.84551824e+02] [-1.68576424e-01 9.85688581e-01 -1.06702835e-04 -2.86405826e+01] [-7.72712967e-04 -2.39004341e-05 9.99999701e-01 -4.08771766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.58, Y:-28.65, Z:-0.41 [[ 9.86607066e-01 1.63113185e-01 7.65694696e-04 2.84580078e+02] [-1.63113151e-01 9.86607363e-01 -1.06621692e-04 -2.86453600e+01] [-7.72831429e-04 -1.97011602e-05 9.99999701e-01 -4.07703291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.61, Y:-28.65, Z:-0.41 [[ 9.87124416e-01 1.59952496e-01 7.65703193e-04 2.84609206e+02] [-1.59952461e-01 9.87124713e-01 -1.06560634e-04 -2.86487948e+01] [-7.72889184e-04 -1.72875071e-05 9.99999701e-01 -4.07855606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.64, Y:-28.65, Z:-0.41 [[ 9.88316592e-01 1.52413018e-01 7.65708407e-04 2.84637003e+02] [-1.52412981e-01 9.88316888e-01 -1.06523158e-04 -2.86546961e+01] [-7.72998066e-04 -1.14252963e-05 9.99999701e-01 -4.06673195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.66, Y:-28.66, Z:-0.40 [[ 9.89525269e-01 1.44357734e-01 7.65714950e-04 2.84664163e+02] [-1.44357695e-01 9.89525565e-01 -1.06476104e-04 -2.86625857e+01] [-7.73065168e-04 -5.17604951e-06 9.99999701e-01 -4.03589025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.69, Y:-28.67, Z:-0.40 [[ 9.90032664e-01 1.40835851e-01 7.65721477e-04 2.84693052e+02] [-1.40835811e-01 9.90032961e-01 -1.06429141e-04 -2.86669339e+01] [-7.73078540e-04 -2.47267912e-06 9.99999701e-01 -4.00538297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.72, Y:-28.67, Z:-0.41 [[ 9.90730037e-01 1.35843317e-01 7.65726809e-04 2.84720841e+02] [-1.35843276e-01 9.90730333e-01 -1.06390768e-04 -2.86722503e+01] [-7.73081252e-04 1.38569123e-06 9.99999701e-01 -4.05249396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48420382200004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:284.75, Y:-28.68, Z:-0.41 [[ 9.90900835e-01 1.34591788e-01 7.65733431e-04 2.84749413e+02] [-1.34591746e-01 9.90901131e-01 -1.06343089e-04 -2.86785426e+01] [-7.73079029e-04 2.31405647e-06 9.99999701e-01 -4.06118092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.78, Y:-28.69, Z:-0.41 [[ 9.90962242e-01 1.34138914e-01 7.65738765e-04 2.84777172e+02] [-1.34138872e-01 9.90962538e-01 -1.06304667e-04 -2.86859450e+01] [-7.73078022e-04 2.62857685e-06 9.99999701e-01 -4.06008069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.81, Y:-28.69, Z:-0.40 [[ 9.90887964e-01 1.34686512e-01 7.65742750e-04 2.84806153e+02] [-1.34686470e-01 9.90888260e-01 -1.06275951e-04 -2.86902235e+01] [-7.73079438e-04 2.17237256e-06 9.99999701e-01 -4.04930480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.83, Y:-28.70, Z:-0.40 [[ 9.90796097e-01 1.35360658e-01 7.65747985e-04 2.84834726e+02] [-1.35360616e-01 9.90796393e-01 -1.06238216e-04 -2.86950399e+01] [-7.73080817e-04 1.60829039e-06 9.99999701e-01 -4.03845945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.86, Y:-28.70, Z:-0.41 [[ 9.90614724e-01 1.36681679e-01 7.65753245e-04 2.84861974e+02] [-1.36681638e-01 9.90615020e-01 -1.06200288e-04 -2.87016734e+01] [-7.73082300e-04 5.39160736e-07 9.99999701e-01 -4.06369619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.89, Y:-28.71, Z:-0.40 [[ 9.90317943e-01 1.38815651e-01 7.65759772e-04 2.84890519e+02] [-1.38815611e-01 9.90318239e-01 -1.06153204e-04 -2.87070612e+01] [-7.73081596e-04 -1.17398816e-06 9.99999701e-01 -4.01773697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.92, Y:-28.71, Z:-0.40 [[ 9.90067949e-01 1.40587589e-01 7.65764915e-04 2.84918519e+02] [-1.40587549e-01 9.90068245e-01 -1.06116094e-04 -2.87113721e+01] [-7.73078131e-04 -2.59486947e-06 9.99999701e-01 -4.02765392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.95, Y:-28.72, Z:-0.40 [[ 9.89490473e-01 1.44596052e-01 7.65770032e-04 2.84946951e+02] [-1.44596013e-01 9.89490769e-01 -1.06079157e-04 -2.87157947e+01] [-7.73061005e-04 -5.76297878e-06 9.99999701e-01 -4.03560124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72420382200005 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:284.97, Y:-28.72, Z:-0.41 [[ 9.89181093e-01 1.46697573e-01 7.65775096e-04 2.84974678e+02] [-1.46697535e-01 9.89181390e-01 -1.06042587e-04 -2.87200799e+01] [-7.73046664e-04 -7.44199623e-06 9.99999701e-01 -4.07262563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.00, Y:-28.73, Z:-0.40 [[ 9.88744111e-01 1.49614490e-01 7.65781383e-04 2.85002461e+02] [-1.49614453e-01 9.88744408e-01 -1.05997166e-04 -2.87266287e+01] [-7.73020772e-04 -9.76788824e-06 9.99999701e-01 -4.01748091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.03, Y:-28.73, Z:-0.40 [[ 9.88608300e-01 1.50509280e-01 7.65786572e-04 2.85029965e+02] [-1.50509243e-01 9.88608596e-01 -1.05959663e-04 -2.87304444e+01] [-7.73011101e-04 -1.05053556e-05 9.99999701e-01 -4.02376606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.814203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:285.06, Y:-28.73, Z:-0.41 [[ 9.88612561e-01 1.50481286e-01 7.65793616e-04 2.85058018e+02] [-1.50481249e-01 9.88612858e-01 -1.05908732e-04 -2.87313086e+01] [-7.73010697e-04 -1.05348773e-05 9.99999701e-01 -4.06927323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.09, Y:-28.74, Z:-0.40 [[ 9.88679664e-01 1.50039779e-01 7.65799974e-04 2.85086401e+02] [-1.50039742e-01 9.88679961e-01 -1.05862739e-04 -2.87350382e+01] [-7.73014710e-04 -1.02360936e-05 9.99999701e-01 -4.04323466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.11, Y:-28.74, Z:-0.40 [[ 9.88806019e-01 1.49204795e-01 7.65805035e-04 2.85114973e+02] [-1.49204758e-01 9.88806315e-01 -1.05826114e-04 -2.87396376e+01] [-7.73022618e-04 -9.62025596e-06 9.99999701e-01 -4.04232224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.14, Y:-28.75, Z:-0.40 [[ 9.89075551e-01 1.47407488e-01 7.65810182e-04 2.85143686e+02] [-1.47407450e-01 9.89075848e-01 -1.05788853e-04 -2.87450215e+01] [-7.73038424e-04 -8.25295783e-06 9.99999701e-01 -4.04661489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.17, Y:-28.75, Z:-0.41 [[ 9.89141835e-01 1.46962051e-01 7.65815428e-04 2.85170934e+02] [-1.46962013e-01 9.89142131e-01 -1.05750861e-04 -2.87498073e+01] [-7.73041668e-04 -7.94317589e-06 9.99999701e-01 -4.08069825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96420382200006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.20, Y:-28.76, Z:-0.41 [[ 9.89227682e-01 1.46383082e-01 7.65821955e-04 2.85199140e+02] [-1.46383045e-01 9.89227978e-01 -1.05703579e-04 -2.87558275e+01] [-7.73045720e-04 -7.53844284e-06 9.99999701e-01 -4.06714359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.23, Y:-28.76, Z:-0.41 [[ 9.89282730e-01 1.46010597e-01 7.65827146e-04 2.85228204e+02] [-1.46010559e-01 9.89283026e-01 -1.05665957e-04 -2.87596239e+01] [-7.73048145e-04 -7.28534314e-06 9.99999701e-01 -4.05450457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.26, Y:-28.76, Z:-0.41 [[ 9.89478423e-01 1.44678486e-01 7.65832406e-04 2.85256518e+02] [-1.44678447e-01 9.89478719e-01 -1.05627820e-04 -2.87621030e+01] [-7.73056941e-04 -6.28299513e-06 9.99999701e-01 -4.05775967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.29, Y:-28.77, Z:-0.41 [[ 9.89658784e-01 1.43439552e-01 7.65837652e-04 2.85285212e+02] [-1.43439513e-01 9.89659080e-01 -1.05589768e-04 -2.87660700e+01] [-7.73063935e-04 -5.35353797e-06 9.99999701e-01 -4.09292087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08420382200006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.31, Y:-28.77, Z:-0.41 [[ 9.89861133e-01 1.42036445e-01 7.65841558e-04 2.85313978e+02] [-1.42036405e-01 9.89861429e-01 -1.05561428e-04 -2.87709155e+01] [-7.73070589e-04 -4.28622775e-06 9.99999701e-01 -4.07868540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.34, Y:-28.78, Z:-0.41 [[ 9.90240955e-01 1.39363782e-01 7.65846755e-04 2.85343561e+02] [-1.39363742e-01 9.90241252e-01 -1.05523709e-04 -2.87764308e+01] [-7.73079233e-04 -2.23737144e-06 9.99999701e-01 -4.07398093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.37, Y:-28.78, Z:-0.41 [[ 9.90598978e-01 1.36795751e-01 7.65849349e-04 2.85372750e+02] [-1.36795710e-01 9.90599275e-01 -1.05504880e-04 -2.87822482e+01] [-7.73082429e-04 -2.51878731e-07 9.99999701e-01 -4.08641908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.40, Y:-28.79, Z:-0.41 [[ 9.90753688e-01 1.35670715e-01 7.65851958e-04 2.85401351e+02] [-1.35670674e-01 9.90753984e-01 -1.05485938e-04 -2.87862502e+01] [-7.73082232e-04 6.06931005e-07 9.99999701e-01 -4.10421297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.43, Y:-28.79, Z:-0.41 [[ 9.90886610e-01 1.34696475e-01 7.65855858e-04 2.85431238e+02] [-1.34696433e-01 9.90886906e-01 -1.05457621e-04 -2.87900760e+01] [-7.73081311e-04 1.33849238e-06 9.99999701e-01 -4.07893458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.46, Y:-28.79, Z:-0.41 [[ 9.90893293e-01 1.34647303e-01 7.65858474e-04 2.85460297e+02] [-1.34647261e-01 9.90893589e-01 -1.05438619e-04 -2.87939860e+01] [-7.73081277e-04 1.35767467e-06 9.99999701e-01 -4.07916125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.49, Y:-28.80, Z:-0.40 [[ 9.91177303e-01 1.32540440e-01 7.65863704e-04 2.85488260e+02] [-1.32540398e-01 9.91177599e-01 -1.05400614e-04 -2.87972868e+01] [-7.73076791e-04 2.96281639e-06 9.99999701e-01 -4.04693966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.52, Y:-28.80, Z:-0.40 [[ 9.91411652e-01 1.30775955e-01 7.65868905e-04 2.85516371e+02] [-1.30775913e-01 9.91411947e-01 -1.05362810e-04 -2.88005663e+01] [-7.73070505e-04 4.30071260e-06 9.99999701e-01 -4.04951482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.3242038220001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:285.55, Y:-28.80, Z:-0.41 [[ 9.91537695e-01 1.29816843e-01 7.65871815e-04 2.85545730e+02] [-1.29816801e-01 9.91537991e-01 -1.05341652e-04 -2.88043176e+01] [-7.73066121e-04 5.02718979e-06 9.99999701e-01 -4.05265896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.57, Y:-28.81, Z:-0.40 [[ 9.91643802e-01 1.29003808e-01 7.65874396e-04 2.85574845e+02] [-1.29003765e-01 9.91644098e-01 -1.05322886e-04 -2.88093525e+01] [-7.73061878e-04 5.64210652e-06 9.99999701e-01 -4.01939268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.60, Y:-28.81, Z:-0.40 [[ 9.91750390e-01 1.28181816e-01 7.65877036e-04 2.85602737e+02] [-1.28181773e-01 9.91750685e-01 -1.05303685e-04 -2.88142951e+01] [-7.73057093e-04 6.26349407e-06 9.99999701e-01 -4.02819014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41420382200005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:285.63, Y:-28.82, Z:-0.41 [[ 9.91784721e-01 1.27915909e-01 7.65880971e-04 2.85632251e+02] [-1.27915866e-01 9.91785017e-01 -1.05275054e-04 -2.88178787e+01] [-7.73055626e-04 6.44186271e-06 9.99999701e-01 -4.06105419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.66, Y:-28.82, Z:-0.40 [[ 9.91848794e-01 1.27418144e-01 7.65883585e-04 2.85660535e+02] [-1.27418101e-01 9.91849090e-01 -1.05256035e-04 -2.88222380e+01] [-7.73052465e-04 6.81063938e-06 9.99999701e-01 -4.04155857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.69, Y:-28.83, Z:-0.41 [[ 9.91818190e-01 1.27656148e-01 7.65887483e-04 2.85689263e+02] [-1.27656105e-01 9.91818485e-01 -1.05227666e-04 -2.88254968e+01] [-7.73054322e-04 6.59649969e-06 9.99999701e-01 -4.07095839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.72, Y:-28.83, Z:-0.41 [[ 9.91792863e-01 1.27852771e-01 7.65889902e-04 2.85717400e+02] [-1.27852727e-01 9.91793158e-01 -1.05210054e-04 -2.88286886e+01] [-7.73055762e-04 6.42546809e-06 9.99999701e-01 -4.08947285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.75, Y:-28.83, Z:-0.41 [[ 9.91812583e-01 1.27699704e-01 7.65893626e-04 2.85746980e+02] [-1.27699661e-01 9.91812878e-01 -1.05182936e-04 -2.88324743e+01] [-7.73054992e-04 6.51740328e-06 9.99999701e-01 -4.05399293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.78, Y:-28.84, Z:-0.40 [[ 9.91950818e-01 1.26621434e-01 7.65896199e-04 2.85776083e+02] [-1.26621391e-01 9.91951114e-01 -1.05164201e-04 -2.88390862e+01] [-7.73047630e-04 7.33887375e-06 9.99999701e-01 -4.04361778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.81, Y:-28.84, Z:-0.40 [[ 9.92067815e-01 1.25701488e-01 7.65895577e-04 2.85805752e+02] [-1.25701444e-01 9.92068111e-01 -1.05168731e-04 -2.88440085e+01] [-7.73040444e-04 8.06033287e-06 9.99999701e-01 -4.02811510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.83, Y:-28.85, Z:-0.40 [[ 9.92265182e-01 1.24133885e-01 7.65898135e-04 2.85834541e+02] [-1.24133841e-01 9.92265478e-01 -1.05150100e-04 -2.88491719e+01] [-7.73026969e-04 9.26290552e-06 9.99999701e-01 -4.01335548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.86, Y:-28.85, Z:-0.40 [[ 9.92330492e-01 1.23610711e-01 7.65899405e-04 2.85864350e+02] [-1.23610667e-01 9.92330788e-01 -1.05140844e-04 -2.88542041e+01] [-7.73022095e-04 9.66112953e-06 9.99999701e-01 -3.98284580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.89, Y:-28.86, Z:-0.40 [[ 9.92309574e-01 1.23778520e-01 7.65899405e-04 2.85893774e+02] [-1.23778476e-01 9.92309870e-01 -1.05140844e-04 -2.88611620e+01] [-7.73023717e-04 9.53040509e-06 9.99999701e-01 -3.97383692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.92, Y:-28.87, Z:-0.40 [[ 9.92261546e-01 1.24162950e-01 7.65901957e-04 2.85922527e+02] [-1.24162906e-01 9.92261841e-01 -1.05122253e-04 -2.88659858e+01] [-7.73027575e-04 9.21215677e-06 9.99999701e-01 -3.98553163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.95, Y:-28.87, Z:-0.40 [[ 9.92172344e-01 1.24873748e-01 7.65904778e-04 2.85952023e+02] [-1.24873704e-01 9.92172640e-01 -1.05101698e-04 -2.88708117e+01] [-7.73034208e-04 8.63763159e-06 9.99999701e-01 -3.99181908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.98, Y:-28.88, Z:-0.40 [[ 9.91890269e-01 1.27094879e-01 7.65906024e-04 2.85981172e+02] [-1.27094836e-01 9.91890564e-01 -1.05092618e-04 -2.88776108e+01] [-7.73051692e-04 6.89764442e-06 9.99999701e-01 -4.01920329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80420382200003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:286.01, Y:-28.88, Z:-0.40 [[ 9.91501125e-01 1.30095858e-01 7.65908528e-04 2.86010367e+02] [-1.30095816e-01 9.91501421e-01 -1.05074360e-04 -2.88831839e+01] [-7.73069133e-04 4.53985137e-06 9.99999701e-01 -4.02174275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.04, Y:-28.89, Z:-0.40 [[ 9.91225931e-01 1.32176271e-01 7.65911130e-04 2.86038960e+02] [-1.32176229e-01 9.91226227e-01 -1.05055394e-04 -2.88888898e+01] [-7.73077030e-04 2.89838609e-06 9.99999701e-01 -4.01490803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.07, Y:-28.89, Z:-0.40 [[ 9.90973244e-01 1.34057610e-01 7.65912426e-04 2.86068294e+02] [-1.34057569e-01 9.90973540e-01 -1.05045943e-04 -2.88945767e+01] [-7.73081156e-04 1.42136066e-06 9.99999701e-01 -4.02607349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.10, Y:-28.90, Z:-0.40 [[ 9.90499950e-01 1.37510954e-01 7.65913655e-04 2.86097868e+02] [-1.37510914e-01 9.90500246e-01 -1.05036984e-04 -2.89004209e+01] [-7.73081399e-04 -1.28235929e-06 9.99999701e-01 -4.03942585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.13, Y:-28.90, Z:-0.41 [[ 9.90266280e-01 1.39183722e-01 7.65914961e-04 2.86127286e+02] [-1.39183682e-01 9.90266576e-01 -1.05027454e-04 -2.89049681e+01] [-7.73078098e-04 -2.59771830e-06 9.99999701e-01 -4.07382059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.16, Y:-28.91, Z:-0.40 [[ 9.89866833e-01 1.41996712e-01 7.65916265e-04 2.86156586e+02] [-1.41996673e-01 9.89867129e-01 -1.05017949e-04 -2.89119356e+01] [-7.73067538e-04 -4.80377644e-06 9.99999701e-01 -4.04327352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.19, Y:-28.92, Z:-0.40 [[ 9.89642130e-01 1.43554404e-01 7.65917566e-04 2.86186024e+02] [-1.43554366e-01 9.89642427e-01 -1.05008457e-04 -2.89176427e+01] [-7.73058945e-04 -6.03001788e-06 9.99999701e-01 -4.04852835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.21, Y:-28.92, Z:-0.41 [[ 9.89249482e-01 1.46235688e-01 7.65918855e-04 2.86214494e+02] [-1.46235650e-01 9.89249778e-01 -1.04999056e-04 -2.89238219e+01] [-7.73039666e-04 -8.13438039e-06 9.99999701e-01 -4.07177710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.24, Y:-28.93, Z:-0.40 [[ 9.89035822e-01 1.47673817e-01 7.65915048e-04 2.86243910e+02] [-1.47673780e-01 9.89036118e-01 -1.05026818e-04 -2.89302983e+01] [-7.73027357e-04 -9.23028515e-06 9.99999701e-01 -4.03388880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.27, Y:-28.94, Z:-0.40 [[ 9.88655570e-01 1.50198459e-01 7.65916291e-04 2.86273634e+02] [-1.50198423e-01 9.88655867e-01 -1.05017751e-04 -2.89381519e+01] [-7.73001139e-04 -1.12130343e-05 9.99999701e-01 -4.02334024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.30, Y:-28.94, Z:-0.41 [[ 9.88433811e-01 1.51650963e-01 7.65916291e-04 2.86302378e+02] [-1.51650927e-01 9.88434108e-01 -1.05017751e-04 -2.89424196e+01] [-7.72983829e-04 -1.23488195e-05 9.99999701e-01 -4.05468559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.33, Y:-28.95, Z:-0.41 [[ 9.87943936e-01 1.54810181e-01 7.65917579e-04 2.86331314e+02] [-1.54810147e-01 9.87944233e-01 -1.05008359e-04 -2.89462784e+01] [-7.72940218e-04 -1.48294408e-05 9.99999701e-01 -4.06333868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.36, Y:-28.95, Z:-0.41 [[ 9.87750887e-01 1.56037173e-01 7.65916823e-04 2.86359508e+02] [-1.56037139e-01 9.87751183e-01 -1.05013868e-04 -2.89504323e+01] [-7.72921316e-04 -1.57839280e-05 9.99999701e-01 -4.06084946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.39, Y:-28.96, Z:-0.40 [[ 9.87506837e-01 1.57574303e-01 7.65920531e-04 2.86389392e+02] [-1.57574268e-01 9.87507134e-01 -1.04986823e-04 -2.89557337e+01] [-7.72895213e-04 -1.70141623e-05 9.99999701e-01 -4.01798236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.42, Y:-28.96, Z:-0.40 [[ 9.87433276e-01 1.58034612e-01 7.65920531e-04 2.86418719e+02] [-1.58034578e-01 9.87433573e-01 -1.04986823e-04 -2.89598333e+01] [-7.72887198e-04 -1.73744460e-05 9.99999701e-01 -4.01412029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.45, Y:-28.96, Z:-0.40 [[ 9.87360692e-01 1.58487469e-01 7.65919449e-04 2.86448937e+02] [-1.58487435e-01 9.87360989e-01 -1.04994711e-04 -2.89640639e+01] [-7.72879331e-04 -1.77209581e-05 9.99999701e-01 -4.01214895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.48, Y:-28.97, Z:-0.40 [[ 9.87226848e-01 1.59319066e-01 7.65919449e-04 2.86477573e+02] [-1.59319032e-01 9.87227145e-01 -1.04994711e-04 -2.89695102e+01] [-7.72864130e-04 -1.83719474e-05 9.99999701e-01 -4.03957645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.51, Y:-28.97, Z:-0.40 [[ 9.87364444e-01 1.58464089e-01 7.65920726e-04 2.86508392e+02] [-1.58464055e-01 9.87364741e-01 -1.04985400e-04 -2.89729119e+01] [-7.72879535e-04 -1.77120526e-05 9.99999701e-01 -4.02558967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.54, Y:-28.98, Z:-0.40 [[ 9.87589451e-01 1.57055691e-01 7.65920726e-04 2.86537167e+02] [-1.57055656e-01 9.87589748e-01 -1.04985400e-04 -2.89772146e+01] [-7.72904011e-04 -1.66097084e-05 9.99999701e-01 -4.02491724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.57, Y:-28.98, Z:-0.41 [[ 9.87944140e-01 1.54808883e-01 7.65923313e-04 2.86566033e+02] [-1.54808848e-01 9.87944436e-01 -1.04966522e-04 -2.89823946e+01] [-7.72939426e-04 -1.48706451e-05 9.99999701e-01 -4.05552797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.60, Y:-28.99, Z:-0.40 [[ 9.88763487e-01 1.49486389e-01 7.65924562e-04 2.86596458e+02] [-1.49486352e-01 9.88763783e-01 -1.04957406e-04 -2.89897648e+01] [-7.73008171e-04 -1.07172179e-05 9.99999701e-01 -4.02143722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.63, Y:-29.00, Z:-0.40 [[ 9.89180571e-01 1.46701093e-01 7.65922066e-04 2.86627049e+02] [-1.46701056e-01 9.89180868e-01 -1.04975617e-04 -2.89950726e+01] [-7.73035492e-04 -8.52173561e-06 9.99999701e-01 -4.01236358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46420382200006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:286.66, Y:-29.00, Z:-0.41 [[ 9.89763513e-01 1.42715105e-01 7.65919487e-04 2.86657810e+02] [-1.42715066e-01 9.89763810e-01 -1.04994430e-04 -2.90037755e+01] [-7.73063680e-04 -5.38859432e-06 9.99999701e-01 -4.08002879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.69, Y:-29.01, Z:-0.40 [[ 9.89931543e-01 1.41544883e-01 7.65901463e-04 2.86688862e+02] [-1.41544844e-01 9.89931839e-01 -1.05125748e-04 -2.90109464e+01] [-7.73070255e-04 -4.34210965e-06 9.99999701e-01 -4.04613927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.72, Y:-29.02, Z:-0.41 [[ 9.89915992e-01 1.41653599e-01 7.65898963e-04 2.86719718e+02] [-1.41653560e-01 9.89916288e-01 -1.05143958e-04 -2.90159362e+01] [-7.73069878e-04 -4.40862976e-06 9.99999701e-01 -4.06026168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.75, Y:-29.02, Z:-0.41 [[ 9.89855706e-01 1.42074260e-01 7.65882833e-04 2.86749358e+02] [-1.42074221e-01 9.89856002e-01 -1.05261322e-04 -2.90204463e+01] [-7.73068643e-04 -4.61868677e-06 9.99999701e-01 -4.08066349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:286.78, Y:-29.03, Z:-0.41 [[ 9.89649575e-01 1.43503071e-01 7.65881597e-04 2.86780650e+02] [-1.43503033e-01 9.89649872e-01 -1.05270314e-04 -2.90276503e+01] [-7.73061237e-04 -5.72561032e-06 9.99999701e-01 -4.09073418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.81, Y:-29.03, Z:-0.41 [[ 9.89452963e-01 1.44852505e-01 7.65863836e-04 2.86812386e+02] [-1.44852467e-01 9.89453259e-01 -1.05399371e-04 -2.90341886e+01] [-7.73053831e-04 -6.64954596e-06 9.99999701e-01 -4.06186896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.84, Y:-29.04, Z:-0.41 [[ 9.89261643e-01 1.46153399e-01 7.65845736e-04 2.86844118e+02] [-1.46153361e-01 9.89261939e-01 -1.05530720e-04 -2.90391038e+01] [-7.73045711e-04 -7.53343487e-06 9.99999701e-01 -4.05650368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.88, Y:-29.04, Z:-0.40 [[ 9.88751517e-01 1.49565543e-01 7.65827460e-04 2.86875681e+02] [-1.49565506e-01 9.88751813e-01 -1.05663181e-04 -2.90429095e+01] [-7.73016861e-04 -1.00667410e-05 9.99999701e-01 -4.03887702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.91, Y:-29.05, Z:-0.41 [[ 9.88435254e-01 1.51641559e-01 7.65808721e-04 2.86906434e+02] [-1.51641523e-01 9.88435550e-01 -1.05798819e-04 -2.90482195e+01] [-7.72996063e-04 -1.15531182e-05 9.99999701e-01 -4.07739635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.94, Y:-29.05, Z:-0.41 [[ 9.87802193e-01 1.55712048e-01 7.65791367e-04 2.86936841e+02] [-1.55712012e-01 9.87802489e-01 -1.05924287e-04 -2.90523621e+01] [-7.72944306e-04 -1.46106713e-05 9.99999701e-01 -4.05418020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.97, Y:-29.05, Z:-0.40 [[ 9.87443149e-01 1.57972914e-01 7.65791367e-04 2.86968063e+02] [-1.57972880e-01 9.87443446e-01 -1.05924287e-04 -2.90549356e+01] [-7.72908834e-04 -1.63800554e-05 9.99999701e-01 -4.04456223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.00, Y:-29.06, Z:-0.41 [[ 9.86781250e-01 1.62056099e-01 7.65788831e-04 2.86997912e+02] [-1.62056065e-01 9.86781546e-01 -1.05942616e-04 -2.90556774e+01] [-7.72834934e-04 -1.95585375e-05 9.99999701e-01 -4.05422840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.8242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.03, Y:-29.06, Z:-0.40 [[ 9.86514843e-01 1.63670030e-01 7.65790092e-04 2.87028817e+02] [-1.63669997e-01 9.86515140e-01 -1.05933502e-04 -2.90582658e+01] [-7.72801659e-04 -2.08318899e-05 9.99999701e-01 -4.04036094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.06, Y:-29.06, Z:-0.40 [[ 9.86359671e-01 1.64602590e-01 7.65790092e-04 2.87059606e+02] [-1.64602557e-01 9.86359968e-01 -1.05933502e-04 -2.90599973e+01] [-7.72781619e-04 -2.15624736e-05 9.99999701e-01 -4.02256542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:-29.06, Z:-0.40 [[ 9.86473815e-01 1.63917134e-01 7.65790092e-04 2.87088828e+02] [-1.63917101e-01 9.86474112e-01 -1.05933502e-04 -2.90605505e+01] [-7.72796416e-04 -2.10254663e-05 9.99999701e-01 -4.01595657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.12, Y:-29.06, Z:-0.40 [[ 9.86723157e-01 1.62409438e-01 7.65792566e-04 2.87119352e+02] [-1.62409404e-01 9.86723454e-01 -1.05915609e-04 -2.90641670e+01] [-7.72827180e-04 -1.98625304e-05 9.99999701e-01 -4.01241568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.944203822 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:287.15, Y:-29.07, Z:-0.41 [[ 9.87549611e-01 1.57306007e-01 7.65792566e-04 2.87150384e+02] [-1.57305972e-01 9.87549908e-01 -1.05915609e-04 -2.90653375e+01] [-7.72919540e-04 -1.58668255e-05 9.99999701e-01 -4.05400227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97420382200005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:287.18, Y:-29.07, Z:-0.40 [[ 9.88073670e-01 1.53979984e-01 7.65792566e-04 2.87180830e+02] [-1.53979948e-01 9.88073967e-01 -1.05915609e-04 -2.90683248e+01] [-7.72968583e-04 -1.32642751e-05 9.99999701e-01 -4.02084405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.21, Y:-29.07, Z:-0.40 [[ 9.89089234e-01 1.47315651e-01 7.65792566e-04 2.87210942e+02] [-1.47315613e-01 9.89089530e-01 -1.05915609e-04 -2.90728861e+01] [-7.73040437e-04 -8.05321281e-06 9.99999701e-01 -4.04426319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03420382200005 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:287.24, Y:-29.08, Z:-0.41 [[ 9.89562969e-01 1.44099079e-01 7.65789980e-04 2.87241597e+02] [-1.44099040e-01 9.89563265e-01 -1.05934309e-04 -2.90781551e+01] [-7.73062669e-04 -5.52093205e-06 9.99999701e-01 -4.05817164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.27, Y:-29.08, Z:-0.40 [[ 9.89959003e-01 1.41352699e-01 7.65787391e-04 2.87272104e+02] [-1.41352659e-01 9.89959299e-01 -1.05953021e-04 -2.90844666e+01] [-7.73075094e-04 -3.35693713e-06 9.99999701e-01 -4.03660504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.30, Y:-29.09, Z:-0.40 [[ 9.90514985e-01 1.37402613e-01 7.65782329e-04 2.87303569e+02] [-1.37402572e-01 9.90515281e-01 -1.05989589e-04 -2.90926950e+01] [-7.73082346e-04 -2.36185737e-07 9.99999701e-01 -4.02475473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.34, Y:-29.10, Z:-0.40 [[ 9.90491412e-01 1.37572440e-01 7.65764069e-04 2.87335901e+02] [-1.37572399e-01 9.90491708e-01 -1.06121355e-04 -2.90973225e+01] [-7.73082334e-04 -2.35708513e-07 9.99999701e-01 -4.02500734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15420382200006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:287.37, Y:-29.10, Z:-0.41 [[ 9.90624057e-01 1.36614025e-01 7.65745851e-04 2.87367698e+02] [-1.36613983e-01 9.90624353e-01 -1.06252646e-04 -2.91031526e+01] [-7.73082090e-04 6.44836689e-07 9.99999701e-01 -4.07086315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18420382200003 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:287.40, Y:-29.11, Z:-0.41 [[ 9.90568768e-01 1.37014343e-01 7.65727523e-04 2.87399487e+02] [-1.37014301e-01 9.90569064e-01 -1.06384572e-04 -2.91080582e+01] [-7.73082207e-04 4.65612596e-07 9.99999701e-01 -4.07934387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21420382200006 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:287.43, Y:-29.11, Z:-0.41 [[ 9.90440478e-01 1.37938657e-01 7.65709064e-04 2.87431452e+02] [-1.37938616e-01 9.90440774e-01 -1.06517263e-04 -2.91144555e+01] [-7.73082326e-04 -1.21838996e-07 9.99999701e-01 -4.07225098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.46, Y:-29.12, Z:-0.40 [[ 9.90121213e-01 1.40211970e-01 7.65690553e-04 2.87462652e+02] [-1.40211930e-01 9.90121509e-01 -1.06650161e-04 -2.91240912e+01] [-7.73080315e-04 -1.76236296e-06 9.99999701e-01 -4.03725409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27420382200006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:287.49, Y:-29.13, Z:-0.40 [[ 9.89635576e-01 1.43599585e-01 7.65671934e-04 2.87494030e+02] [-1.43599545e-01 9.89635872e-01 -1.06783667e-04 -2.91323729e+01] [-7.73070502e-04 -4.27322545e-06 9.99999701e-01 -4.04600484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.53, Y:-29.14, Z:-0.41 [[ 9.89402438e-01 1.45197209e-01 7.65653238e-04 2.87525792e+02] [-1.45197170e-01 9.89402734e-01 -1.06917552e-04 -2.91379679e+01] [-7.73063537e-04 -5.38619609e-06 9.99999701e-01 -4.05366974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33420382200006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:287.56, Y:-29.14, Z:-0.41 [[ 9.89090303e-01 1.47308475e-01 7.65633267e-04 2.87556243e+02] [-1.47308436e-01 9.89090599e-01 -1.07060375e-04 -2.91445686e+01] [-7.73051567e-04 -6.89186032e-06 9.99999701e-01 -4.07740291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.59, Y:-29.15, Z:-0.40 [[ 9.88629589e-01 1.50369377e-01 7.65616870e-04 2.87587494e+02] [-1.50369339e-01 9.88629885e-01 -1.07177504e-04 -2.91533385e+01] [-7.73027933e-04 -9.16645095e-06 9.99999701e-01 -4.03527357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.62, Y:-29.16, Z:-0.40 [[ 9.88284029e-01 1.52624021e-01 7.65599294e-04 2.87618915e+02] [-1.52623984e-01 9.88284325e-01 -1.07302903e-04 -2.91589570e+01] [-7.73006783e-04 -1.08030689e-05 9.99999701e-01 -4.01583421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.65, Y:-29.16, Z:-0.40 [[ 9.87479904e-01 1.57742994e-01 7.65581601e-04 2.87649918e+02] [-1.57742959e-01 9.87480201e-01 -1.07428995e-04 -2.91647428e+01] [-7.72942844e-04 -1.46811334e-05 9.99999701e-01 -4.00445667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.68, Y:-29.17, Z:-0.40 [[ 9.87047393e-01 1.60427111e-01 7.65565251e-04 2.87681304e+02] [-1.60427076e-01 9.87047690e-01 -1.07545383e-04 -2.91700227e+01] [-7.72902607e-04 -1.66650046e-05 9.99999701e-01 -3.98865917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.71, Y:-29.18, Z:-0.40 [[ 9.86092151e-01 1.66197722e-01 7.65546941e-04 2.87710754e+02] [-1.66197689e-01 9.86092448e-01 -1.07675564e-04 -2.91750735e+01] [-7.72795490e-04 -2.10541035e-05 9.99999701e-01 -4.01963167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51420382200007 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:287.74, Y:-29.18, Z:-0.41 [[ 9.85695172e-01 1.68536171e-01 7.65887222e-04 2.87742098e+02] [-1.68536140e-01 9.85695469e-01 -1.05255780e-04 -2.91798368e+01] [-7.72670971e-04 -2.53295620e-05 9.99999701e-01 -4.05716306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.77, Y:-29.18, Z:-0.40 [[ 9.85041967e-01 1.72312906e-01 7.65535673e-04 2.87772524e+02] [-1.72312874e-01 9.85042264e-01 -1.07753365e-04 -2.91827770e+01] [-7.72652288e-04 -2.57700654e-05 9.99999701e-01 -4.04977688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.80, Y:-29.19, Z:-0.40 [[ 9.84843606e-01 1.73443031e-01 7.65534420e-04 2.87804105e+02] [-1.73443000e-01 9.84843903e-01 -1.07762265e-04 -2.91855580e+01] [-7.72622520e-04 -2.66476084e-05 9.99999701e-01 -4.04683944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.84, Y:-29.19, Z:-0.41 [[ 9.84759217e-01 1.73921532e-01 7.65531886e-04 2.87835619e+02] [-1.73921501e-01 9.84759514e-01 -1.07780264e-04 -2.91883582e+01] [-7.72610116e-04 -2.70048464e-05 9.99999701e-01 -4.05639897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.87, Y:-29.19, Z:-0.40 [[ 9.85034601e-01 1.72355009e-01 7.65529366e-04 2.87866692e+02] [-1.72354977e-01 9.85034898e-01 -1.07798161e-04 -2.91922703e+01] [-7.72652694e-04 -2.57578772e-05 9.99999701e-01 -4.04195597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.90, Y:-29.20, Z:-0.41 [[ 9.85534654e-01 1.69472298e-01 7.65526787e-04 2.87896451e+02] [-1.69472266e-01 9.85534951e-01 -1.07816472e-04 -2.91951629e+01] [-7.72725310e-04 -2.34786891e-05 9.99999701e-01 -4.09636724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.93, Y:-29.20, Z:-0.41 [[ 9.85760683e-01 1.68152579e-01 7.65525502e-04 2.87927305e+02] [-1.68152546e-01 9.85760980e-01 -1.07825594e-04 -2.91978019e+01] [-7.72756321e-04 -2.24348312e-05 9.99999701e-01 -4.07192809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.96, Y:-29.20, Z:-0.41 [[ 9.86231616e-01 1.65368117e-01 7.65522968e-04 2.87959099e+02] [-1.65368083e-01 9.86231913e-01 -1.07843582e-04 -2.91992560e+01] [-7.72817071e-04 -2.02343155e-05 9.99999701e-01 -4.07454086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.99, Y:-29.20, Z:-0.41 [[ 9.86527890e-01 1.63591368e-01 7.65520439e-04 2.87988837e+02] [-1.63591334e-01 9.86528187e-01 -1.07861533e-04 -2.92032477e+01] [-7.72852706e-04 -1.88240985e-05 9.99999701e-01 -4.06986260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.02, Y:-29.21, Z:-0.41 [[ 9.86915319e-01 1.61237610e-01 7.65519182e-04 2.88019843e+02] [-1.61237575e-01 9.86915616e-01 -1.07870449e-04 -2.92069528e+01] [-7.72895609e-04 -1.69714578e-05 9.99999701e-01 -4.05879648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.814203822 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:288.05, Y:-29.21, Z:-0.41 [[ 9.87794004e-01 1.55763989e-01 7.65516677e-04 2.88049795e+02] [-1.55763952e-01 9.87794300e-01 -1.07888225e-04 -2.92089915e+01] [-7.72978111e-04 -1.26685611e-05 9.99999701e-01 -4.08263840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84420382200005 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:288.08, Y:-29.21, Z:-0.40 [[ 9.88742656e-01 1.49624110e-01 7.65514177e-04 2.88081296e+02] [-1.49624071e-01 9.88742952e-01 -1.07905964e-04 -2.92126418e+01] [-7.73042081e-04 -7.84811878e-06 9.99999701e-01 -4.03398385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.11, Y:-29.22, Z:-0.40 [[ 9.89179686e-01 1.46707062e-01 7.65497231e-04 2.88112859e+02] [-1.46707023e-01 9.89179983e-01 -1.08026047e-04 -2.92177700e+01] [-7.73062721e-04 -5.44664811e-06 9.99999701e-01 -4.02980923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.14, Y:-29.22, Z:-0.40 [[ 9.89553156e-01 1.44166448e-01 7.65477765e-04 2.88143223e+02] [-1.44166407e-01 9.89553453e-01 -1.08163805e-04 -2.92220760e+01] [-7.73074757e-04 -3.32234431e-06 9.99999701e-01 -4.02693679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.18, Y:-29.22, Z:-0.40 [[ 9.90001001e-01 1.41058257e-01 7.65476524e-04 2.88175342e+02] [-1.41058215e-01 9.90001297e-01 -1.08172585e-04 -2.92248513e+01] [-7.73081388e-04 -8.85784876e-07 9.99999701e-01 -3.98242675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.21, Y:-29.23, Z:-0.40 [[ 9.90115060e-01 1.40255417e-01 7.65458316e-04 2.88206340e+02] [-1.40255375e-01 9.90115356e-01 -1.08301278e-04 -2.92299247e+01] [-7.73081874e-04 -1.28916876e-07 9.99999701e-01 -3.99538114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99420382200003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:288.24, Y:-29.23, Z:-0.40 [[ 9.90020243e-01 1.40923141e-01 7.65441472e-04 2.88237980e+02] [-1.40923099e-01 9.90020539e-01 -1.08420198e-04 -2.92342700e+01] [-7.73081694e-04 -5.30193687e-07 9.99999701e-01 -4.00833430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:288.27, Y:-29.24, Z:-0.40 [[ 9.89867766e-01 1.41990214e-01 7.65422684e-04 2.88269620e+02] [-1.41990172e-01 9.89868062e-01 -1.08552673e-04 -2.92367846e+01] [-7.73080886e-04 -1.22970691e-06 9.99999701e-01 -4.01990240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05420382200003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:288.30, Y:-29.24, Z:-0.41 [[ 9.89427285e-01 1.45027798e-01 7.65403997e-04 2.88300465e+02] [-1.45027757e-01 9.89427581e-01 -1.08684275e-04 -2.92408626e+01] [-7.73074066e-04 -3.46963843e-06 9.99999701e-01 -4.06199578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.33, Y:-29.25, Z:-0.40 [[ 9.89170616e-01 1.46768209e-01 7.65386784e-04 2.88331472e+02] [-1.46768169e-01 9.89170912e-01 -1.08805363e-04 -2.92451832e+01] [-7.73067511e-04 -4.70734901e-06 9.99999701e-01 -4.02234834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-29.25, Z:-0.40 [[ 9.88868023e-01 1.48793306e-01 7.65384135e-04 2.88361411e+02] [-1.48793266e-01 9.88868319e-01 -1.08823994e-04 -2.92483781e+01] [-7.73056404e-04 -6.27143729e-06 9.99999701e-01 -4.02701534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.39, Y:-29.25, Z:-0.40 [[ 9.88399240e-01 1.51876121e-01 7.65382818e-04 2.88391685e+02] [-1.51876083e-01 9.88399536e-01 -1.08833251e-04 -2.92501010e+01] [-7.73033195e-04 -8.67264156e-06 9.99999701e-01 -4.00027574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-29.25, Z:-0.40 [[ 9.88263236e-01 1.52758602e-01 7.65382818e-04 2.88422207e+02] [-1.52758564e-01 9.88263532e-01 -1.08833251e-04 -2.92515463e+01] [-7.73025143e-04 -9.36287940e-06 9.99999701e-01 -4.01562207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20420382200007 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:288.45, Y:-29.25, Z:-0.40 [[ 9.88244347e-01 1.52880754e-01 7.65382818e-04 2.88453365e+02] [-1.52880716e-01 9.88244643e-01 -1.08833251e-04 -2.92543431e+01] [-7.73023980e-04 -9.45842801e-06 9.99999701e-01 -4.04021522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.48, Y:-29.26, Z:-0.40 [[ 9.88355703e-01 1.52159185e-01 7.65380085e-04 2.88484007e+02] [-1.52159146e-01 9.88356000e-01 -1.08852467e-04 -2.92565776e+01] [-7.73030902e-04 -8.87462336e-06 9.99999701e-01 -4.04456544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.51, Y:-29.26, Z:-0.41 [[ 9.88596715e-01 1.50585358e-01 7.65378720e-04 2.88514142e+02] [-1.50585319e-01 9.88597011e-01 -1.08862068e-04 -2.92595549e+01] [-7.73044148e-04 -7.63411608e-06 9.99999701e-01 -4.08026074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.54, Y:-29.26, Z:-0.41 [[ 9.88740034e-01 1.49641435e-01 7.65377404e-04 2.88544151e+02] [-1.49641395e-01 9.88740330e-01 -1.08871317e-04 -2.92635834e+01] [-7.73051168e-04 -6.88671341e-06 9.99999701e-01 -4.05494761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.3242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.57, Y:-29.27, Z:-0.41 [[ 9.88972406e-01 1.48097924e-01 7.65377404e-04 2.88574193e+02] [-1.48097884e-01 9.88972702e-01 -1.08871317e-04 -2.92672185e+01] [-7.73060975e-04 -5.68004622e-06 9.99999701e-01 -4.05607799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.60, Y:-29.27, Z:-0.40 [[ 9.89069301e-01 1.47449423e-01 7.65377404e-04 2.88604255e+02] [-1.47449383e-01 9.89069597e-01 -1.08871317e-04 -2.92705135e+01] [-7.73064534e-04 -5.17314887e-06 9.99999701e-01 -4.04408422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.384203822 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:288.63, Y:-29.27, Z:-0.41 [[ 9.89255399e-01 1.46195658e-01 7.65377404e-04 2.88634785e+02] [-1.46195618e-01 9.89255695e-01 -1.08871317e-04 -2.92717824e+01] [-7.73070470e-04 -4.19328472e-06 9.99999701e-01 -4.05446759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.66, Y:-29.27, Z:-0.40 [[ 9.89344310e-01 1.45592752e-01 7.65377404e-04 2.88664451e+02] [-1.45592712e-01 9.89344607e-01 -1.08871317e-04 -2.92747744e+01] [-7.73072882e-04 -3.72215417e-06 9.99999701e-01 -4.04166141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.444203822 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:288.69, Y:-29.28, Z:-0.41 [[ 9.89582153e-01 1.43967275e-01 7.65378738e-04 2.88694008e+02] [-1.43967234e-01 9.89582449e-01 -1.08861937e-04 -2.92793861e+01] [-7.73077923e-04 -2.46163056e-06 9.99999701e-01 -4.07163550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.72, Y:-29.28, Z:-0.40 [[ 9.89709092e-01 1.43092026e-01 7.65377599e-04 2.88724326e+02] [-1.43091984e-01 9.89709388e-01 -1.08869945e-04 -2.92837224e+01] [-7.73079816e-04 -1.76982447e-06 9.99999701e-01 -4.03813845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:-29.29, Z:-0.40 [[ 9.90033833e-01 1.40827636e-01 7.65377599e-04 2.88754390e+02] [-1.40827594e-01 9.90034129e-01 -1.08869945e-04 -2.92896101e+01] [-7.73081842e-04 -1.35640007e-09 9.99999701e-01 -4.03745927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:-29.30, Z:-0.40 [[ 9.90198656e-01 1.39664010e-01 7.65377599e-04 2.88784731e+02] [-1.39663967e-01 9.90198952e-01 -1.08869945e-04 -2.92952379e+01] [-7.73081310e-04 9.07201778e-07 9.99999701e-01 -4.04575348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.81, Y:-29.30, Z:-0.40 [[ 9.90356645e-01 1.38539269e-01 7.65377599e-04 2.88814798e+02] [-1.38539226e-01 9.90356941e-01 -1.08869945e-04 -2.93006607e+01] [-7.73079781e-04 1.78525375e-06 9.99999701e-01 -4.04625878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59420382200005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:288.84, Y:-29.31, Z:-0.41 [[ 9.90589534e-01 1.36864126e-01 7.65377599e-04 2.88844775e+02] [-1.36864083e-01 9.90589830e-01 -1.08869945e-04 -2.93076467e+01] [-7.73075656e-04 3.09272563e-06 9.99999701e-01 -4.05119429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.87, Y:-29.31, Z:-0.41 [[ 9.90639030e-01 1.36505410e-01 7.65371474e-04 2.88874970e+02] [-1.36505367e-01 9.90639325e-01 -1.08912987e-04 -2.93138705e+01] [-7.73074293e-04 3.41614226e-06 9.99999701e-01 -4.07337948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65420382200006 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:288.91, Y:-29.32, Z:-0.41 [[ 9.90477775e-01 1.37670594e-01 7.65364732e-04 2.88905906e+02] [-1.37670551e-01 9.90478070e-01 -1.08960344e-04 -2.93200937e+01] [-7.73077618e-04 2.55461509e-06 9.99999701e-01 -4.12829856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.94, Y:-29.32, Z:-0.41 [[ 9.90322534e-01 1.38782896e-01 7.65362181e-04 2.88937164e+02] [-1.38782853e-01 9.90322830e-01 -1.08978265e-04 -2.93241978e+01] [-7.73079960e-04 1.70448430e-06 9.99999701e-01 -4.08290540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-29.33, Z:-0.41 [[ 9.89859473e-01 1.42048012e-01 7.65359513e-04 2.88966729e+02] [-1.42047970e-01 9.89859769e-01 -1.08997000e-04 -2.93300746e+01] [-7.73081398e-04 -8.26052366e-07 9.99999701e-01 -4.07491477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.00, Y:-29.34, Z:-0.41 [[ 9.89616831e-01 1.43728712e-01 7.65359513e-04 2.88997049e+02] [-1.43728671e-01 9.89617127e-01 -1.08997000e-04 -2.93361630e+01] [-7.73078880e-04 -2.13884047e-06 9.99999701e-01 -4.07989825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-29.34, Z:-0.41 [[ 9.89069336e-01 1.47449184e-01 7.65356854e-04 2.89027149e+02] [-1.47449144e-01 9.89069633e-01 -1.09015666e-04 -2.93431724e+01] [-7.73065493e-04 -5.02716072e-06 9.99999701e-01 -4.07488251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-29.35, Z:-0.41 [[ 9.88811924e-01 1.49165656e-01 7.65355531e-04 2.89057350e+02] [-1.49165616e-01 9.88812220e-01 -1.09024952e-04 -2.93482691e+01] [-7.73055681e-04 -6.35955693e-06 9.99999701e-01 -4.07287700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.09, Y:-29.35, Z:-0.41 [[ 9.88364836e-01 1.52099851e-01 7.65354219e-04 2.89088055e+02] [-1.52099812e-01 9.88365133e-01 -1.09034160e-04 -2.93515943e+01] [-7.73033504e-04 -8.64470250e-06 9.99999701e-01 -4.05535348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.12, Y:-29.36, Z:-0.40 [[ 9.88154486e-01 1.53460500e-01 7.65354219e-04 2.89117956e+02] [-1.53460462e-01 9.88154783e-01 -1.09034160e-04 -2.93552899e+01] [-7.73020869e-04 -9.70901694e-06 9.99999701e-01 -4.03007368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.15, Y:-29.36, Z:-0.40 [[ 9.87958089e-01 1.54719841e-01 7.65354219e-04 2.89148082e+02] [-1.54719803e-01 9.87958385e-01 -1.09034160e-04 -2.93595501e+01] [-7.73007866e-04 -1.06942733e-05 9.99999701e-01 -4.01555267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92420382200004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:289.18, Y:-29.37, Z:-0.40 [[ 9.87739588e-01 1.56108681e-01 7.65354219e-04 2.89178302e+02] [-1.56108643e-01 9.87739885e-01 -1.09034160e-04 -2.93673388e+01] [-7.72992067e-04 -1.17810520e-05 9.99999701e-01 -4.03788348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:-29.38, Z:-0.40 [[ 9.87765264e-01 1.55946134e-01 7.65351557e-04 2.89208705e+02] [-1.55946096e-01 9.87765561e-01 -1.09052844e-04 -2.93754501e+01] [-7.72994279e-04 -1.16349758e-05 9.99999701e-01 -4.02995465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.24, Y:-29.38, Z:-0.40 [[ 9.87868778e-01 1.55289057e-01 7.65334317e-04 2.89239205e+02] [-1.55289019e-01 9.87869075e-01 -1.09173699e-04 -2.93795267e+01] [-7.73003585e-04 -1.09987266e-05 9.99999701e-01 -4.04639037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.27, Y:-29.38, Z:-0.41 [[ 9.87999171e-01 1.54457286e-01 7.65333019e-04 2.89270839e+02] [-1.54457248e-01 9.87999467e-01 -1.09182799e-04 -2.93841884e+01] [-7.73012694e-04 -1.03387168e-05 9.99999701e-01 -4.05954198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.30, Y:-29.39, Z:-0.41 [[ 9.87972553e-01 1.54627451e-01 7.65314194e-04 2.89303152e+02] [-1.54627413e-01 9.87972850e-01 -1.09314592e-04 -2.93889422e+01] [-7.73012682e-04 -1.03387374e-05 9.99999701e-01 -4.05979460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0742038220001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:289.33, Y:-29.39, Z:-0.41 [[ 9.87992159e-01 1.54502127e-01 7.65295344e-04 2.89333644e+02] [-1.54502088e-01 9.87992456e-01 -1.09446402e-04 -2.93945661e+01] [-7.73015728e-04 -1.01075422e-05 9.99999701e-01 -4.09893139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.36, Y:-29.40, Z:-0.41 [[ 9.87894285e-01 1.55126711e-01 7.65277915e-04 2.89364214e+02] [-1.55126673e-01 9.87894581e-01 -1.09568134e-04 -2.93998993e+01] [-7.73010850e-04 -1.04732834e-05 9.99999701e-01 -4.07098565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.40, Y:-29.41, Z:-0.41 [[ 9.87631399e-01 1.56791692e-01 7.65275298e-04 2.89395932e+02] [-1.56791654e-01 9.87631695e-01 -1.09586407e-04 -2.94061602e+01] [-7.72992378e-04 -1.17578036e-05 9.99999701e-01 -4.05236707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.43, Y:-29.41, Z:-0.41 [[ 9.87449375e-01 1.57933993e-01 7.65256206e-04 2.89426415e+02] [-1.57933955e-01 9.87449672e-01 -1.09719566e-04 -2.94112791e+01] [-7.72980439e-04 -1.25174223e-05 9.99999701e-01 -4.07644662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.46, Y:-29.42, Z:-0.41 [[ 9.87081168e-01 1.60219166e-01 7.65238564e-04 2.89457631e+02] [-1.60219129e-01 9.87081465e-01 -1.09842477e-04 -2.94158242e+01] [-7.72951673e-04 -1.41824157e-05 9.99999701e-01 -4.07349643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.49, Y:-29.42, Z:-0.41 [[ 9.86918034e-01 1.61220993e-01 7.65235929e-04 2.89488495e+02] [-1.61220956e-01 9.86918331e-01 -1.09860827e-04 -2.94193546e+01] [-7.72937238e-04 -1.49484365e-05 9.99999701e-01 -4.06992053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.52, Y:-29.42, Z:-0.41 [[ 9.86838528e-01 1.61706936e-01 7.65233301e-04 2.89519195e+02] [-1.61706900e-01 9.86838825e-01 -1.09879132e-04 -2.94232382e+01] [-7.72930149e-04 -1.53105441e-05 9.99999701e-01 -4.05263000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28420382200005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:289.55, Y:-29.43, Z:-0.41 [[ 9.86899246e-01 1.61335959e-01 7.65230628e-04 2.89550072e+02] [-1.61335923e-01 9.86899543e-01 -1.09897742e-04 -2.94266384e+01] [-7.72936215e-04 -1.50011911e-05 9.99999701e-01 -4.05212141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.58, Y:-29.43, Z:-0.41 [[ 9.87192449e-01 1.59532076e-01 7.65227976e-04 2.89580531e+02] [-1.59532039e-01 9.87192745e-01 -1.09916210e-04 -2.94302454e+01] [-7.72962667e-04 -1.35699263e-05 9.99999701e-01 -4.06438525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.61, Y:-29.44, Z:-0.41 [[ 9.87423001e-01 1.58098803e-01 7.65226653e-04 2.89610476e+02] [-1.58098765e-01 9.87423297e-01 -1.09925418e-04 -2.94354597e+01] [-7.72981702e-04 -1.24385032e-05 9.99999701e-01 -4.07847065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.374203822 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:289.64, Y:-29.44, Z:-0.41 [[ 9.87742294e-01 1.56091559e-01 7.65225350e-04 2.89642088e+02] [-1.56091521e-01 9.87742590e-01 -1.09934488e-04 -2.94412995e+01] [-7.73005515e-04 -1.08582452e-05 9.99999701e-01 -4.08399671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.67, Y:-29.45, Z:-0.41 [[ 9.88199781e-01 1.53168556e-01 7.65206517e-04 2.89672736e+02] [-1.53168517e-01 9.88200078e-01 -1.10065421e-04 -2.94465107e+01] [-7.73035701e-04 -8.43892198e-06 9.99999701e-01 -4.07468234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.70, Y:-29.45, Z:-0.41 [[ 9.88425151e-01 1.51707400e-01 7.65195756e-04 2.89704938e+02] [-1.51707360e-01 9.88425447e-01 -1.10140178e-04 -2.94512037e+01] [-7.73048038e-04 -7.22050627e-06 9.99999701e-01 -4.06380466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.74, Y:-29.46, Z:-0.41 [[ 9.88880923e-01 1.48707545e-01 7.65176623e-04 2.89735599e+02] [-1.48707504e-01 9.88881219e-01 -1.10272945e-04 -2.94569938e+01] [-7.73067211e-04 -4.74069390e-06 9.99999701e-01 -4.06284766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.77, Y:-29.46, Z:-0.41 [[ 9.89072278e-01 1.47429455e-01 7.65158980e-04 2.89767769e+02] [-1.47429414e-01 9.89072574e-01 -1.10395230e-04 -2.94624364e+01] [-7.73073270e-04 -3.61807800e-06 9.99999701e-01 -4.05070039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.80, Y:-29.47, Z:-0.40 [[ 9.89428532e-01 1.45019289e-01 7.65140840e-04 2.89800636e+02] [-1.45019247e-01 9.89428828e-01 -1.10520816e-04 -2.94667246e+01] [-7.73080054e-04 -1.60769963e-06 9.99999701e-01 -4.03481327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-29.47, Z:-0.40 [[ 9.89573957e-01 1.44023600e-01 7.65119527e-04 2.89832147e+02] [-1.44023557e-01 9.89574253e-01 -1.10668166e-04 -2.94710513e+01] [-7.73081412e-04 -6.80901095e-07 9.99999701e-01 -4.03665634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58420382200006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:289.86, Y:-29.48, Z:-0.41 [[ 9.89780431e-01 1.42597734e-01 7.65100598e-04 2.89863272e+02] [-1.42597690e-01 9.89780726e-01 -1.10798877e-04 -2.94764144e+01] [-7.73081494e-04 5.64982265e-07 9.99999701e-01 -4.11159707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.90, Y:-29.48, Z:-0.41 [[ 9.89742343e-01 1.42861855e-01 7.65081731e-04 2.89895164e+02] [-1.42861811e-01 9.89742639e-01 -1.10928999e-04 -2.94811359e+01] [-7.73081534e-04 4.90165313e-07 9.99999701e-01 -4.07352808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.93, Y:-29.49, Z:-0.41 [[ 9.89687975e-01 1.43238009e-01 7.65062728e-04 2.89925626e+02] [-1.43237966e-01 9.89688271e-01 -1.11059908e-04 -2.94850056e+01] [-7.73081608e-04 3.28626141e-07 9.99999701e-01 -4.07144072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67420382200004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:289.96, Y:-29.49, Z:-0.41 [[ 9.89614095e-01 1.43747552e-01 7.65045133e-04 2.89958041e+02] [-1.43747509e-01 9.89614390e-01 -1.11180977e-04 -2.94886767e+01] [-7.73081666e-04 5.29294710e-08 9.99999701e-01 -4.08843889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.99, Y:-29.49, Z:-0.41 [[ 9.89453296e-01 1.44850229e-01 7.65026143e-04 2.89988585e+02] [-1.44850186e-01 9.89453592e-01 -1.11311493e-04 -2.94935411e+01] [-7.73081361e-04 -6.76655703e-07 9.99999701e-01 -4.07793909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.02, Y:-29.50, Z:-0.40 [[ 9.89440399e-01 1.44938302e-01 7.65008591e-04 2.90020235e+02] [-1.44938259e-01 9.89440695e-01 -1.11431996e-04 -2.94980945e+01] [-7.73081396e-04 -6.23694739e-07 9.99999701e-01 -4.04226944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76420382200007 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:290.05, Y:-29.50, Z:-0.41 [[ 9.89623676e-01 1.43681577e-01 7.64989690e-04 2.90051742e+02] [-1.43681533e-01 9.89623971e-01 -1.11561601e-04 -2.95024047e+01] [-7.73081482e-04 4.89109744e-07 9.99999701e-01 -4.07009169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.08, Y:-29.51, Z:-0.41 [[ 9.89698766e-01 1.43163426e-01 7.64970443e-04 2.90082697e+02] [-1.43163382e-01 9.89699062e-01 -1.11693416e-04 -2.95078801e+01] [-7.73080943e-04 1.02708028e-06 9.99999701e-01 -4.05616802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.8242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.11, Y:-29.52, Z:-0.41 [[ 9.89883903e-01 1.41877671e-01 7.64952585e-04 2.90114559e+02] [-1.41877627e-01 9.89884198e-01 -1.11815589e-04 -2.95159814e+01] [-7.73078612e-04 2.15479439e-06 9.99999701e-01 -4.06041585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85420382200004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:290.15, Y:-29.52, Z:-0.41 [[ 9.90023539e-01 1.40899988e-01 7.64930245e-04 2.90145507e+02] [-1.40899944e-01 9.90023835e-01 -1.11968210e-04 -2.95245663e+01] [-7.73075494e-04 3.07253513e-06 9.99999701e-01 -4.10911663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.18, Y:-29.53, Z:-0.41 [[ 9.89936617e-01 1.41509396e-01 7.64910539e-04 2.90176743e+02] [-1.41509352e-01 9.89936913e-01 -1.12102670e-04 -2.95312499e+01] [-7.73076758e-04 2.73254371e-06 9.99999701e-01 -4.10513701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.21, Y:-29.54, Z:-0.41 [[ 9.89817925e-01 1.42337244e-01 7.64896508e-04 2.90208528e+02] [-1.42337200e-01 9.89818220e-01 -1.12198321e-04 -2.95375948e+01] [-7.73078500e-04 2.18268279e-06 9.99999701e-01 -4.10705197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.24, Y:-29.54, Z:-0.41 [[ 9.89344769e-01 1.45589636e-01 7.64877368e-04 2.90239911e+02] [-1.45589593e-01 9.89345065e-01 -1.12328650e-04 -2.95425962e+01] [-7.73081537e-04 -2.26422083e-07 9.99999701e-01 -4.06285727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.27, Y:-29.55, Z:-0.41 [[ 9.88995493e-01 1.47943672e-01 7.64858026e-04 2.90270366e+02] [-1.47943630e-01 9.88995789e-01 -1.12460199e-04 -2.95462861e+01] [-7.73079142e-04 -1.93324250e-06 9.99999701e-01 -4.05130423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.30, Y:-29.55, Z:-0.40 [[ 9.88334623e-01 1.52296054e-01 7.64848435e-04 2.90301886e+02] [-1.52296012e-01 9.88334919e-01 -1.12525396e-04 -2.95515058e+01] [-7.73063589e-04 -5.27062188e-06 9.99999701e-01 -4.01480649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.33, Y:-29.56, Z:-0.40 [[ 9.87979501e-01 1.54583054e-01 7.64829062e-04 2.90333889e+02] [-1.54583013e-01 9.87979797e-01 -1.12656919e-04 -2.95563519e+01] [-7.73050512e-04 -6.92685420e-06 9.99999701e-01 -4.00383950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.37, Y:-29.56, Z:-0.40 [[ 9.87302872e-01 1.58847264e-01 7.64809772e-04 2.90365190e+02] [-1.58847224e-01 9.87303169e-01 -1.12787723e-04 -2.95600141e+01] [-7.73015132e-04 -1.01322666e-05 9.99999701e-01 -4.00619054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.40, Y:-29.57, Z:-0.40 [[ 9.86997020e-01 1.60736737e-01 7.64791926e-04 2.90396712e+02] [-1.60736697e-01 9.86997316e-01 -1.12908605e-04 -2.95655171e+01] [-7.72996138e-04 -1.14896720e-05 9.99999701e-01 -4.01298618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.43, Y:-29.57, Z:-0.40 [[ 9.86464344e-01 1.63974126e-01 7.64772691e-04 2.90428568e+02] [-1.63974087e-01 9.86464640e-01 -1.13038734e-04 -2.95704112e+01] [-7.72956645e-04 -1.38942232e-05 9.99999701e-01 -4.00266608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.46, Y:-29.57, Z:-0.40 [[ 9.86192031e-01 1.65604024e-01 7.64753215e-04 2.90460688e+02] [-1.65603986e-01 9.86192328e-01 -1.13170348e-04 -2.95735338e+01] [-7.72935218e-04 -1.50384858e-05 9.99999701e-01 -3.99734429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.49, Y:-29.58, Z:-0.40 [[ 9.85921459e-01 1.67207331e-01 7.64733374e-04 2.90492648e+02] [-1.67207293e-01 9.85921756e-01 -1.13304263e-04 -2.95755406e+01] [-7.72912574e-04 -1.61598927e-05 9.99999701e-01 -4.00229800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.52, Y:-29.58, Z:-0.40 [[ 9.85941530e-01 1.67088945e-01 7.64713651e-04 2.90522999e+02] [-1.67088907e-01 9.85941826e-01 -1.13437223e-04 -2.95802797e+01] [-7.72917279e-04 -1.59326991e-05 9.99999701e-01 -4.01483054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.56, Y:-29.59, Z:-0.40 [[ 9.86276471e-01 1.65100385e-01 7.64695425e-04 2.90555735e+02] [-1.65100346e-01 9.86276768e-01 -1.13559948e-04 -2.95850035e+01] [-7.72950124e-04 -1.42499745e-05 9.99999701e-01 -3.98441918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.59, Y:-29.59, Z:-0.40 [[ 9.86552790e-01 1.63441144e-01 7.64672905e-04 2.90586945e+02] [-1.63441105e-01 9.86553086e-01 -1.13711390e-04 -2.95898550e+01] [-7.72975534e-04 -1.27966957e-05 9.99999701e-01 -3.99909972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.62, Y:-29.60, Z:-0.40 [[ 9.86897084e-01 1.61349188e-01 7.64654641e-04 2.90618160e+02] [-1.61349148e-01 9.86897380e-01 -1.13834073e-04 -2.95956368e+01] [-7.73002698e-04 -1.10338602e-05 9.99999701e-01 -3.99109528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.65, Y:-29.60, Z:-0.40 [[ 9.87628593e-01 1.56809369e-01 7.64635089e-04 2.90648877e+02] [-1.56809328e-01 9.87628889e-01 -1.13965256e-04 -2.96034732e+01] [-7.73046523e-04 -7.34656914e-06 9.99999701e-01 -4.02535007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36420382200004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:290.68, Y:-29.61, Z:-0.41 [[ 9.87980438e-01 1.54577064e-01 7.64616990e-04 2.90679697e+02] [-1.54577022e-01 9.87980734e-01 -1.14086561e-04 -2.96088812e+01] [-7.73062020e-04 -5.47692750e-06 9.99999701e-01 -4.07122608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.71, Y:-29.62, Z:-0.41 [[ 9.88350627e-01 1.52192159e-01 7.64599614e-04 2.90711650e+02] [-1.52192117e-01 9.88350923e-01 -1.14202890e-04 -2.96159374e+01] [-7.73073519e-04 -3.49353554e-06 9.99999701e-01 -4.05528889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42420382200004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:290.74, Y:-29.62, Z:-0.41 [[ 9.88520999e-01 1.51081600e-01 7.64592829e-04 2.90743928e+02] [-1.51081557e-01 9.88521295e-01 -1.14248298e-04 -2.96218208e+01] [-7.73077109e-04 -2.57903336e-06 9.99999701e-01 -4.07410479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45420382200007 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:290.77, Y:-29.63, Z:-0.41 [[ 9.88688406e-01 1.49982170e-01 7.64570486e-04 2.90774798e+02] [-1.49982127e-01 9.88688702e-01 -1.14397627e-04 -2.96272719e+01] [-7.73079806e-04 -1.56829994e-06 9.99999701e-01 -4.09506583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.81, Y:-29.63, Z:-0.41 [[ 9.88644328e-01 1.50272447e-01 7.64552417e-04 2.90805677e+02] [-1.50272403e-01 9.88644624e-01 -1.14518264e-04 -2.96336907e+01] [-7.73079576e-04 -1.67329655e-06 9.99999701e-01 -4.09663285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.84, Y:-29.64, Z:-0.41 [[ 9.88699994e-01 1.49905760e-01 7.64534461e-04 2.90837120e+02] [-1.49905716e-01 9.88700290e-01 -1.14638010e-04 -2.96429188e+01] [-7.73080341e-04 -1.26548601e-06 9.99999701e-01 -4.07026038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.87, Y:-29.65, Z:-0.41 [[ 9.88613694e-01 1.50473847e-01 7.64514525e-04 2.90868229e+02] [-1.50473803e-01 9.88613990e-01 -1.14770809e-04 -2.96488559e+01] [-7.73079760e-04 -1.57541497e-06 9.99999701e-01 -4.05654219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.90, Y:-29.65, Z:-0.40 [[ 9.88239904e-01 1.52909472e-01 7.64503471e-04 2.90899104e+02] [-1.52909429e-01 9.88240200e-01 -1.14844398e-04 -2.96542821e+01] [-7.73073859e-04 -3.40597269e-06 9.99999701e-01 -4.03064980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.93, Y:-29.66, Z:-0.40 [[ 9.87938788e-01 1.54843040e-01 7.64485040e-04 2.90929822e+02] [-1.54842998e-01 9.87939084e-01 -1.14966956e-04 -2.96593235e+01] [-7.73066483e-04 -4.79483977e-06 9.99999701e-01 -4.02507082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.96, Y:-29.66, Z:-0.40 [[ 9.87039995e-01 1.60472624e-01 7.64466897e-04 2.90961368e+02] [-1.60472583e-01 9.87040291e-01 -1.15087468e-04 -2.96640368e+01] [-7.73028017e-04 -9.08004337e-06 9.99999701e-01 -4.02911058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.99, Y:-29.67, Z:-0.40 [[ 9.86489611e-01 1.63822044e-01 7.64446544e-04 2.90993160e+02] [-1.63822004e-01 9.86489908e-01 -1.15222500e-04 -2.96690489e+01] [-7.72994786e-04 -1.15673654e-05 9.99999701e-01 -4.03144339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.02, Y:-29.67, Z:-0.40 [[ 9.85390805e-01 1.70306713e-01 7.64427377e-04 2.91024541e+02] [-1.70306674e-01 9.85391102e-01 -1.15349524e-04 -2.96710771e+01] [-7.72904733e-04 -1.65227240e-05 9.99999701e-01 -4.04189698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.06, Y:-29.67, Z:-0.40 [[ 9.84946956e-01 1.72855168e-01 7.64409696e-04 2.91057708e+02] [-1.72855131e-01 9.84947253e-01 -1.15466573e-04 -2.96736582e+01] [-7.72862224e-04 -1.84036880e-05 9.99999701e-01 -3.99601513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.09, Y:-29.68, Z:-0.40 [[ 9.84418755e-01 1.75838365e-01 7.64386820e-04 2.91089297e+02] [-1.75838328e-01 9.84419052e-01 -1.15617815e-04 -2.96764781e+01] [-7.72806996e-04 -2.05921545e-05 9.99999701e-01 -4.01964700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.12, Y:-29.68, Z:-0.40 [[ 9.84421966e-01 1.75820385e-01 7.64366968e-04 2.91120125e+02] [-1.75820348e-01 9.84422263e-01 -1.15748910e-04 -2.96801750e+01] [-7.72810878e-04 -2.04454960e-05 9.99999701e-01 -4.03191409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.15, Y:-29.68, Z:-0.41 [[ 9.84875447e-01 1.73262139e-01 7.64364181e-04 2.91151355e+02] [-1.73262102e-01 9.84875744e-01 -1.15767311e-04 -2.96811810e+01] [-7.72861833e-04 -1.84189618e-05 9.99999701e-01 -4.05876217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.18, Y:-29.68, Z:-0.41 [[ 9.85351819e-01 1.70532135e-01 7.64346182e-04 2.91181255e+02] [-1.70532096e-01 9.85352115e-01 -1.15886027e-04 -2.96849073e+01] [-7.72912419e-04 -1.61570487e-05 9.99999701e-01 -4.06433929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.874203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:291.21, Y:-29.69, Z:-0.41 [[ 9.85959026e-01 1.66985673e-01 7.64344837e-04 2.91212611e+02] [-1.66985634e-01 9.85959322e-01 -1.15894895e-04 -2.96899302e+01] [-7.72965705e-04 -1.33669887e-05 9.99999701e-01 -4.06809448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.25, Y:-29.69, Z:-0.40 [[ 9.87155803e-01 1.59758679e-01 7.64325432e-04 2.91245021e+02] [-1.59758637e-01 9.87156099e-01 -1.16022733e-04 -2.96946612e+01] [-7.73044150e-04 -7.57507465e-06 9.99999701e-01 -4.02204917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.28, Y:-29.70, Z:-0.40 [[ 9.87128652e-01 1.59926360e-01 7.64302948e-04 2.91277287e+02] [-1.59926318e-01 9.87128948e-01 -1.16170660e-04 -2.96997111e+01] [-7.73044315e-04 -7.55676929e-06 9.99999701e-01 -4.02230180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.31, Y:-29.70, Z:-0.40 [[ 9.87586054e-01 1.57077055e-01 7.64283192e-04 2.91308568e+02] [-1.57077012e-01 9.87586350e-01 -1.16300486e-04 -2.97028818e+01] [-7.73063786e-04 -5.19458211e-06 9.99999701e-01 -4.04210813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.34, Y:-29.71, Z:-0.40 [[ 9.88206544e-01 1.53124925e-01 7.64264927e-04 2.91340252e+02] [-1.53124881e-01 9.88206839e-01 -1.16420393e-04 -2.97071073e+01] [-7.73078692e-04 -1.98058138e-06 9.99999701e-01 -4.04422358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02420382200006 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:291.37, Y:-29.71, Z:-0.41 [[ 9.88361042e-01 1.52124509e-01 7.64246107e-04 2.91372082e+02] [-1.52124464e-01 9.88361338e-01 -1.16543806e-04 -2.97128358e+01] [-7.73080474e-04 -1.07317207e-06 9.99999701e-01 -4.07504112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05420382200003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:291.40, Y:-29.72, Z:-0.40 [[ 9.88406952e-01 1.51825930e-01 7.64227060e-04 2.91404149e+02] [-1.51825885e-01 9.88407248e-01 -1.16668571e-04 -2.97172158e+01] [-7.73080879e-04 -7.13423061e-07 9.99999701e-01 -4.02889200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08420382200006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:291.44, Y:-29.72, Z:-0.41 [[ 9.88398619e-01 1.51880168e-01 7.64207096e-04 2.91436388e+02] [-1.51880123e-01 9.88398915e-01 -1.16799191e-04 -2.97191831e+01] [-7.73080945e-04 -6.23708404e-07 9.99999701e-01 -4.05433254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.47, Y:-29.72, Z:-0.40 [[ 9.88263314e-01 1.52758106e-01 7.64185769e-04 2.91468124e+02] [-1.52758061e-01 9.88263609e-01 -1.16938566e-04 -2.97240037e+01] [-7.73080300e-04 -1.16944162e-06 9.99999701e-01 -4.03294865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14420382200007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:291.50, Y:-29.73, Z:-0.41 [[ 9.87953486e-01 1.54749236e-01 7.64165920e-04 2.91498640e+02] [-1.54749192e-01 9.87953781e-01 -1.17068131e-04 -2.97266270e+01] [-7.73076814e-04 -2.59619024e-06 9.99999701e-01 -4.05378232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.53, Y:-29.73, Z:-0.40 [[ 9.87737966e-01 1.56118952e-01 7.64164506e-04 2.91529884e+02] [-1.56118909e-01 9.87738261e-01 -1.17077359e-04 -2.97291105e+01] [-7.73072515e-04 -3.65877566e-06 9.99999701e-01 -4.00554856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.56, Y:-29.73, Z:-0.40 [[ 9.87370609e-01 1.58425681e-01 7.64161639e-04 2.91560649e+02] [-1.58425638e-01 9.87370905e-01 -1.17096066e-04 -2.97316162e+01] [-7.73061993e-04 -5.44558091e-06 9.99999701e-01 -4.01640785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.59, Y:-29.74, Z:-0.40 [[ 9.87228073e-01 1.59311483e-01 7.64160212e-04 2.91591692e+02] [-1.59311441e-01 9.87228368e-01 -1.17105378e-04 -2.97353763e+01] [-7.73056871e-04 -6.12974747e-06 9.99999701e-01 -3.99693599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.62, Y:-29.73, Z:-0.40 [[ 9.86945748e-01 1.61051255e-01 7.64157365e-04 2.91623019e+02] [-1.61051212e-01 9.86946044e-01 -1.17123957e-04 -2.97336200e+01] [-7.73045048e-04 -7.47347874e-06 9.99999701e-01 -3.98368542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29420382200004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:291.65, Y:-29.74, Z:-0.40 [[ 9.86854193e-01 1.61611316e-01 7.64157365e-04 2.91652412e+02] [-1.61611274e-01 9.86854489e-01 -1.17123957e-04 -2.97350556e+01] [-7.73040682e-04 -7.91217730e-06 9.99999701e-01 -4.02723879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.3242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.68, Y:-29.73, Z:-0.40 [[ 9.86726087e-01 1.62391643e-01 7.64156039e-04 2.91682250e+02] [-1.62391601e-01 9.86726383e-01 -1.17132607e-04 -2.97344173e+01] [-7.73034280e-04 -8.51472329e-06 9.99999701e-01 -4.01264921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.71, Y:-29.74, Z:-0.40 [[ 9.86704526e-01 1.62522594e-01 7.64158830e-04 2.91711192e+02] [-1.62522553e-01 9.86704822e-01 -1.17114396e-04 -2.97351895e+01] [-7.73032938e-04 -8.63573884e-06 9.99999701e-01 -4.03155133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.74, Y:-29.74, Z:-0.40 [[ 9.86694010e-01 1.62586426e-01 7.64161453e-04 2.91741167e+02] [-1.62586384e-01 9.86694306e-01 -1.17097278e-04 -2.97355268e+01] [-7.73032182e-04 -8.70306500e-06 9.99999701e-01 -4.00943161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.77, Y:-29.73, Z:-0.40 [[ 9.86663575e-01 1.62771024e-01 7.64164225e-04 2.91772018e+02] [-1.62770982e-01 9.86663871e-01 -1.17079180e-04 -2.97316916e+01] [-7.73030331e-04 -8.86599847e-06 9.99999701e-01 -3.97648936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.80, Y:-29.73, Z:-0.40 [[ 9.86655156e-01 1.62822049e-01 7.64167079e-04 2.91800946e+02] [-1.62822008e-01 9.86655452e-01 -1.17060551e-04 -2.97321158e+01] [-7.73029654e-04 -8.92482221e-06 9.99999701e-01 -3.98410146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.83, Y:-29.73, Z:-0.40 [[ 9.86748949e-01 1.62252665e-01 7.64172842e-04 2.91829680e+02] [-1.62252623e-01 9.86749245e-01 -1.17022917e-04 -2.97284509e+01] [-7.73034256e-04 -8.51680728e-06 9.99999701e-01 -4.00960638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.86, Y:-29.73, Z:-0.40 [[ 9.86907136e-01 1.61287695e-01 7.64180627e-04 2.91858449e+02] [-1.61287653e-01 9.86907432e-01 -1.16972061e-04 -2.97287919e+01] [-7.73041694e-04 -7.81233786e-06 9.99999701e-01 -4.00181840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.89, Y:-29.73, Z:-0.40 [[ 9.87251814e-01 1.59164294e-01 7.64186274e-04 2.91887167e+02] [-1.59164251e-01 9.87252109e-01 -1.16935154e-04 -2.97254764e+01] [-7.73056413e-04 -6.18669319e-06 9.99999701e-01 -4.03183010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.92, Y:-29.73, Z:-0.40 [[ 9.87554546e-01 1.57275031e-01 7.64193314e-04 2.91916612e+02] [-1.57274988e-01 9.87554841e-01 -1.16889131e-04 -2.97266285e+01] [-7.73066549e-04 -4.75410179e-06 9.99999701e-01 -4.02248366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.95, Y:-29.72, Z:-0.40 [[ 9.88356659e-01 1.52152983e-01 7.64197516e-04 2.91946404e+02] [-1.52152939e-01 9.88356955e-01 -1.16861655e-04 -2.97242709e+01] [-7.73080779e-04 -7.73902818e-07 9.99999701e-01 -4.02374777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.97, Y:-29.72, Z:-0.41 [[ 9.88815905e-01 1.49139271e-01 7.64203198e-04 2.91974783e+02] [-1.49139225e-01 9.88816200e-01 -1.16824485e-04 -2.97248080e+01] [-7.73079621e-04 1.54523613e-06 9.99999701e-01 -4.05351054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65420382200006 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:292.00, Y:-29.72, Z:-0.41 [[ 9.89646756e-01 1.43522522e-01 7.64210770e-04 2.92004421e+02] [-1.43522475e-01 9.89647051e-01 -1.16774930e-04 -2.97234325e+01] [-7.73058767e-04 5.88450923e-06 9.99999701e-01 -4.05822464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68420382200003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.03, Y:-29.73, Z:-0.41 [[ 9.89961088e-01 1.41338104e-01 7.64216518e-04 2.92032923e+02] [-1.41338056e-01 9.89961383e-01 -1.16737302e-04 -2.97251763e+01] [-7.73044270e-04 7.55250991e-06 9.99999701e-01 -4.05180430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.06, Y:-29.73, Z:-0.41 [[ 9.90432897e-01 1.37993091e-01 7.64222296e-04 2.92061346e+02] [-1.37993042e-01 9.90433191e-01 -1.16699464e-04 -2.97266361e+01] [-7.73014847e-04 1.01256288e-05 9.99999701e-01 -4.05741974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74420382200003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:292.09, Y:-29.73, Z:-0.41 [[ 9.90614814e-01 1.36681041e-01 7.64228057e-04 2.92089560e+02] [-1.36680992e-01 9.90615108e-01 -1.16661721e-04 -2.97292822e+01] [-7.73001305e-04 1.11113802e-05 9.99999701e-01 -4.10402520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77420382200006 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:292.12, Y:-29.73, Z:-0.41 [[ 9.90680153e-01 1.36206647e-01 7.64235139e-04 2.92118318e+02] [-1.36206598e-01 9.90680448e-01 -1.16615311e-04 -2.97299392e+01] [-7.72996590e-04 1.14346061e-05 9.99999701e-01 -4.06005091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.15, Y:-29.73, Z:-0.40 [[ 9.90468946e-01 1.37734101e-01 7.64240886e-04 2.92146311e+02] [-1.37734052e-01 9.90469241e-01 -1.16577639e-04 -2.97300193e+01] [-7.73013806e-04 1.02045375e-05 9.99999701e-01 -4.03611394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.17, Y:-29.73, Z:-0.40 [[ 9.90326898e-01 1.38751758e-01 7.64248006e-04 2.92174438e+02] [-1.38751709e-01 9.90327193e-01 -1.16530942e-04 -2.97325826e+01] [-7.73024456e-04 9.36300904e-06 9.99999701e-01 -4.03434009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.20, Y:-29.74, Z:-0.40 [[ 9.90177445e-01 1.39814318e-01 7.64255038e-04 2.92201932e+02] [-1.39814269e-01 9.90177740e-01 -1.16484804e-04 -2.97350891e+01] [-7.73034570e-04 8.48686572e-06 9.99999701e-01 -4.03460910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89420382200007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:292.23, Y:-29.74, Z:-0.40 [[ 9.89908854e-01 1.41703479e-01 7.64262035e-04 2.92231133e+02] [-1.41703431e-01 9.89909149e-01 -1.16438877e-04 -2.97358564e+01] [-7.73049775e-04 6.96532306e-06 9.99999701e-01 -4.00751871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.26, Y:-29.74, Z:-0.40 [[ 9.89726041e-01 1.42974752e-01 7.64267725e-04 2.92259956e+02] [-1.42974705e-01 9.89726336e-01 -1.16401518e-04 -2.97389180e+01] [-7.73058374e-04 5.93466094e-06 9.99999701e-01 -3.97270758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95420382200007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:292.29, Y:-29.74, Z:-0.40 [[ 9.89442501e-01 1.44923956e-01 7.64273451e-04 2.92288455e+02] [-1.44923909e-01 9.89442796e-01 -1.16363915e-04 -2.97393990e+01] [-7.73068779e-04 4.37390671e-06 9.99999701e-01 -4.01399303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.32, Y:-29.74, Z:-0.40 [[ 9.89345300e-01 1.45586034e-01 7.64281092e-04 2.92317026e+02] [-1.45585988e-01 9.89345595e-01 -1.16313703e-04 -2.97421737e+01] [-7.73071783e-04 3.80579811e-06 9.99999701e-01 -3.96589998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.34, Y:-29.74, Z:-0.40 [[ 9.89183959e-01 1.46678258e-01 7.64287008e-04 2.92344990e+02] [-1.46678211e-01 9.89184254e-01 -1.16274818e-04 -2.97448773e+01] [-7.73075662e-04 2.91293356e-06 9.99999701e-01 -3.98857734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.37, Y:-29.75, Z:-0.40 [[ 9.89176923e-01 1.46725700e-01 7.64294336e-04 2.92373621e+02] [-1.46725654e-01 9.89177218e-01 -1.16226630e-04 -2.97484584e+01] [-7.73075979e-04 2.82711405e-06 9.99999701e-01 -3.98437381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.40, Y:-29.75, Z:-0.40 [[ 9.89143153e-01 1.46953183e-01 7.64300051e-04 2.92401605e+02] [-1.46953137e-01 9.89143449e-01 -1.16189036e-04 -2.97508258e+01] [-7.73076737e-04 2.61129983e-06 9.99999701e-01 -4.00003767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10420382200004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:292.43, Y:-29.75, Z:-0.40 [[ 9.89127731e-01 1.47056952e-01 7.64307154e-04 2.92429928e+02] [-1.47056906e-01 9.89128027e-01 -1.16142292e-04 -2.97544451e+01] [-7.73077158e-04 2.48291621e-06 9.99999701e-01 -4.00425730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.134203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.46, Y:-29.76, Z:-0.40 [[ 9.89021589e-01 1.47769117e-01 7.64312840e-04 2.92458806e+02] [-1.47769072e-01 9.89021884e-01 -1.16104863e-04 -2.97589232e+01] [-7.73078838e-04 1.88841710e-06 9.99999701e-01 -3.97520964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.49, Y:-29.76, Z:-0.40 [[ 9.88725724e-01 1.49735965e-01 7.64318641e-04 2.92486176e+02] [-1.49735920e-01 9.88726019e-01 -1.16066658e-04 -2.97619058e+01] [-7.73081081e-04 3.12136021e-07 9.99999701e-01 -3.98408211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.51, Y:-29.77, Z:-0.40 [[ 9.88537532e-01 1.50973385e-01 7.64325845e-04 2.92514970e+02] [-1.50973341e-01 9.88537828e-01 -1.16019203e-04 -2.97654499e+01] [-7.73080822e-04 -7.03489750e-07 9.99999701e-01 -3.96964313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.54, Y:-29.77, Z:-0.40 [[ 9.88117655e-01 1.53697481e-01 7.64331609e-04 2.92542311e+02] [-1.53697437e-01 9.88117951e-01 -1.15981213e-04 -2.97671328e+01] [-7.73075804e-04 -2.87272570e-06 9.99999701e-01 -3.97774924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.57, Y:-29.77, Z:-0.40 [[ 9.87867164e-01 1.55299328e-01 7.64344989e-04 2.92570880e+02] [-1.55299285e-01 9.87867460e-01 -1.15892971e-04 -2.97700581e+01] [-7.73069643e-04 -4.21537002e-06 9.99999701e-01 -3.97705005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.60, Y:-29.77, Z:-0.40 [[ 9.87256415e-01 1.59135750e-01 7.64350596e-04 2.92598517e+02] [-1.59135708e-01 9.87256711e-01 -1.15855977e-04 -2.97711629e+01] [-7.73047083e-04 -7.25591758e-06 9.99999701e-01 -3.96868190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.63, Y:-29.77, Z:-0.40 [[ 9.86897352e-01 1.61347549e-01 7.64360481e-04 2.92626560e+02] [-1.61347508e-01 9.86897648e-01 -1.15790729e-04 -2.97722234e+01] [-7.73028111e-04 -9.05409431e-06 9.99999701e-01 -3.96571081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.65, Y:-29.77, Z:-0.40 [[ 9.86119080e-01 1.66037877e-01 7.64368972e-04 2.92653981e+02] [-1.66037837e-01 9.86119376e-01 -1.15734649e-04 -2.97696284e+01] [-7.72975389e-04 -1.27860254e-05 9.99999701e-01 -3.97049424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.68, Y:-29.77, Z:-0.40 [[ 9.85740713e-01 1.68269612e-01 7.64378840e-04 2.92682721e+02] [-1.68269573e-01 9.85741009e-01 -1.15669438e-04 -2.97715201e+01] [-7.72943221e-04 -1.46016268e-05 9.99999701e-01 -3.98060598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.71, Y:-29.77, Z:-0.40 [[ 9.85474051e-01 1.69824351e-01 7.64384459e-04 2.92710953e+02] [-1.69824312e-01 9.85474348e-01 -1.15632291e-04 -2.97733406e+01] [-7.72918455e-04 -1.58584424e-05 9.99999701e-01 -4.00776053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.74, Y:-29.77, Z:-0.40 [[ 9.85370964e-01 1.70421474e-01 7.64394912e-04 2.92739343e+02] [-1.70421436e-01 9.85371260e-01 -1.15563150e-04 -2.97725495e+01] [-7.72907220e-04 -1.63967060e-05 9.99999701e-01 -3.99235509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:292.77, Y:-29.77, Z:-0.40 [[ 9.86005585e-01 1.66710532e-01 7.64403355e-04 2.92768806e+02] [-1.66710493e-01 9.86005881e-01 -1.15507276e-04 -2.97710737e+01] [-7.72962483e-04 -1.35432412e-05 9.99999701e-01 -4.00950526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.80, Y:-29.77, Z:-0.40 [[ 9.86466440e-01 1.63961517e-01 7.64409144e-04 2.92796810e+02] [-1.63961476e-01 9.86466736e-01 -1.15468954e-04 -2.97720259e+01] [-7.72996658e-04 -1.14274037e-05 9.99999701e-01 -4.04068481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.83, Y:-29.77, Z:-0.40 [[ 9.87016133e-01 1.60619330e-01 7.64416368e-04 2.92825575e+02] [-1.60619289e-01 9.87016429e-01 -1.15421113e-04 -2.97738748e+01] [-7.73030375e-04 -8.85751308e-06 9.99999701e-01 -4.02568084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.85, Y:-29.78, Z:-0.40 [[ 9.88132691e-01 1.53600782e-01 7.64422027e-04 2.92854519e+02] [-1.53600739e-01 9.88132987e-01 -1.15383619e-04 -2.97766297e+01] [-7.73073635e-04 -3.40146232e-06 9.99999701e-01 -4.00964621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58420382200006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:292.88, Y:-29.78, Z:-0.40 [[ 9.88600706e-01 1.50559156e-01 7.64427665e-04 2.92883292e+02] [-1.50559112e-01 9.88601002e-01 -1.15346254e-04 -2.97795323e+01] [-7.73080390e-04 -1.06016181e-06 9.99999701e-01 -4.01942313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.91, Y:-29.78, Z:-0.40 [[ 9.89289458e-01 1.45965007e-01 7.64433282e-04 2.92910593e+02] [-1.45964961e-01 9.89289754e-01 -1.15309015e-04 -2.97803862e+01] [-7.73077095e-04 2.49351858e-06 9.99999701e-01 -4.00506190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64420382200007 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:292.94, Y:-29.78, Z:-0.40 [[ 9.89526129e-01 1.44351849e-01 7.64443041e-04 2.92939032e+02] [-1.44351803e-01 9.89526424e-01 -1.15244281e-04 -2.97824925e+01] [-7.73072314e-04 3.68849524e-06 9.99999701e-01 -4.00843658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.97, Y:-29.78, Z:-0.40 [[ 9.89705375e-01 1.43117735e-01 7.64448673e-04 2.92967839e+02] [-1.43117689e-01 9.89705670e-01 -1.15206915e-04 -2.97829246e+01] [-7.73067339e-04 4.61477556e-06 9.99999701e-01 -4.00734921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70420382200007 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:293.00, Y:-29.78, Z:-0.41 [[ 9.89782758e-01 1.42581584e-01 7.64454332e-04 2.92995674e+02] [-1.42581538e-01 9.89783053e-01 -1.15169349e-04 -2.97839472e+01] [-7.73064971e-04 4.99556152e-06 9.99999701e-01 -4.05777073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.02, Y:-29.79, Z:-0.40 [[ 9.89812408e-01 1.42375601e-01 7.64461349e-04 2.93023616e+02] [-1.42375554e-01 9.89812704e-01 -1.15122752e-04 -2.97861539e+01] [-7.73064226e-04 5.10932072e-06 9.99999701e-01 -4.04391721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.05, Y:-29.79, Z:-0.40 [[ 9.89955186e-01 1.41379438e-01 7.64468248e-04 2.93052424e+02] [-1.41379391e-01 9.89955481e-01 -1.15076924e-04 -2.97878526e+01] [-7.73059043e-04 5.84094209e-06 9.99999701e-01 -4.03611232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.08, Y:-29.79, Z:-0.41 [[ 9.90034672e-01 1.40821742e-01 7.64473901e-04 2.93080226e+02] [-1.40821696e-01 9.90034967e-01 -1.15039354e-04 -2.97920525e+01] [-7.73055936e-04 6.23843857e-06 9.99999701e-01 -4.07666981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.8242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.11, Y:-29.79, Z:-0.41 [[ 9.90146633e-01 1.40032353e-01 7.64484174e-04 2.93108789e+02] [-1.40032306e-01 9.90146929e-01 -1.14971051e-04 -2.97946544e+01] [-7.73051323e-04 6.78571740e-06 9.99999701e-01 -4.06934077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.14, Y:-29.80, Z:-0.41 [[ 9.90156440e-01 1.39962992e-01 7.64489535e-04 2.93136976e+02] [-1.39962945e-01 9.90156736e-01 -1.14935389e-04 -2.97987548e+01] [-7.73051163e-04 6.80380916e-06 9.99999701e-01 -4.06956099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.884203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:293.17, Y:-29.80, Z:-0.40 [[ 9.90012406e-01 1.40978196e-01 7.64497583e-04 2.93165856e+02] [-1.40978149e-01 9.90012701e-01 -1.14881835e-04 -2.97980558e+01] [-7.73058151e-04 5.95698791e-06 9.99999701e-01 -4.02958564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.19, Y:-29.80, Z:-0.40 [[ 9.89820902e-01 1.42316538e-01 7.64503347e-04 2.93193636e+02] [-1.42316492e-01 9.89821198e-01 -1.14843461e-04 -2.98006681e+01] [-7.73065742e-04 4.87302377e-06 9.99999701e-01 -4.02401027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.22, Y:-29.80, Z:-0.40 [[ 9.89547033e-01 1.44208476e-01 7.64510509e-04 2.93222079e+02] [-1.44208430e-01 9.89547329e-01 -1.14795768e-04 -2.98042920e+01] [-7.73073854e-04 3.34695094e-06 9.99999701e-01 -4.01600246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.25, Y:-29.81, Z:-0.40 [[ 9.88792922e-01 1.49291572e-01 7.64516155e-04 2.93249911e+02] [-1.49291528e-01 9.88793217e-01 -1.14758153e-04 -2.98078240e+01] [-7.73080814e-04 -6.63735585e-07 9.99999701e-01 -4.02552217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.28, Y:-29.81, Z:-0.40 [[ 9.88378374e-01 1.52011862e-01 7.64523190e-04 2.93279011e+02] [-1.52011819e-01 9.88378669e-01 -1.14711263e-04 -2.98102029e+01] [-7.73075886e-04 -2.83842858e-06 9.99999701e-01 -4.02727376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.31, Y:-29.81, Z:-0.40 [[ 9.87549905e-01 1.57304166e-01 7.64528843e-04 2.93306940e+02] [-1.57304124e-01 9.87550201e-01 -1.14673577e-04 -2.98098564e+01] [-7.73049244e-04 -7.01765991e-06 9.99999701e-01 -4.03657018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.34, Y:-29.81, Z:-0.40 [[ 9.87244143e-01 1.59211865e-01 7.64535893e-04 2.93335347e+02] [-1.59211824e-01 9.87244439e-01 -1.14626555e-04 -2.98124500e+01] [-7.73033716e-04 -8.55875966e-06 9.99999701e-01 -4.01601920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.36, Y:-29.81, Z:-0.40 [[ 9.86846785e-01 1.61656546e-01 7.64541456e-04 2.93362897e+02] [-1.61656505e-01 9.86847081e-01 -1.14589438e-04 -2.98126779e+01] [-7.73009637e-04 -1.05108819e-05 9.99999701e-01 -3.98766715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.39, Y:-29.81, Z:-0.40 [[ 9.86737161e-01 1.62324337e-01 7.64553566e-04 2.93390798e+02] [-1.62324297e-01 9.86737457e-01 -1.14508580e-04 -2.98148272e+01] [-7.73001171e-04 -1.11157490e-05 9.99999701e-01 -3.99566300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.42, Y:-29.82, Z:-0.40 [[ 9.86824015e-01 1.61795486e-01 7.64560399e-04 2.93419063e+02] [-1.61795446e-01 9.86824311e-01 -1.14462942e-04 -2.98177704e+01] [-7.73006376e-04 -1.07476114e-05 9.99999701e-01 -3.98092614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18420382200003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.45, Y:-29.82, Z:-0.40 [[ 9.87286233e-01 1.58950650e-01 7.64582449e-04 2.93446917e+02] [-1.58950609e-01 9.87286529e-01 -1.14315466e-04 -2.98220428e+01] [-7.73032470e-04 -8.66876006e-06 9.99999701e-01 -3.97380634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.48, Y:-29.82, Z:-0.40 [[ 9.88126227e-01 1.53642358e-01 7.64589297e-04 2.93476074e+02] [-1.53642316e-01 9.88126523e-01 -1.14269643e-04 -2.98242938e+01] [-7.73067621e-04 -4.56043898e-06 9.99999701e-01 -3.99063161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.50, Y:-29.83, Z:-0.40 [[ 9.88573920e-01 1.50734933e-01 7.64594867e-04 2.93504963e+02] [-1.50734890e-01 9.88574216e-01 -1.14232361e-04 -2.98279039e+01] [-7.73077578e-04 -2.32399013e-06 9.99999701e-01 -4.00125830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.53, Y:-29.83, Z:-0.40 [[ 9.89381166e-01 1.45342091e-01 7.64600430e-04 2.93533010e+02] [-1.45342047e-01 9.89381462e-01 -1.14195114e-04 -2.98346408e+01] [-7.73078847e-04 1.85390341e-06 9.99999701e-01 -4.01071119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.56, Y:-29.84, Z:-0.40 [[ 9.89748403e-01 1.42819865e-01 7.64606045e-04 2.93560061e+02] [-1.42819820e-01 9.89748698e-01 -1.14157503e-04 -2.98406171e+01] [-7.73071797e-04 3.78630828e-06 9.99999701e-01 -4.04759836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33420382200006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:293.59, Y:-29.85, Z:-0.40 [[ 9.90085434e-01 1.40464403e-01 7.64616519e-04 2.93588370e+02] [-1.40464357e-01 9.90085729e-01 -1.14087307e-04 -2.98450180e+01] [-7.73061109e-04 5.55481270e-06 9.99999701e-01 -4.04060425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.62, Y:-29.85, Z:-0.40 [[ 9.90515320e-01 1.37400206e-01 7.64622155e-04 2.93616523e+02] [-1.37400159e-01 9.90515615e-01 -1.14049520e-04 -2.98499765e+01] [-7.73040612e-04 7.90859076e-06 9.99999701e-01 -4.01757689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39420382200007 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:293.64, Y:-29.86, Z:-0.41 [[ 9.90685363e-01 1.36168742e-01 7.64627771e-04 2.93643687e+02] [-1.36168694e-01 9.90685658e-01 -1.14011862e-04 -2.98562892e+01] [-7.73030618e-04 8.83151745e-06 9.99999701e-01 -4.07296390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.67, Y:-29.86, Z:-0.41 [[ 9.90647100e-01 1.36446836e-01 7.64634748e-04 2.93671604e+02] [-1.36446788e-01 9.90647395e-01 -1.13965050e-04 -2.98614545e+01] [-7.73033591e-04 8.56719061e-06 9.99999701e-01 -4.05079886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.70, Y:-29.87, Z:-0.41 [[ 9.90523638e-01 1.37340226e-01 7.64640351e-04 2.93699183e+02] [-1.37340179e-01 9.90523933e-01 -1.13927440e-04 -2.98665351e+01] [-7.73041389e-04 7.83197963e-06 9.99999701e-01 -4.05180544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.73, Y:-29.87, Z:-0.41 [[ 9.90197496e-01 1.39672239e-01 7.64650720e-04 2.93725924e+02] [-1.39672193e-01 9.90197791e-01 -1.13857807e-04 -2.98722673e+01] [-7.73058228e-04 5.94127280e-06 9.99999701e-01 -4.05053047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.75, Y:-29.88, Z:-0.40 [[ 9.89977959e-01 1.41219884e-01 7.64662786e-04 2.93753680e+02] [-1.41219838e-01 9.89978254e-01 -1.13776712e-04 -2.98775101e+01] [-7.73067064e-04 4.65088214e-06 9.99999701e-01 -4.04326917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.78, Y:-29.88, Z:-0.40 [[ 9.89394028e-01 1.45254507e-01 7.64669629e-04 2.93781504e+02] [-1.45254462e-01 9.89394324e-01 -1.13730703e-04 -2.98826612e+01] [-7.73079688e-04 1.45280223e-06 9.99999701e-01 -4.03140602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.81, Y:-29.89, Z:-0.40 [[ 9.89121005e-01 1.47102183e-01 7.64677959e-04 2.93809313e+02] [-1.47102140e-01 9.89121301e-01 -1.13674668e-04 -2.98872190e+01] [-7.73081049e-04 -4.77622872e-08 9.99999701e-01 -4.04598146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.84, Y:-29.89, Z:-0.40 [[ 9.88742301e-01 1.49626459e-01 7.64684883e-04 2.93838011e+02] [-1.49626416e-01 9.88742597e-01 -1.13628074e-04 -2.98930835e+01] [-7.73078283e-04 -2.06817468e-06 9.99999701e-01 -4.02327393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.87, Y:-29.90, Z:-0.40 [[ 9.88643763e-01 1.50276165e-01 7.64690282e-04 2.93865470e+02] [-1.50276122e-01 9.88644058e-01 -1.13591725e-04 -2.98984230e+01] [-7.73076633e-04 -2.61293946e-06 9.99999701e-01 -4.01935860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.89, Y:-29.90, Z:-0.40 [[ 9.88498742e-01 1.51227154e-01 7.64698510e-04 2.93893849e+02] [-1.51227111e-01 9.88499038e-01 -1.13536309e-04 -2.99036971e+01] [-7.73073514e-04 -3.41264783e-06 9.99999701e-01 -4.01838936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.92, Y:-29.91, Z:-0.40 [[ 9.88070191e-01 1.54002313e-01 7.64704079e-04 2.93921110e+02] [-1.54002271e-01 9.88070487e-01 -1.13498788e-04 -2.99062287e+01] [-7.73060608e-04 -5.62139530e-06 9.99999701e-01 -4.01001078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:-29.91, Z:-0.40 [[ 9.87602931e-01 1.56970907e-01 7.64712405e-04 2.93949093e+02] [-1.56970867e-01 9.87603227e-01 -1.13442663e-04 -2.99122804e+01] [-7.73039637e-04 -8.00126247e-06 9.99999701e-01 -4.02501486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.98, Y:-29.92, Z:-0.40 [[ 9.87503415e-01 1.57595749e-01 7.64717972e-04 2.93976949e+02] [-1.57595709e-01 9.87503711e-01 -1.13405119e-04 -2.99190749e+01] [-7.73034001e-04 -8.52832794e-06 9.99999701e-01 -4.04748849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.00, Y:-29.92, Z:-0.41 [[ 9.87529856e-01 1.57429983e-01 7.64723646e-04 2.94004251e+02] [-1.57429942e-01 9.87530152e-01 -1.13366847e-04 -2.99246916e+01] [-7.73034999e-04 -8.43725354e-06 9.99999701e-01 -4.10514289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.03, Y:-29.93, Z:-0.41 [[ 9.87713172e-01 1.56275736e-01 7.64730715e-04 2.94033050e+02] [-1.56275695e-01 9.87713468e-01 -1.13319140e-04 -2.99280245e+01] [-7.73043859e-04 -7.58201708e-06 9.99999701e-01 -4.12336995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.06, Y:-29.93, Z:-0.41 [[ 9.87853044e-01 1.55389118e-01 7.64736170e-04 2.94061733e+02] [-1.55389077e-01 9.87853340e-01 -1.13282318e-04 -2.99312889e+01] [-7.73050019e-04 -6.92536443e-06 9.99999701e-01 -4.12482113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.874203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:294.09, Y:-29.94, Z:-0.41 [[ 9.88244519e-01 1.52879647e-01 7.64741688e-04 2.94090044e+02] [-1.52879605e-01 9.88244815e-01 -1.13245053e-04 -2.99355477e+01] [-7.73064872e-04 -4.99960407e-06 9.99999701e-01 -4.12695621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.12, Y:-29.94, Z:-0.41 [[ 9.88429393e-01 1.51679761e-01 7.64747269e-04 2.94117515e+02] [-1.51679718e-01 9.88429689e-01 -1.13207356e-04 -2.99411606e+01] [-7.73070170e-04 -4.09917189e-06 9.99999701e-01 -4.11936959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.14, Y:-29.95, Z:-0.41 [[ 9.88590468e-01 1.50626365e-01 7.64757610e-04 2.94144873e+02] [-1.50626323e-01 9.88590764e-01 -1.13137453e-04 -2.99461201e+01] [-7.73073793e-04 -3.34601866e-06 9.99999701e-01 -4.12775163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.17, Y:-29.95, Z:-0.41 [[ 9.88676332e-01 1.50061740e-01 7.64764463e-04 2.94171700e+02] [-1.50061698e-01 9.88676628e-01 -1.13091114e-04 -2.99514828e+01] [-7.73075399e-04 -2.95134588e-06 9.99999701e-01 -4.11300997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99420382200003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:294.20, Y:-29.95, Z:-0.41 [[ 9.88595002e-01 1.50596602e-01 7.64772545e-04 2.94200266e+02] [-1.50596559e-01 9.88595298e-01 -1.13036431e-04 -2.99534500e+01] [-7.73073444e-04 -3.42486330e-06 9.99999701e-01 -4.08572219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02420382200006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.23, Y:-29.96, Z:-0.41 [[ 9.88487627e-01 1.51299787e-01 7.64778063e-04 2.94228252e+02] [-1.51299745e-01 9.88487923e-01 -1.12999081e-04 -2.99572306e+01] [-7.73070617e-04 -4.01253219e-06 9.99999701e-01 -4.06646943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05420382200003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:294.26, Y:-29.96, Z:-0.41 [[ 9.88372385e-01 1.52050790e-01 7.64784934e-04 2.94255282e+02] [-1.52050748e-01 9.88372681e-01 -1.12952565e-04 -2.99605656e+01] [-7.73067062e-04 -4.64692506e-06 9.99999701e-01 -4.08294172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.28, Y:-29.96, Z:-0.41 [[ 9.88156342e-01 1.53448553e-01 7.64794405e-04 2.94284425e+02] [-1.53448511e-01 9.88156638e-01 -1.12888398e-04 -2.99627966e+01] [-7.73059229e-04 -5.80517617e-06 9.99999701e-01 -4.07605899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11420382200004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:294.31, Y:-29.97, Z:-0.41 [[ 9.88088462e-01 1.53885041e-01 7.64799884e-04 2.94312348e+02] [-1.53885000e-01 9.88088758e-01 -1.12851266e-04 -2.99653555e+01] [-7.73056289e-04 -6.18419637e-06 9.99999701e-01 -4.09304369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:-29.97, Z:-0.40 [[ 9.88114983e-01 1.53714658e-01 7.64806707e-04 2.94340661e+02] [-1.53714617e-01 9.88115279e-01 -1.12805006e-04 -2.99675029e+01] [-7.73056975e-04 -6.09765298e-06 9.99999701e-01 -4.02740651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.37, Y:-29.97, Z:-0.41 [[ 9.88169758e-01 1.53362135e-01 7.64813789e-04 2.94367956e+02] [-1.53362093e-01 9.88170054e-01 -1.12756974e-04 -2.99704611e+01] [-7.73058733e-04 -5.87041217e-06 9.99999701e-01 -4.05352550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:-29.97, Z:-0.41 [[ 9.88286473e-01 1.52608196e-01 7.64820836e-04 2.94396581e+02] [-1.52608154e-01 9.88286769e-01 -1.12709153e-04 -2.99723062e+01] [-7.73062653e-04 -5.32896482e-06 9.99999701e-01 -4.05573813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.42, Y:-29.98, Z:-0.40 [[ 9.88369073e-01 1.52072317e-01 7.64826174e-04 2.94424906e+02] [-1.52072275e-01 9.88369369e-01 -1.12672919e-04 -2.99753217e+01] [-7.73065195e-04 -4.94642828e-06 9.99999701e-01 -4.04932785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:-29.98, Z:-0.41 [[ 9.88474357e-01 1.51386461e-01 7.64831653e-04 2.94453723e+02] [-1.51386419e-01 9.88474653e-01 -1.12635716e-04 -2.99786068e+01] [-7.73068225e-04 -4.44760844e-06 9.99999701e-01 -4.05082731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.48, Y:-29.98, Z:-0.41 [[ 9.88741190e-01 1.49633800e-01 7.64837188e-04 2.94481288e+02] [-1.49633758e-01 9.88741486e-01 -1.12598118e-04 -2.99804637e+01] [-7.73074742e-04 -3.11506538e-06 9.99999701e-01 -4.06962866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.3242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:-29.98, Z:-0.41 [[ 9.89038593e-01 1.47655265e-01 7.64845483e-04 2.94508338e+02] [-1.47655222e-01 9.89038888e-01 -1.12541739e-04 -2.99825538e+01] [-7.73079307e-04 -1.62530689e-06 9.99999701e-01 -4.05381308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.54, Y:-29.99, Z:-0.41 [[ 9.89243307e-01 1.46277458e-01 7.64855088e-04 2.94536736e+02] [-1.46277415e-01 9.89243603e-01 -1.12476426e-04 -2.99858301e+01] [-7.73080768e-04 -6.14472968e-07 9.99999701e-01 -4.05107190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.384203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:294.56, Y:-29.99, Z:-0.41 [[ 9.89486921e-01 1.44620361e-01 7.64860500e-04 2.94564267e+02] [-1.44620317e-01 9.89487216e-01 -1.12439612e-04 -2.99891499e+01] [-7.73080744e-04 6.43156995e-07 9.99999701e-01 -4.06505036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:-30.00, Z:-0.40 [[ 9.90100693e-01 1.40356805e-01 7.64867234e-04 2.94592371e+02] [-1.40356760e-01 9.90100988e-01 -1.12393788e-04 -2.99950244e+01] [-7.73071037e-04 3.92688060e-06 9.99999701e-01 -4.00577001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.62, Y:-30.00, Z:-0.40 [[ 9.90447663e-01 1.37887062e-01 7.64872607e-04 2.94620804e+02] [-1.37887017e-01 9.90447958e-01 -1.12357208e-04 -3.00002861e+01] [-7.73059117e-04 5.81793208e-06 9.99999701e-01 -3.98581768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.65, Y:-30.01, Z:-0.40 [[ 9.91241260e-01 1.32061270e-01 7.64878127e-04 2.94647555e+02] [-1.32061223e-01 9.91241555e-01 -1.12319621e-04 -3.00072423e+01] [-7.73012056e-04 1.03251024e-05 9.99999701e-01 -3.98975886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:-30.01, Z:-0.40 [[ 9.91639865e-01 1.29034077e-01 7.64884983e-04 2.94676024e+02] [-1.29034029e-01 9.91640160e-01 -1.12272912e-04 -3.00135674e+01] [-7.72977698e-04 1.26381045e-05 9.99999701e-01 -3.96608336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:-30.02, Z:-0.40 [[ 9.92297918e-01 1.23871935e-01 7.64890462e-04 2.94702811e+02] [-1.23871885e-01 9.92298213e-01 -1.12235568e-04 -3.00209343e+01] [-7.72902276e-04 1.66226967e-05 9.99999701e-01 -3.99252152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.564203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:294.73, Y:-30.03, Z:-0.40 [[ 9.92545903e-01 1.21868965e-01 7.64897273e-04 2.94731040e+02] [-1.21868915e-01 9.92546198e-01 -1.12189134e-04 -3.00272989e+01] [-7.72868254e-04 1.81356648e-05 9.99999701e-01 -4.02149780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59420382200005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.76, Y:-30.04, Z:-0.41 [[ 9.92737199e-01 1.20300744e-01 7.64902734e-04 2.94757979e+02] [-1.20300694e-01 9.92737493e-01 -1.12151885e-04 -3.00351791e+01] [-7.72839578e-04 1.93190187e-05 9.99999701e-01 -4.06120011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:-30.04, Z:-0.40 [[ 9.92802309e-01 1.19762224e-01 7.64909519e-04 2.94785263e+02] [-1.19762173e-01 9.92802603e-01 -1.12105593e-04 -3.00449118e+01] [-7.72830177e-04 1.96914650e-05 9.99999701e-01 -4.03701710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.81, Y:-30.05, Z:-0.40 [[ 9.92597261e-01 1.21449958e-01 7.64914637e-04 2.94813562e+02] [-1.21449907e-01 9.92597556e-01 -1.12070660e-04 -3.00530300e+01] [-7.72863376e-04 1.83422186e-05 9.99999701e-01 -4.02834639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68420382200003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:294.84, Y:-30.06, Z:-0.40 [[ 9.92404829e-01 1.23012484e-01 7.64919997e-04 2.94841563e+02] [-1.23012434e-01 9.92405123e-01 -1.12034065e-04 -3.00603327e+01] [-7.72892113e-04 1.70884766e-05 9.99999701e-01 -4.04887679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71420382200006 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:294.87, Y:-30.07, Z:-0.40 [[ 9.92180329e-01 1.24810291e-01 7.64925396e-04 2.94869322e+02] [-1.24810241e-01 9.92180624e-01 -1.11997193e-04 -3.00690958e+01] [-7.72922559e-04 1.56508881e-05 9.99999701e-01 -4.03591548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74420382200003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:294.90, Y:-30.07, Z:-0.40 [[ 9.92189427e-01 1.24737948e-01 7.64930825e-04 2.94897527e+02] [-1.24737898e-01 9.92189722e-01 -1.11960102e-04 -3.00730934e+01] [-7.72922176e-04 1.56697656e-05 9.99999701e-01 -4.03613572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:-30.09, Z:-0.40 [[ 9.91561822e-01 1.29632435e-01 7.64938984e-04 2.94924990e+02] [-1.29632388e-01 9.91562117e-01 -1.11904328e-04 -3.00854202e+01] [-7.72990949e-04 1.17991923e-05 9.99999701e-01 -3.98280591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80420382200003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.95, Y:-30.09, Z:-0.40 [[ 9.91221917e-01 1.32206374e-01 7.64944597e-04 2.94951310e+02] [-1.32206327e-01 9.91222213e-01 -1.11865945e-04 -3.00918210e+01] [-7.73019467e-04 9.75346134e-06 9.99999701e-01 -4.00994322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.98, Y:-30.10, Z:-0.40 [[ 9.90496189e-01 1.37538047e-01 7.64954408e-04 2.94977518e+02] [-1.37538001e-01 9.90496484e-01 -1.11798815e-04 -3.01027657e+01] [-7.73061243e-04 5.52599931e-06 9.99999701e-01 -4.00443659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-30.11, Z:-0.40 [[ 9.90144713e-01 1.40045926e-01 7.64960999e-04 2.95005365e+02] [-1.40045881e-01 9.90145009e-01 -1.11753700e-04 -3.01110197e+01] [-7.73072966e-04 3.52269826e-06 9.99999701e-01 -3.97574240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.03, Y:-30.12, Z:-0.40 [[ 9.89355689e-01 1.45515416e-01 7.64965105e-04 2.95032654e+02] [-1.45515373e-01 9.89355984e-01 -1.11725589e-04 -3.01204316e+01] [-7.73080600e-04 -7.77835872e-07 9.99999701e-01 -3.99546306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92420382200004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:295.06, Y:-30.13, Z:-0.41 [[ 9.88924210e-01 1.48419412e-01 7.64970578e-04 2.95060029e+02] [-1.48419370e-01 9.88924506e-01 -1.11688103e-04 -3.01272859e+01] [-7.73074833e-04 -3.08538184e-06 9.99999701e-01 -4.07029066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:-30.14, Z:-0.40 [[ 9.88513335e-01 1.51131734e-01 7.64977355e-04 2.95087695e+02] [-1.51131693e-01 9.88513631e-01 -1.11641665e-04 -3.01350399e+01] [-7.73063141e-04 -5.25304814e-06 9.99999701e-01 -4.04458292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:-30.14, Z:-0.40 [[ 9.87637356e-01 1.56754163e-01 7.64982652e-04 2.95115712e+02] [-1.56754123e-01 9.87637652e-01 -1.11605358e-04 -3.01446088e+01] [-7.73020275e-04 -9.68856477e-06 9.99999701e-01 -4.02344632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.14, Y:-30.15, Z:-0.40 [[ 9.87179283e-01 1.59613530e-01 7.64988102e-04 2.95143587e+02] [-1.59613491e-01 9.87179579e-01 -1.11567987e-04 -3.01497895e+01] [-7.72988393e-04 -1.19648165e-05 9.99999701e-01 -4.01991096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.17, Y:-30.16, Z:-0.40 [[ 9.86232961e-01 1.65360096e-01 7.64996307e-04 2.95170796e+02] [-1.65360060e-01 9.86233258e-01 -1.11511699e-04 -3.01569614e+01] [-7.72904385e-04 -1.65233224e-05 9.99999701e-01 -4.02979495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.20, Y:-30.16, Z:-0.40 [[ 9.85826035e-01 1.67769020e-01 7.65003116e-04 2.95198189e+02] [-1.67768984e-01 9.85826331e-01 -1.11464968e-04 -3.01635066e+01] [-7.72860584e-04 -1.84587274e-05 9.99999701e-01 -4.03030986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.23, Y:-30.17, Z:-0.40 [[ 9.85527427e-01 1.69514324e-01 7.65011267e-04 2.95225232e+02] [-1.69514289e-01 9.85527723e-01 -1.11408997e-04 -3.01684845e+01] [-7.72825233e-04 -1.98837187e-05 9.99999701e-01 -4.04339043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.25, Y:-30.17, Z:-0.40 [[ 9.85141006e-01 1.71745782e-01 7.65020722e-04 2.95253115e+02] [-1.71745747e-01 9.85141303e-01 -1.11344034e-04 -3.01722440e+01] [-7.72776379e-04 -2.16994823e-05 9.99999701e-01 -4.04008202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.28, Y:-30.18, Z:-0.40 [[ 9.85046371e-01 1.72287732e-01 7.65027237e-04 2.95281793e+02] [-1.72287697e-01 9.85046667e-01 -1.11299254e-04 -3.01782320e+01] [-7.72763026e-04 -2.21698550e-05 9.99999701e-01 -4.02855818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.194203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:295.31, Y:-30.18, Z:-0.40 [[ 9.85097999e-01 1.71992285e-01 7.65032693e-04 2.95310130e+02] [-1.71992251e-01 9.85098296e-01 -1.11261741e-04 -3.01824555e+01] [-7.72768563e-04 -2.19759763e-05 9.99999701e-01 -4.04737671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.34, Y:-30.19, Z:-0.41 [[ 9.85147995e-01 1.71705686e-01 7.65038200e-04 2.95337745e+02] [-1.71705651e-01 9.85148292e-01 -1.11223859e-04 -3.01865224e+01] [-7.72773845e-04 -2.17894202e-05 9.99999701e-01 -4.05756823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.37, Y:-30.19, Z:-0.41 [[ 9.85196835e-01 1.71425237e-01 7.65045026e-04 2.95365674e+02] [-1.71425202e-01 9.85197131e-01 -1.11176891e-04 -3.01903344e+01] [-7.72778689e-04 -2.16168775e-05 9.99999701e-01 -4.08076345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.39, Y:-30.20, Z:-0.40 [[ 9.85412302e-01 1.70182284e-01 7.65051558e-04 2.95394541e+02] [-1.70182249e-01 9.85412599e-01 -1.11131921e-04 -3.01954933e+01] [-7.72804128e-04 -2.06874330e-05 9.99999701e-01 -4.04655696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.314203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:295.42, Y:-30.20, Z:-0.40 [[ 9.85738392e-01 1.68283205e-01 7.65056891e-04 2.95423371e+02] [-1.68283169e-01 9.85738689e-01 -1.11095198e-04 -3.01970099e+01] [-7.72841632e-04 -1.92353965e-05 9.99999701e-01 -4.03233885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:-30.20, Z:-0.40 [[ 9.85999861e-01 1.66744379e-01 7.65062257e-04 2.95452273e+02] [-1.66744343e-01 9.86000158e-01 -1.11058227e-04 -3.01997566e+01] [-7.72869842e-04 -1.80664075e-05 9.99999701e-01 -3.99821137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.374203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.48, Y:-30.20, Z:-0.40 [[ 9.86302387e-01 1.64945495e-01 7.65067742e-04 2.95479626e+02] [-1.64945459e-01 9.86302683e-01 -1.11020429e-04 -3.02021632e+01] [-7.72900687e-04 -1.66947356e-05 9.99999701e-01 -4.01777071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40420382200006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:295.51, Y:-30.21, Z:-0.40 [[ 9.86589207e-01 1.63221173e-01 7.65074546e-04 2.95508174e+02] [-1.63221136e-01 9.86589504e-01 -1.10973519e-04 -3.02050480e+01] [-7.72927745e-04 -1.53910598e-05 9.99999701e-01 -4.02318635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43420382200003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:295.54, Y:-30.21, Z:-0.40 [[ 9.87290116e-01 1.58926527e-01 7.65080067e-04 2.95536260e+02] [-1.58926489e-01 9.87290413e-01 -1.10935447e-04 -3.02076878e+01] [-7.72986800e-04 -1.20660179e-05 9.99999701e-01 -4.04118625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.56, Y:-30.21, Z:-0.40 [[ 9.87808890e-01 1.55669558e-01 7.65086945e-04 2.95564075e+02] [-1.55669519e-01 9.87809186e-01 -1.10887990e-04 -3.02084091e+01] [-7.73021797e-04 -9.56457440e-06 9.99999701e-01 -3.99937775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.59, Y:-30.21, Z:-0.40 [[ 9.88008236e-01 1.54399285e-01 7.65095200e-04 2.95591840e+02] [-1.54399246e-01 9.88008533e-01 -1.10831004e-04 -3.02103051e+01] [-7.73032814e-04 -8.62817690e-06 9.99999701e-01 -4.01266495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.62, Y:-30.21, Z:-0.40 [[ 9.88147201e-01 1.53507406e-01 7.65102027e-04 2.95619496e+02] [-1.53507366e-01 9.88147497e-01 -1.10783858e-04 -3.02122247e+01] [-7.73039795e-04 -7.97803723e-06 9.99999701e-01 -4.00930294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55420382200003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.65, Y:-30.21, Z:-0.40 [[ 9.88372980e-01 1.52046922e-01 7.65110266e-04 2.95646545e+02] [-1.52046882e-01 9.88373276e-01 -1.10726925e-04 -3.02106395e+01] [-7.73050228e-04 -6.89312912e-06 9.99999701e-01 -4.02935166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.67, Y:-30.21, Z:-0.40 [[ 9.88509578e-01 1.51156303e-01 7.65119834e-04 2.95674256e+02] [-1.51156263e-01 9.88509874e-01 -1.10660770e-04 -3.02112890e+01] [-7.73055584e-04 -6.26342431e-06 9.99999701e-01 -4.02145993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.70, Y:-30.21, Z:-0.40 [[ 9.88734483e-01 1.49678108e-01 7.65126519e-04 2.95701753e+02] [-1.49678067e-01 9.88734779e-01 -1.10614533e-04 -3.02086488e+01] [-7.73063774e-04 -5.15425511e-06 9.99999701e-01 -4.03403764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.73, Y:-30.21, Z:-0.40 [[ 9.88929015e-01 1.48387390e-01 7.65135777e-04 2.95730966e+02] [-1.48387349e-01 9.88929311e-01 -1.10550455e-04 -3.02101938e+01] [-7.73069490e-04 -4.20991655e-06 9.99999701e-01 -4.04506245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67420382200004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:295.76, Y:-30.21, Z:-0.41 [[ 9.89401326e-01 1.45204790e-01 7.65140970e-04 2.95760432e+02] [-1.45204748e-01 9.89401622e-01 -1.10514499e-04 -3.02087971e+01] [-7.73078951e-04 -1.75891022e-06 9.99999701e-01 -4.06982570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.79, Y:-30.21, Z:-0.40 [[ 9.89723741e-01 1.42990669e-01 7.65146381e-04 2.95788774e+02] [-1.42990626e-01 9.89724037e-01 -1.10477027e-04 -3.02097202e+01] [-7.73080948e-04 -6.70242447e-08 9.99999701e-01 -4.04914898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.82, Y:-30.21, Z:-0.40 [[ 9.90045122e-01 1.40748253e-01 7.65154455e-04 2.95818036e+02] [-1.40748210e-01 9.90045418e-01 -1.10421077e-04 -3.02099056e+01] [-7.73079236e-04 1.62772940e-06 9.99999701e-01 -4.02789282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76420382200007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:295.85, Y:-30.21, Z:-0.41 [[ 9.90712464e-01 1.35971421e-01 7.65160053e-04 2.95847094e+02] [-1.35971376e-01 9.90712760e-01 -1.10382275e-04 -3.02061779e+01] [-7.73062662e-04 5.31723047e-06 9.99999701e-01 -4.06227707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:-30.21, Z:-0.40 [[ 9.91523566e-01 1.29924722e-01 7.65167000e-04 2.95876241e+02] [-1.29924675e-01 9.91523861e-01 -1.10334096e-04 -3.02067549e+01] [-7.73016465e-04 9.98478237e-06 9.99999701e-01 -4.02346886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.8242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.90, Y:-30.21, Z:-0.40 [[ 9.91967259e-01 1.26492576e-01 7.65172427e-04 2.95903450e+02] [-1.26492529e-01 9.91967554e-01 -1.10296446e-04 -3.02102332e+01] [-7.72977902e-04 1.26218680e-05 9.99999701e-01 -4.03494165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.93, Y:-30.21, Z:-0.40 [[ 9.92437148e-01 1.22751464e-01 7.65181845e-04 2.95932427e+02] [-1.22751415e-01 9.92437443e-01 -1.10231068e-04 -3.02146210e+01] [-7.72926139e-04 1.54702523e-05 9.99999701e-01 -4.04251341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.96, Y:-30.22, Z:-0.40 [[ 9.93342596e-01 1.15195061e-01 7.65185824e-04 2.95961091e+02] [-1.15195011e-01 9.93342890e-01 -1.10203438e-04 -3.02188456e+01] [-7.72786790e-04 2.13241798e-05 9.99999701e-01 -4.04885835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91420382200005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.99, Y:-30.22, Z:-0.41 [[ 9.93698414e-01 1.12084236e-01 7.65191174e-04 2.95988558e+02] [-1.12084184e-01 9.93698709e-01 -1.10166279e-04 -3.02220680e+01] [-7.72717385e-04 2.37062278e-05 9.99999701e-01 -4.08385601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.02, Y:-30.23, Z:-0.40 [[ 9.94238776e-01 1.07185217e-01 7.65197810e-04 2.96016285e+02] [-1.07185164e-01 9.94239070e-01 -1.10120169e-04 -3.02255410e+01] [-7.72592813e-04 2.74678893e-05 9.99999701e-01 -4.03398508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.04, Y:-30.23, Z:-0.40 [[ 9.94376631e-01 1.05898682e-01 7.65205752e-04 2.96044857e+02] [-1.05898629e-01 9.94376925e-01 -1.10064955e-04 -3.02297431e+01] [-7.72558676e-04 2.84117797e-05 9.99999701e-01 -4.01813684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.07, Y:-30.23, Z:-0.40 [[ 9.94410645e-01 1.05578801e-01 7.65211117e-04 2.96072576e+02] [-1.05578747e-01 9.94410939e-01 -1.10027643e-04 -3.02340159e+01] [-7.72550892e-04 2.86226286e-05 9.99999701e-01 -4.02010151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03420382200005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:296.10, Y:-30.24, Z:-0.40 [[ 9.94167381e-01 1.07845414e-01 7.65217806e-04 2.96101199e+02] [-1.07845361e-01 9.94167675e-01 -1.09981104e-04 -3.02397975e+01] [-7.72615764e-04 2.68144358e-05 9.99999701e-01 -4.00676615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:-30.25, Z:-0.40 [[ 9.93564679e-01 1.13263604e-01 7.65223110e-04 2.96129431e+02] [-1.13263553e-01 9.93564973e-01 -1.09944183e-04 -3.02454915e+01] [-7.72751553e-04 2.25647687e-05 9.99999701e-01 -3.97703777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.16, Y:-30.25, Z:-0.40 [[ 9.93095394e-01 1.17307089e-01 7.65228518e-04 2.96156674e+02] [-1.17307039e-01 9.93095688e-01 -1.09906533e-04 -3.02479048e+01] [-7.72837957e-04 1.93809799e-05 9.99999701e-01 -3.99197945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:-30.25, Z:-0.40 [[ 9.92529117e-01 1.22005598e-01 7.65236591e-04 2.96185930e+02] [-1.22005550e-01 9.92529412e-01 -1.09850297e-04 -3.02495036e+01] [-7.72922175e-04 1.56665069e-05 9.99999701e-01 -3.97128006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15420382200006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:296.21, Y:-30.25, Z:-0.40 [[ 9.91272898e-01 1.31823581e-01 7.65241929e-04 2.96214350e+02] [-1.31823536e-01 9.91273193e-01 -1.09813098e-04 -3.02511090e+01] [-7.73039766e-04 7.97785108e-06 9.99999701e-01 -4.01505846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.24, Y:-30.26, Z:-0.40 [[ 9.90685528e-01 1.36167543e-01 7.65245907e-04 2.96241373e+02] [-1.36167499e-01 9.90685823e-01 -1.09785365e-04 -3.02566879e+01] [-7.73067475e-04 4.56115138e-06 9.99999701e-01 -4.01411194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.27, Y:-30.26, Z:-0.40 [[ 9.89751662e-01 1.42797276e-01 7.65255624e-04 2.96269258e+02] [-1.42797234e-01 9.89751958e-01 -1.09717594e-04 -3.02621737e+01] [-7.73080626e-04 -6.83215623e-07 9.99999701e-01 -3.99405758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:-30.27, Z:-0.40 [[ 9.89444028e-01 1.44913525e-01 7.65259647e-04 2.96296750e+02] [-1.44913484e-01 9.89444324e-01 -1.09689524e-04 -3.02655942e+01] [-7.73077310e-04 -2.36479686e-06 9.99999701e-01 -3.98557526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.33, Y:-30.27, Z:-0.40 [[ 9.89131056e-01 1.47034579e-01 7.65267826e-04 2.96325018e+02] [-1.47034539e-01 9.89131352e-01 -1.09632434e-04 -3.02680610e+01] [-7.73070159e-04 -4.07995642e-06 9.99999701e-01 -4.01591434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:-30.27, Z:-0.40 [[ 9.89086674e-01 1.47332838e-01 7.65273236e-04 2.96353848e+02] [-1.47332797e-01 9.89086970e-01 -1.09594662e-04 -3.02719354e+01] [-7.73068678e-04 -4.35122674e-06 9.99999701e-01 -4.00572530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.38, Y:-30.28, Z:-0.40 [[ 9.89130115e-01 1.47040912e-01 7.65278626e-04 2.96382194e+02] [-1.47040871e-01 9.89130411e-01 -1.09557007e-04 -3.02769637e+01] [-7.73069724e-04 -4.16110141e-06 9.99999701e-01 -4.00563231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:-30.28, Z:-0.40 [[ 9.89525007e-01 1.44359531e-01 7.65284123e-04 2.96408436e+02] [-1.44359489e-01 9.89525303e-01 -1.09518593e-04 -3.02849522e+01] [-7.73078057e-04 -2.10463850e-06 9.99999701e-01 -4.02225771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39420382200007 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:296.44, Y:-30.29, Z:-0.40 [[ 9.89733901e-01 1.42920325e-01 7.65293665e-04 2.96436894e+02] [-1.42920283e-01 9.89734197e-01 -1.09451875e-04 -3.02907540e+01] [-7.73080209e-04 -1.04775609e-06 9.99999701e-01 -4.03337137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.46, Y:-30.30, Z:-0.40 [[ 9.90021789e-01 1.40912280e-01 7.65299115e-04 2.96463633e+02] [-1.40912238e-01 9.90022085e-01 -1.09413756e-04 -3.02974449e+01] [-7.73080768e-04 4.81991709e-07 9.99999701e-01 -4.02189290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.49, Y:-30.30, Z:-0.40 [[ 9.90057744e-01 1.40659440e-01 7.65305895e-04 2.96491439e+02] [-1.40659398e-01 9.90058040e-01 -1.09366313e-04 -3.03031193e+01] [-7.73080659e-04 6.31498254e-07 9.99999701e-01 -4.00611535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.52, Y:-30.31, Z:-0.40 [[ 9.89990683e-01 1.41130655e-01 7.65315038e-04 2.96519259e+02] [-1.41130613e-01 9.89990979e-01 -1.09302294e-04 -3.03087872e+01] [-7.73080888e-04 1.98871789e-07 9.99999701e-01 -3.97799450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.55, Y:-30.31, Z:-0.40 [[ 9.89586512e-01 1.43937309e-01 7.65321657e-04 2.96547183e+02] [-1.43937267e-01 9.89586808e-01 -1.09255933e-04 -3.03142184e+01] [-7.73078221e-04 -2.04010989e-06 9.99999701e-01 -3.95187787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.58, Y:-30.32, Z:-0.39 [[ 9.89232622e-01 1.46349700e-01 7.65331351e-04 2.96575435e+02] [-1.46349659e-01 9.89232918e-01 -1.09187985e-04 -3.03178684e+01] [-7.73070594e-04 -3.99366590e-06 9.99999701e-01 -3.94916868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:-30.32, Z:-0.40 [[ 9.88442008e-01 1.51597530e-01 7.65339311e-04 2.96602639e+02] [-1.51597490e-01 9.88442304e-01 -1.09132162e-04 -3.03217958e+01] [-7.73037918e-04 -8.15270556e-06 9.99999701e-01 -3.98625357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60420382200004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:296.63, Y:-30.33, Z:-0.40 [[ 9.88048053e-01 1.54144278e-01 7.65345905e-04 2.96631213e+02] [-1.54144240e-01 9.88048350e-01 -1.09085899e-04 -3.03252992e+01] [-7.73013725e-04 -1.01915521e-05 9.99999701e-01 -3.98817497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.6342038220001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:296.66, Y:-30.33, Z:-0.40 [[ 9.87352639e-01 1.58537631e-01 7.65351331e-04 2.96659053e+02] [-1.58537595e-01 9.87352936e-01 -1.09047814e-04 -3.03267110e+01] [-7.72960066e-04 -1.36683123e-05 9.99999701e-01 -4.00579472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66420382200005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:296.69, Y:-30.33, Z:-0.40 [[ 9.87364437e-01 1.58464139e-01 7.65358088e-04 2.96687274e+02] [-1.58464102e-01 9.87364733e-01 -1.09000367e-04 -3.03305948e+01] [-7.72960234e-04 -1.36586964e-05 9.99999701e-01 -4.00601496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.72, Y:-30.33, Z:-0.40 [[ 9.87107274e-01 1.60058252e-01 7.65366197e-04 2.96715483e+02] [-1.60058215e-01 9.87107571e-01 -1.08943398e-04 -3.03334202e+01] [-7.72936057e-04 -1.49643266e-05 9.99999701e-01 -3.98058091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.74, Y:-30.34, Z:-0.40 [[ 9.86722658e-01 1.62412470e-01 7.65374432e-04 2.96743413e+02] [-1.62412434e-01 9.86722955e-01 -1.08885514e-04 -3.03353959e+01] [-7.72896886e-04 -1.68665215e-05 9.99999701e-01 -4.03140058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.77, Y:-30.34, Z:-0.40 [[ 9.86643747e-01 1.62891162e-01 7.65381235e-04 2.96771797e+02] [-1.62891126e-01 9.86644044e-01 -1.08837672e-04 -3.03372245e+01] [-7.72887532e-04 -1.72898035e-05 9.99999701e-01 -4.03317491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.80, Y:-30.34, Z:-0.40 [[ 9.86637682e-01 1.62927893e-01 7.65386418e-04 2.96800356e+02] [-1.62927858e-01 9.86637979e-01 -1.08801213e-04 -3.03386708e+01] [-7.72886061e-04 -1.73553928e-05 9.99999701e-01 -4.01643904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.83, Y:-30.34, Z:-0.40 [[ 9.86792224e-01 1.61989262e-01 7.65394488e-04 2.96829905e+02] [-1.61989227e-01 9.86792521e-01 -1.08744416e-04 -3.03387262e+01] [-7.72900983e-04 -1.66775166e-05 9.99999701e-01 -4.03663219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.86, Y:-30.34, Z:-0.41 [[ 9.86896052e-01 1.61355500e-01 7.65411944e-04 2.96858735e+02] [-1.61355464e-01 9.86896348e-01 -1.08621408e-04 -3.03416675e+01] [-7.72908914e-04 -1.63053610e-05 9.99999701e-01 -4.05638762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.89, Y:-30.34, Z:-0.41 [[ 9.87311377e-01 1.58794394e-01 7.65417275e-04 2.96887384e+02] [-1.58794358e-01 9.87311673e-01 -1.08583828e-04 -3.03436279e+01] [-7.72947914e-04 -1.43378962e-05 9.99999701e-01 -4.06836704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.91, Y:-30.35, Z:-0.41 [[ 9.87570833e-01 1.57172717e-01 7.65422631e-04 2.96914978e+02] [-1.57172680e-01 9.87571130e-01 -1.08546062e-04 -3.03463124e+01] [-7.72969772e-04 -1.31066017e-05 9.99999701e-01 -4.07816650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:-30.35, Z:-0.41 [[ 9.87858911e-01 1.55351812e-01 7.65429283e-04 2.96942748e+02] [-1.55351775e-01 9.87859208e-01 -1.08499130e-04 -3.03485901e+01] [-7.72991902e-04 -1.17289648e-05 9.99999701e-01 -4.11419117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:-30.35, Z:-0.41 [[ 9.88543702e-01 1.50932974e-01 7.65435867e-04 2.96971841e+02] [-1.50932935e-01 9.88543999e-01 -1.08452661e-04 -3.03501250e+01] [-7.73036116e-04 -8.31928723e-06 9.99999701e-01 -4.08859211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.00, Y:-30.35, Z:-0.41 [[ 9.88905679e-01 1.48542826e-01 7.65441139e-04 2.97000261e+02] [-1.48542787e-01 9.88905976e-01 -1.08415442e-04 -3.03533095e+01] [-7.73053653e-04 -6.48811385e-06 9.99999701e-01 -4.07041929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02420382200006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.03, Y:-30.35, Z:-0.41 [[ 9.89514535e-01 1.44431293e-01 7.65446456e-04 2.97028848e+02] [-1.44431253e-01 9.89514831e-01 -1.08377887e-04 -3.03548684e+01] [-7.73073780e-04 -3.31289605e-06 9.99999701e-01 -4.08300597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.06, Y:-30.36, Z:-0.40 [[ 9.89861504e-01 1.42033856e-01 7.65451741e-04 2.97057247e+02] [-1.42033815e-01 9.89861800e-01 -1.08340553e-04 -3.03591789e+01] [-7.73079464e-04 -1.47788832e-06 9.99999701e-01 -4.03804990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08420382200006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.08, Y:-30.37, Z:-0.40 [[ 9.90504056e-01 1.37481380e-01 7.65457073e-04 2.97084296e+02] [-1.37481337e-01 9.90504351e-01 -1.08302864e-04 -3.03652090e+01] [-7.73078189e-04 2.03836425e-06 9.99999701e-01 -4.04034239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.11, Y:-30.37, Z:-0.40 [[ 9.90729699e-01 1.35845787e-01 7.65463682e-04 2.97112922e+02] [-1.35845744e-01 9.90729995e-01 -1.08256136e-04 -3.03695605e+01] [-7.73073969e-04 3.26758575e-06 9.99999701e-01 -4.00914247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.14, Y:-30.37, Z:-0.40 [[ 9.90906295e-01 1.34551583e-01 7.65468946e-04 2.97140748e+02] [-1.34551539e-01 9.90906591e-01 -1.08218902e-04 -3.03737836e+01] [-7.73069248e-04 4.23976681e-06 9.99999701e-01 -4.01086237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.17, Y:-30.38, Z:-0.40 [[ 9.91129111e-01 1.32900334e-01 7.65476864e-04 2.97168929e+02] [-1.32900290e-01 9.91129407e-01 -1.08162861e-04 -3.03795554e+01] [-7.73061511e-04 5.47126333e-06 9.99999701e-01 -4.01746909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.20, Y:-30.39, Z:-0.40 [[ 9.91176422e-01 1.32547031e-01 7.65482149e-04 2.97197298e+02] [-1.32546987e-01 9.91176717e-01 -1.08125445e-04 -3.03852881e+01] [-7.73059791e-04 5.70903919e-06 9.99999701e-01 -4.03557233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:-30.39, Z:-0.40 [[ 9.91213973e-01 1.32265919e-01 7.65487413e-04 2.97225902e+02] [-1.32265875e-01 9.91214269e-01 -1.08088165e-04 -3.03911479e+01] [-7.73058427e-04 5.89063730e-06 9.99999701e-01 -4.03971211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:-30.40, Z:-0.40 [[ 9.91282766e-01 1.31749352e-01 7.65492730e-04 2.97253230e+02] [-1.31749308e-01 9.91283062e-01 -1.08050502e-04 -3.03964428e+01] [-7.73055560e-04 6.25546325e-06 9.99999701e-01 -4.03767509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.28, Y:-30.40, Z:-0.40 [[ 9.91363316e-01 1.31141866e-01 7.65500698e-04 2.97280787e+02] [-1.31141822e-01 9.91363612e-01 -1.07994022e-04 -3.04021250e+01] [-7.73052074e-04 6.67215527e-06 9.99999701e-01 -4.02598144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.31, Y:-30.41, Z:-0.40 [[ 9.91350243e-01 1.31240658e-01 7.65507310e-04 2.97307601e+02] [-1.31240613e-01 9.91350538e-01 -1.07947130e-04 -3.04070889e+01] [-7.73053136e-04 6.54776426e-06 9.99999701e-01 -4.04079779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35420382200004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:297.34, Y:-30.41, Z:-0.41 [[ 9.90970718e-01 1.34076287e-01 7.65516446e-04 2.97336022e+02] [-1.34076244e-01 9.90971013e-01 -1.07882304e-04 -3.04128398e+01] [-7.73069067e-04 4.27063509e-06 9.99999701e-01 -4.05718693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3842038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.37, Y:-30.42, Z:-0.40 [[ 9.90607615e-01 1.36733194e-01 7.65521674e-04 2.97365104e+02] [-1.36733152e-01 9.90607911e-01 -1.07845195e-04 -3.04166662e+01] [-7.73077844e-04 2.16008054e-06 9.99999701e-01 -4.04159168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41420382200005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.39, Y:-30.42, Z:-0.41 [[ 9.90121575e-01 1.40209416e-01 7.65531797e-04 2.97393553e+02] [-1.40209375e-01 9.90121871e-01 -1.07773284e-04 -3.04194676e+01] [-7.73080605e-04 -6.26080613e-07 9.99999701e-01 -4.07486735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.444203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:297.42, Y:-30.42, Z:-0.41 [[ 9.89111979e-01 1.47162860e-01 7.65537048e-04 2.97422287e+02] [-1.47162820e-01 9.89112275e-01 -1.07735978e-04 -3.04219755e+01] [-7.73056825e-04 -6.09564454e-06 9.99999701e-01 -4.08475699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:-30.42, Z:-0.40 [[ 9.88357220e-01 1.52149333e-01 7.65542333e-04 2.97450108e+02] [-1.52149296e-01 9.88357516e-01 -1.07698405e-04 -3.04237199e+01] [-7.73015760e-04 -1.00322306e-05 9.99999701e-01 -4.04174615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.48, Y:-30.43, Z:-0.40 [[ 9.88151301e-01 1.53481007e-01 7.65548934e-04 2.97478254e+02] [-1.53480970e-01 9.88151598e-01 -1.07651466e-04 -3.04272676e+01] [-7.73000858e-04 -1.11212563e-05 9.99999701e-01 -4.03509678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-30.43, Z:-0.40 [[ 9.88063609e-01 1.54044531e-01 7.65556961e-04 2.97504946e+02] [-1.54044494e-01 9.88063906e-01 -1.07594355e-04 -3.04300226e+01] [-7.72993523e-04 -1.16197683e-05 9.99999701e-01 -4.04330860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.564203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.53, Y:-30.43, Z:-0.41 [[ 9.88134104e-01 1.53591686e-01 7.65566308e-04 2.97533372e+02] [-1.53591648e-01 9.88134401e-01 -1.07527803e-04 -3.04298365e+01] [-7.72997782e-04 -1.13327021e-05 9.99999701e-01 -4.05596350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.56, Y:-30.43, Z:-0.40 [[ 9.88608664e-01 1.50506887e-01 7.65576010e-04 2.97562164e+02] [-1.50506849e-01 9.88608961e-01 -1.07458683e-04 -3.04347073e+01] [-7.73028575e-04 -8.98984788e-06 9.99999701e-01 -4.01959093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.59, Y:-30.44, Z:-0.40 [[ 9.88924061e-01 1.48420400e-01 7.65581339e-04 2.97589167e+02] [-1.48420361e-01 9.88924358e-01 -1.07420703e-04 -3.04390507e+01] [-7.73045458e-04 -7.39694103e-06 9.99999701e-01 -4.02742491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.62, Y:-30.44, Z:-0.40 [[ 9.89246281e-01 1.46257340e-01 7.65591015e-04 2.97616947e+02] [-1.46257301e-01 9.89246577e-01 -1.07351698e-04 -3.04427638e+01] [-7.73059265e-04 -5.77600754e-06 9.99999701e-01 -4.03488111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.65, Y:-30.45, Z:-0.40 [[ 9.89916607e-01 1.41649304e-01 7.65597448e-04 2.97645568e+02] [-1.41649263e-01 9.89916903e-01 -1.07305801e-04 -3.04453337e+01] [-7.73077647e-04 -2.22251954e-06 9.99999701e-01 -4.04365688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-30.45, Z:-0.40 [[ 9.90208073e-01 1.39597229e-01 7.65602468e-04 2.97673771e+02] [-1.39597188e-01 9.90208369e-01 -1.07269972e-04 -3.04492564e+01] [-7.73080562e-04 -6.56359678e-07 9.99999701e-01 -4.04063784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74420382200003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.70, Y:-30.45, Z:-0.41 [[ 9.90438646e-01 1.37951814e-01 7.65610065e-04 2.97702234e+02] [-1.37951773e-01 9.90438942e-01 -1.07215726e-04 -3.04529200e+01] [-7.73080626e-04 5.73332728e-07 9.99999701e-01 -4.05685356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.73, Y:-30.46, Z:-0.41 [[ 9.90673925e-01 1.36251932e-01 7.65615192e-04 2.97730112e+02] [-1.36251889e-01 9.90674220e-01 -1.07179098e-04 -3.04565163e+01] [-7.73078593e-04 1.86302082e-06 9.99999701e-01 -4.11109556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.76, Y:-30.46, Z:-0.41 [[ 9.90775250e-01 1.35513168e-01 7.65621568e-04 2.97758523e+02] [-1.35513126e-01 9.90775545e-01 -1.07133534e-04 -3.04611710e+01] [-7.73077131e-04 2.39348174e-06 9.99999701e-01 -4.09767577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.79, Y:-30.47, Z:-0.41 [[ 9.90795848e-01 1.35362480e-01 7.65626734e-04 2.97785622e+02] [-1.35362438e-01 9.90796144e-01 -1.07096601e-04 -3.04658109e+01] [-7.73076878e-04 2.47376674e-06 9.99999701e-01 -4.10700666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86420382200004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:297.81, Y:-30.47, Z:-0.41 [[ 9.90831135e-01 1.35103941e-01 7.65633169e-04 2.97812925e+02] [-1.35103898e-01 9.90831431e-01 -1.07050576e-04 -3.04700007e+01] [-7.73076364e-04 2.62901808e-06 9.99999701e-01 -4.11805599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.84, Y:-30.47, Z:-0.41 [[ 9.91025377e-01 1.33671671e-01 7.65640890e-04 2.97840180e+02] [-1.33671628e-01 9.91025673e-01 -1.06995327e-04 -3.04746206e+01] [-7.73072023e-04 3.69062014e-06 9.99999701e-01 -4.08875393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.87, Y:-30.48, Z:-0.41 [[ 9.91150184e-01 1.32743084e-01 7.65647294e-04 2.97868211e+02] [-1.32743041e-01 9.91150480e-01 -1.06949486e-04 -3.04795804e+01] [-7.73068487e-04 4.36865259e-06 9.99999701e-01 -4.05152142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.90, Y:-30.49, Z:-0.40 [[ 9.91406853e-01 1.30812326e-01 7.65652418e-04 2.97895741e+02] [-1.30812282e-01 9.91407149e-01 -1.06912789e-04 -3.04870513e+01] [-7.73058791e-04 5.83733139e-06 9.99999701e-01 -4.01029890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98420382200004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:297.92, Y:-30.49, Z:-0.40 [[ 9.91503803e-01 1.30075449e-01 7.65658789e-04 2.97924482e+02] [-1.30075405e-01 9.91504099e-01 -1.06867140e-04 -3.04917408e+01] [-7.73054619e-04 6.36579815e-06 9.99999701e-01 -4.03744706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.95, Y:-30.50, Z:-0.40 [[ 9.91552847e-01 1.29701064e-01 7.65663873e-04 2.97952955e+02] [-1.29701020e-01 9.91553142e-01 -1.06830701e-04 -3.04980912e+01] [-7.73052475e-04 6.62090046e-06 9.99999701e-01 -4.03373449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.98, Y:-30.50, Z:-0.40 [[ 9.91502694e-01 1.30083901e-01 7.65668950e-04 2.97980734e+02] [-1.30083858e-01 9.91502990e-01 -1.06794303e-04 -3.05039852e+01] [-7.73055273e-04 6.28566849e-06 9.99999701e-01 -4.02956949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0742038220001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:298.01, Y:-30.51, Z:-0.41 [[ 9.91345366e-01 1.31277492e-01 7.65676631e-04 2.98007966e+02] [-1.31277449e-01 9.91345661e-01 -1.06739207e-04 -3.05095413e+01] [-7.73062661e-04 5.29934391e-06 9.99999701e-01 -4.06098439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.04, Y:-30.52, Z:-0.41 [[ 9.90768456e-01 1.35562831e-01 7.65683000e-04 2.98036419e+02] [-1.35562789e-01 9.90768752e-01 -1.06693502e-04 -3.05156328e+01] [-7.73078463e-04 1.91043372e-06 9.99999701e-01 -4.06291677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.1342038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.06, Y:-30.52, Z:-0.41 [[ 9.90362000e-01 1.38500987e-01 7.65688070e-04 2.98063330e+02] [-1.38500946e-01 9.90362296e-01 -1.06657103e-04 -3.05192088e+01] [-7.73080709e-04 -4.19380260e-07 9.99999701e-01 -4.06949868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.09, Y:-30.52, Z:-0.41 [[ 9.89339675e-01 1.45624244e-01 7.65696924e-04 2.98092046e+02] [-1.45624205e-01 9.89339972e-01 -1.06593501e-04 -3.05224742e+01] [-7.73057171e-04 -6.04682547e-06 9.99999701e-01 -4.06555300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.194203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:298.12, Y:-30.53, Z:-0.41 [[ 9.88869927e-01 1.48780647e-01 7.65701947e-04 2.98119299e+02] [-1.48780609e-01 9.88870224e-01 -1.06557409e-04 -3.05262299e+01] [-7.73033535e-04 -8.55018404e-06 9.99999701e-01 -4.06670294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.15, Y:-30.53, Z:-0.40 [[ 9.88122138e-01 1.53668653e-01 7.65709555e-04 2.98146849e+02] [-1.53668616e-01 9.88122434e-01 -1.06502708e-04 -3.05311343e+01] [-7.72980917e-04 -1.24278439e-05 9.99999701e-01 -4.04980708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.17, Y:-30.53, Z:-0.40 [[ 9.87873880e-01 1.55256600e-01 7.65715882e-04 2.98174820e+02] [-1.55256564e-01 9.87874176e-01 -1.06457196e-04 -3.05341557e+01] [-7.72959129e-04 -1.37161334e-05 9.99999701e-01 -4.04190758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.20, Y:-30.54, Z:-0.41 [[ 9.87684282e-01 1.56458213e-01 7.65723530e-04 2.98202322e+02] [-1.56458178e-01 9.87684579e-01 -1.06402163e-04 -3.05374904e+01] [-7.72940814e-04 -1.47119640e-05 9.99999701e-01 -4.05801997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.23, Y:-30.54, Z:-0.41 [[ 9.87594202e-01 1.57025814e-01 7.65729861e-04 2.98230750e+02] [-1.57025778e-01 9.87594499e-01 -1.06356580e-04 -3.05406159e+01] [-7.72931327e-04 -1.52021859e-05 9.99999701e-01 -4.05032511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.26, Y:-30.54, Z:-0.40 [[ 9.87717624e-01 1.56247587e-01 7.65735037e-04 2.98259388e+02] [-1.56247552e-01 9.87717921e-01 -1.06319299e-04 -3.05436639e+01] [-7.72942353e-04 -1.46307800e-05 9.99999701e-01 -4.04784246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.29, Y:-30.55, Z:-0.41 [[ 9.88239992e-01 1.52908898e-01 7.65740188e-04 2.98287458e+02] [-1.52908862e-01 9.88240289e-01 -1.06282190e-04 -3.05473684e+01] [-7.72986797e-04 -1.20561504e-05 9.99999701e-01 -4.08105854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.32, Y:-30.55, Z:-0.41 [[ 9.88586662e-01 1.50651336e-01 7.65745296e-04 2.98316256e+02] [-1.50651299e-01 9.88586959e-01 -1.06245376e-04 -3.05520379e+01] [-7.73011821e-04 -1.03277615e-05 9.99999701e-01 -4.06305375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.43420382200003 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:298.34, Y:-30.56, Z:-0.41 [[ 9.88982456e-01 1.48030790e-01 7.65750546e-04 2.98343688e+02] [-1.48030752e-01 9.88982753e-01 -1.06207520e-04 -3.05556019e+01] [-7.73036066e-04 -8.31725520e-06 9.99999701e-01 -4.05630651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.37, Y:-30.56, Z:-0.40 [[ 9.89645411e-01 1.43531790e-01 7.65758689e-04 2.98370841e+02] [-1.43531751e-01 9.89645707e-01 -1.06148775e-04 -3.05595655e+01] [-7.73065523e-04 -4.86103717e-06 9.99999701e-01 -4.04350011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.40, Y:-30.56, Z:-0.41 [[ 9.89934513e-01 1.41524110e-01 7.65765417e-04 2.98399331e+02] [-1.41524070e-01 9.89934809e-01 -1.06100217e-04 -3.05631985e+01] [-7.73073581e-04 -3.34197225e-06 9.99999701e-01 -4.05307559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.43, Y:-30.57, Z:-0.41 [[ 9.90269944e-01 1.39157647e-01 7.65770630e-04 2.98426892e+02] [-1.39157606e-01 9.90270241e-01 -1.06062584e-04 -3.05671939e+01] [-7.73079285e-04 -1.53221870e-06 9.99999701e-01 -4.08426716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.46, Y:-30.57, Z:-0.41 [[ 9.90279659e-01 1.39088500e-01 7.65777104e-04 2.98455127e+02] [-1.39088460e-01 9.90279955e-01 -1.06015820e-04 -3.05709635e+01] [-7.73079297e-04 -1.52544760e-06 9.99999701e-01 -4.08448740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:298.48, Y:-30.57, Z:-0.41 [[ 9.90375427e-01 1.38404936e-01 7.65784503e-04 2.98483503e+02] [-1.38404895e-01 9.90375724e-01 -1.05962349e-04 -3.05747565e+01] [-7.73080093e-04 -1.04581771e-06 9.99999701e-01 -4.05959398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.51, Y:-30.58, Z:-0.41 [[ 9.90405030e-01 1.38192946e-01 7.65789818e-04 2.98510835e+02] [-1.38192905e-01 9.90405326e-01 -1.05923921e-04 -3.05790539e+01] [-7.73080253e-04 -9.19135285e-07 9.99999701e-01 -4.07140387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64420382200007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:298.54, Y:-30.58, Z:-0.41 [[ 9.90393105e-01 1.38278380e-01 7.65799109e-04 2.98539820e+02] [-1.38278340e-01 9.90393401e-01 -1.05856710e-04 -3.05821467e+01] [-7.73080078e-04 -1.05367392e-06 9.99999701e-01 -4.07623866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67420382200004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:298.57, Y:-30.59, Z:-0.41 [[ 9.90446094e-01 1.37898323e-01 7.65804116e-04 2.98568432e+02] [-1.37898283e-01 9.90446390e-01 -1.05820472e-04 -3.05851712e+01] [-7.73080388e-04 -7.93599166e-07 9.99999701e-01 -4.06941927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.60, Y:-30.59, Z:-0.40 [[ 9.90428310e-01 1.38025998e-01 7.65809282e-04 2.98596157e+02] [-1.38025958e-01 9.90428606e-01 -1.05783075e-04 -3.05881509e+01] [-7.73080234e-04 -9.31007443e-07 9.99999701e-01 -4.04404816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.62, Y:-30.59, Z:-0.40 [[ 9.90412727e-01 1.38137771e-01 7.65815697e-04 2.98624600e+02] [-1.38137730e-01 9.90413023e-01 -1.05736612e-04 -3.05904390e+01] [-7.73080059e-04 -1.06515599e-06 9.99999701e-01 -4.04330221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76420382200007 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:298.65, Y:-30.59, Z:-0.41 [[ 9.90421890e-01 1.38072058e-01 7.65820827e-04 2.98652965e+02] [-1.38072018e-01 9.90422186e-01 -1.05699444e-04 -3.05933917e+01] [-7.73080077e-04 -1.05138438e-06 9.99999701e-01 -4.06415488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.68, Y:-30.60, Z:-0.41 [[ 9.90387623e-01 1.38317642e-01 7.65825954e-04 2.98681572e+02] [-1.38317602e-01 9.90387919e-01 -1.05662285e-04 -3.05969956e+01] [-7.73079731e-04 -1.28058967e-06 9.99999701e-01 -4.06643411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8242038220001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:298.71, Y:-30.60, Z:-0.41 [[ 9.90342923e-01 1.38637323e-01 7.65831068e-04 2.98709890e+02] [-1.38637283e-01 9.90343220e-01 -1.05625206e-04 -3.05987882e+01] [-7.73079201e-04 -1.56756283e-06 9.99999701e-01 -4.07269649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.74, Y:-30.60, Z:-0.41 [[ 9.90309929e-01 1.38872810e-01 7.65838859e-04 2.98737986e+02] [-1.38872770e-01 9.90310225e-01 -1.05568685e-04 -3.05979009e+01] [-7.73078673e-04 -1.80844717e-06 9.99999701e-01 -4.05749890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8842038220001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:298.77, Y:-30.60, Z:-0.41 [[ 9.90375038e-01 1.38407722e-01 7.65845303e-04 2.98765604e+02] [-1.38407682e-01 9.90375334e-01 -1.05521917e-04 -3.05989537e+01] [-7.73079346e-04 -1.49260079e-06 9.99999701e-01 -4.08438312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.79, Y:-30.60, Z:-0.41 [[ 9.90658923e-01 1.36360960e-01 7.65851528e-04 2.98794405e+02] [-1.36360920e-01 9.90659219e-01 -1.05476722e-04 -3.06012021e+01] [-7.73080783e-04 5.92367657e-08 9.99999701e-01 -4.06616758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.82, Y:-30.61, Z:-0.41 [[ 9.90853612e-01 1.34938995e-01 7.65856447e-04 2.98822506e+02] [-1.34938954e-01 9.90853908e-01 -1.05440988e-04 -3.06052225e+01] [-7.73079955e-04 1.13271648e-06 9.99999701e-01 -4.05339513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.85, Y:-30.61, Z:-0.40 [[ 9.91191556e-01 1.32433803e-01 7.65862567e-04 2.98851102e+02] [-1.32433761e-01 9.91191852e-01 -1.05396517e-04 -3.06089007e+01] [-7.73074798e-04 3.04207796e-06 9.99999701e-01 -4.02743233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.004203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:298.88, Y:-30.61, Z:-0.41 [[ 9.91295121e-01 1.31656360e-01 7.65867815e-04 2.98878625e+02] [-1.31656318e-01 9.91295417e-01 -1.05358370e-04 -3.06106395e+01] [-7.73072354e-04 3.60990128e-06 9.99999701e-01 -4.06044185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.91, Y:-30.61, Z:-0.40 [[ 9.91404258e-01 1.30831993e-01 7.65874327e-04 2.98906685e+02] [-1.30831951e-01 9.91404554e-01 -1.05311012e-04 -3.06107174e+01] [-7.73069345e-04 4.20495358e-06 9.99999701e-01 -4.04748217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.93, Y:-30.61, Z:-0.41 [[ 9.91496429e-01 1.30131646e-01 7.65880692e-04 2.98934836e+02] [-1.30131604e-01 9.91496724e-01 -1.05264704e-04 -3.06130116e+01] [-7.73066466e-04 4.70429495e-06 9.99999701e-01 -4.05518811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.96, Y:-30.62, Z:-0.40 [[ 9.91599375e-01 1.29344862e-01 7.65886846e-04 2.98963614e+02] [-1.29344820e-01 9.91599671e-01 -1.05219910e-04 -3.06158173e+01] [-7.73062799e-04 5.27250154e-06 9.99999701e-01 -4.04437865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.124203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:298.99, Y:-30.62, Z:-0.40 [[ 9.91648660e-01 1.28966462e-01 7.65891754e-04 2.98991262e+02] [-1.28966419e-01 9.91648956e-01 -1.05184173e-04 -3.06189869e+01] [-7.73060988e-04 5.53142735e-06 9.99999701e-01 -4.04343021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.02, Y:-30.62, Z:-0.40 [[ 9.91655500e-01 1.28913859e-01 7.65899384e-04 2.99019758e+02] [-1.28913816e-01 9.91655796e-01 -1.05128584e-04 -3.06228780e+01] [-7.73061094e-04 5.51632595e-06 9.99999701e-01 -4.01935185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.05, Y:-30.62, Z:-0.41 [[ 9.91715675e-01 1.28450118e-01 7.65904483e-04 2.99048101e+02] [-1.28450075e-01 9.91715971e-01 -1.05091424e-04 -3.06247046e+01] [-7.73058713e-04 5.84032445e-06 9.99999701e-01 -4.07018730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.08, Y:-30.63, Z:-0.41 [[ 9.91896996e-01 1.27042364e-01 7.65909556e-04 2.99075379e+02] [-1.27042321e-01 9.91897292e-01 -1.05054433e-04 -3.06261451e+01] [-7.73049978e-04 6.90024935e-06 9.99999701e-01 -4.07125232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.10, Y:-30.63, Z:-0.40 [[ 9.92073325e-01 1.25657991e-01 7.65921487e-04 2.99103831e+02] [-1.25657948e-01 9.92073621e-01 -1.04967381e-04 -3.06301500e+01] [-7.73040493e-04 7.89121693e-06 9.99999701e-01 -4.04518232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.13, Y:-30.64, Z:-0.41 [[ 9.92303481e-01 1.23827361e-01 7.65926427e-04 2.99131816e+02] [-1.23827316e-01 9.92303776e-01 -1.04931323e-04 -3.06351254e+01] [-7.73025054e-04 9.28110350e-06 9.99999701e-01 -4.05118281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.16, Y:-30.64, Z:-0.41 [[ 9.92837795e-01 1.19467680e-01 7.65931411e-04 2.99159038e+02] [-1.19467634e-01 9.92838090e-01 -1.04894926e-04 -3.06430810e+01] [-7.72977433e-04 1.26396327e-05 9.99999701e-01 -4.05122385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.19, Y:-30.65, Z:-0.40 [[ 9.93316759e-01 1.15417630e-01 7.65937608e-04 2.99187446e+02] [-1.15417583e-01 9.93317054e-01 -1.04849659e-04 -3.06504584e+01] [-7.72920387e-04 1.57462561e-05 9.99999701e-01 -4.03100507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.21, Y:-30.66, Z:-0.41 [[ 9.93486275e-01 1.13949263e-01 7.65942583e-04 2.99214243e+02] [-1.13949216e-01 9.93486570e-01 -1.04813304e-04 -3.06558772e+01] [-7.72897068e-04 1.68520223e-05 9.99999701e-01 -4.07707445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.24, Y:-30.66, Z:-0.40 [[ 9.93594017e-01 1.13005942e-01 7.65951260e-04 2.99242759e+02] [-1.13005895e-01 9.93594312e-01 -1.04749854e-04 -3.06628269e+01] [-7.72882171e-04 1.75218205e-05 9.99999701e-01 -4.02721989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.27, Y:-30.67, Z:-0.40 [[ 9.93534088e-01 1.13531626e-01 7.65956130e-04 2.99270291e+02] [-1.13531579e-01 9.93534383e-01 -1.04714231e-04 -3.06740731e+01] [-7.72892128e-04 1.70769491e-05 9.99999701e-01 -4.00000115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.30, Y:-30.68, Z:-0.40 [[ 9.93382061e-01 1.14854230e-01 7.65961220e-04 2.99297067e+02] [-1.14854183e-01 9.93382356e-01 -1.04676986e-04 -3.06806325e+01] [-7.72914956e-04 1.60103901e-05 9.99999701e-01 -4.00950715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48420382200004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:299.32, Y:-30.69, Z:-0.40 [[ 9.92819070e-01 1.19623186e-01 7.65967560e-04 2.99323620e+02] [-1.19623140e-01 9.92819366e-01 -1.04630574e-04 -3.06912044e+01] [-7.72983670e-04 1.22517840e-05 9.99999701e-01 -4.03032531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.35, Y:-30.70, Z:-0.40 [[ 9.92458445e-01 1.22579149e-01 7.65973805e-04 2.99350339e+02] [-1.22579104e-01 9.92458741e-01 -1.04584835e-04 -3.06994932e+01] [-7.73017318e-04 9.90372006e-06 9.99999701e-01 -4.02541784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.38, Y:-30.71, Z:-0.40 [[ 9.92016038e-01 1.26109454e-01 7.65979939e-04 2.99378165e+02] [-1.26109411e-01 9.92016333e-01 -1.04539891e-04 -3.07065990e+01] [-7.73048079e-04 7.10796969e-06 9.99999701e-01 -4.01165087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.41, Y:-30.71, Z:-0.40 [[ 9.90913192e-01 1.34500781e-01 7.65985060e-04 2.99405885e+02] [-1.34500741e-01 9.90913488e-01 -1.04502356e-04 -3.07141876e+01] [-7.73080575e-04 5.27205368e-07 9.99999701e-01 -4.02373783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.43, Y:-30.72, Z:-0.40 [[ 9.90226502e-01 1.39466439e-01 7.65990238e-04 2.99432885e+02] [-1.39466400e-01 9.90226798e-01 -1.04464383e-04 -3.07189767e+01] [-7.73073337e-04 -3.38650040e-06 9.99999701e-01 -4.04131380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.6342038220001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:299.46, Y:-30.73, Z:-0.41 [[ 9.88781034e-01 1.49370279e-01 7.65996709e-04 2.99459703e+02] [-1.49370243e-01 9.88781331e-01 -1.04416914e-04 -3.07259864e+01] [-7.73000029e-04 -1.11716502e-05 9.99999701e-01 -4.08943200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.49, Y:-30.73, Z:-0.41 [[ 9.88119001e-01 1.53688817e-01 7.66003028e-04 2.99487388e+02] [-1.53688782e-01 9.88119298e-01 -1.04370539e-04 -3.07314355e+01] [-7.72942959e-04 -1.45955592e-05 9.99999701e-01 -4.09215312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.51, Y:-30.74, Z:-0.41 [[ 9.87472589e-01 1.57788777e-01 7.66009303e-04 2.99514945e+02] [-1.57788744e-01 9.87472886e-01 -1.04324462e-04 -3.07364554e+01] [-7.72874647e-04 -1.78500987e-05 9.99999701e-01 -4.08996435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72420382200005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:299.54, Y:-30.74, Z:-0.41 [[ 9.86507947e-01 1.63711586e-01 7.66016720e-04 2.99541807e+02] [-1.63711554e-01 9.86508244e-01 -1.04269976e-04 -3.07430112e+01] [-7.72752012e-04 -2.25426282e-05 9.99999701e-01 -4.07658786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.57, Y:-30.75, Z:-0.41 [[ 9.86210719e-01 1.65492689e-01 7.66024452e-04 2.99569007e+02] [-1.65492658e-01 9.86211017e-01 -1.04213136e-04 -3.07481505e+01] [-7.72708266e-04 -2.39953108e-05 9.99999701e-01 -4.07709784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.60, Y:-30.75, Z:-0.40 [[ 9.85860707e-01 1.67565152e-01 7.66030810e-04 2.99597854e+02] [-1.67565122e-01 9.85861004e-01 -1.04166387e-04 -3.07527237e+01] [-7.72654559e-04 -2.56664981e-05 9.99999701e-01 -4.03350554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.63, Y:-30.76, Z:-0.40 [[ 9.85798977e-01 1.67927932e-01 7.66035829e-04 2.99626730e+02] [-1.67927902e-01 9.85799274e-01 -1.04129461e-04 -3.07569817e+01] [-7.72643809e-04 -2.59880735e-05 9.99999701e-01 -4.02280149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.65, Y:-30.76, Z:-0.40 [[ 9.85598190e-01 1.69102396e-01 7.66041039e-04 2.99654304e+02] [-1.69102366e-01 9.85598488e-01 -1.04091122e-04 -3.07597873e+01] [-7.72610947e-04 -2.69473300e-05 9.99999701e-01 -4.04547869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.68, Y:-30.76, Z:-0.40 [[ 9.85518834e-01 1.69564266e-01 7.66047498e-04 2.99681914e+02] [-1.69564236e-01 9.85519132e-01 -1.04043560e-04 -3.07627043e+01] [-7.72596535e-04 -2.73573706e-05 9.99999701e-01 -4.02135612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.71, Y:-30.77, Z:-0.40 [[ 9.85373880e-01 1.70404608e-01 7.66055095e-04 2.99710183e+02] [-1.70404579e-01 9.85374177e-01 -1.03987601e-04 -3.07658796e+01] [-7.72570875e-04 -2.80726298e-05 9.99999701e-01 -4.01743621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.74, Y:-30.77, Z:-0.41 [[ 9.85039087e-01 1.72329365e-01 7.66060187e-04 2.99738215e+02] [-1.72329336e-01 9.85039385e-01 -1.03950073e-04 -3.07657688e+01] [-7.72513105e-04 -2.96197585e-05 9.99999701e-01 -4.05275490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.77, Y:-30.77, Z:-0.41 [[ 9.84891535e-01 1.73170662e-01 7.66066522e-04 2.99765740e+02] [-1.73170634e-01 9.84891832e-01 -1.03903365e-04 -3.07679148e+01] [-7.72485675e-04 -3.03266803e-05 9.99999701e-01 -4.05984155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.79, Y:-30.77, Z:-0.41 [[ 9.84806792e-01 1.73651938e-01 7.66072514e-04 2.99794311e+02] [-1.73651910e-01 9.84807089e-01 -1.03859168e-04 -3.07662092e+01] [-7.72468989e-04 -3.07487404e-05 9.99999701e-01 -4.08230905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.82, Y:-30.76, Z:-0.40 [[ 9.84842297e-01 1.73450461e-01 7.66077238e-04 2.99823479e+02] [-1.73450432e-01 9.84842595e-01 -1.03824314e-04 -3.07649093e+01] [-7.72473870e-04 -3.06258521e-05 9.99999701e-01 -4.04571585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.85, Y:-30.76, Z:-0.40 [[ 9.84988156e-01 1.72620234e-01 7.66082102e-04 2.99851877e+02] [-1.72620205e-01 9.84988454e-01 -1.03788408e-04 -3.07637033e+01] [-7.72498004e-04 -3.00108974e-05 9.99999701e-01 -4.02707034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.88, Y:-30.76, Z:-0.41 [[ 9.85719172e-01 1.68395748e-01 7.66089608e-04 2.99880334e+02] [-1.68395718e-01 9.85719469e-01 -1.03732974e-04 -3.07610626e+01] [-7.72617633e-04 -2.67546288e-05 9.99999701e-01 -4.05386507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.91, Y:-30.76, Z:-0.41 [[ 9.86858137e-01 1.61587223e-01 7.66095843e-04 2.99909731e+02] [-1.61587192e-01 9.86858434e-01 -1.03686908e-04 -3.07607983e+01] [-7.72782623e-04 -2.14670070e-05 9.99999701e-01 -4.05075962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.94, Y:-30.76, Z:-0.40 [[ 9.87547244e-01 1.57320864e-01 7.66100760e-04 2.99938365e+02] [-1.57320831e-01 9.87547541e-01 -1.03650568e-04 -3.07610410e+01] [-7.72867318e-04 -1.81637752e-05 9.99999701e-01 -4.04996377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.97, Y:-30.76, Z:-0.40 [[ 9.88294471e-01 1.52556390e-01 7.66119182e-04 2.99967642e+02] [-1.52556355e-01 9.88294768e-01 -1.03514219e-04 -3.07614771e+01] [-7.72943335e-04 -1.45738202e-05 9.99999701e-01 -4.04266811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20420382200007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:299.99, Y:-30.76, Z:-0.41 [[ 9.90059272e-01 1.40648678e-01 7.66124161e-04 2.99994493e+02] [-1.40648640e-01 9.90059569e-01 -1.03477356e-04 -3.07608635e+01] [-7.73062510e-04 -5.30560592e-06 9.99999701e-01 -4.07642836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.02, Y:-30.76, Z:-0.41 [[ 9.90934860e-01 1.34341045e-01 7.66132807e-04 3.00023307e+02] [-1.34341006e-01 9.90935156e-01 -1.03413307e-04 -3.07644504e+01] [-7.73080584e-04 -4.47200542e-07 9.99999701e-01 -4.05288695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26420382200007 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:300.05, Y:-30.77, Z:-0.41 [[ 9.92532978e-01 1.21974184e-01 7.66137771e-04 3.00052296e+02] [-1.21974140e-01 9.92533273e-01 -1.03376519e-04 -3.07653505e+01] [-7.73026496e-04 9.15560876e-06 9.99999701e-01 -4.05245565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.08, Y:-30.77, Z:-0.40 [[ 9.93221874e-01 1.16231328e-01 7.66142874e-04 3.00079736e+02] [-1.16231282e-01 9.93222170e-01 -1.03338680e-04 -3.07683858e+01] [-7.72961280e-04 1.35884682e-05 9.99999701e-01 -4.01777334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3242038220001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:300.11, Y:-30.77, Z:-0.40 [[ 9.94243261e-01 1.07143601e-01 7.66149168e-04 3.00107615e+02] [-1.07143553e-01 9.94243556e-01 -1.03291997e-04 -3.07722775e+01] [-7.72805950e-04 2.06094277e-05 9.99999701e-01 -4.01929024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.13, Y:-30.78, Z:-0.40 [[ 9.94572589e-01 1.04042198e-01 7.66155405e-04 3.00134853e+02] [-1.04042149e-01 9.94572883e-01 -1.03245715e-04 -3.07776358e+01] [-7.72739302e-04 2.29729028e-05 9.99999701e-01 -3.99160953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3842038220001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:300.16, Y:-30.78, Z:-0.40 [[ 9.94892320e-01 1.00939017e-01 7.66163041e-04 3.00162416e+02] [-1.00938968e-01 9.94892614e-01 -1.03189022e-04 -3.07824959e+01] [-7.72665749e-04 2.53262589e-05 9.99999701e-01 -4.02036502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.19, Y:-30.79, Z:-0.40 [[ 9.94933679e-01 1.00530526e-01 7.66169335e-04 3.00190184e+02] [-1.00530476e-01 9.94933974e-01 -1.03142264e-04 -3.07870277e+01] [-7.72656848e-04 2.55963440e-05 9.99999701e-01 -3.99236762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.22, Y:-30.79, Z:-0.40 [[ 9.94812836e-01 1.01719394e-01 7.66176747e-04 3.00218354e+02] [-1.01719345e-01 9.94813130e-01 -1.03087179e-04 -3.07924234e+01] [-7.72688653e-04 2.46174521e-05 9.99999701e-01 -3.97436623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.25, Y:-30.80, Z:-0.40 [[ 9.94820343e-01 1.01645947e-01 7.66181817e-04 3.00246601e+02] [-1.01645898e-01 9.94820638e-01 -1.03049482e-04 -3.07960974e+01] [-7.72688046e-04 2.46364828e-05 9.99999701e-01 -3.97458646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.27, Y:-30.80, Z:-0.40 [[ 9.94677874e-01 1.03030776e-01 7.66189421e-04 3.00274501e+02] [-1.03030727e-01 9.94678168e-01 -1.02992914e-04 -3.08009189e+01] [-7.72723330e-04 2.35037201e-05 9.99999701e-01 -4.00711070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53420382200005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:300.30, Y:-30.81, Z:-0.40 [[ 9.94257669e-01 1.07009814e-01 7.66195719e-04 3.00303276e+02] [-1.07009767e-01 9.94257964e-01 -1.02946037e-04 -3.08071530e+01] [-7.72812432e-04 2.03644622e-05 9.99999701e-01 -4.01636625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.33, Y:-30.81, Z:-0.40 [[ 9.94001579e-01 1.09363038e-01 7.66203646e-04 3.00330112e+02] [-1.09362991e-01 9.94001874e-01 -1.02887010e-04 -3.08130916e+01] [-7.72859896e-04 1.84755281e-05 9.99999701e-01 -4.02017464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.36, Y:-30.82, Z:-0.40 [[ 9.93704040e-01 1.12034344e-01 7.66209866e-04 3.00358748e+02] [-1.12034298e-01 9.93704335e-01 -1.02840669e-04 -3.08183670e+01] [-7.72907752e-04 1.63514036e-05 9.99999701e-01 -3.99013978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.39, Y:-30.82, Z:-0.40 [[ 9.92961217e-01 1.18437471e-01 7.66214803e-04 3.00387234e+02] [-1.18437427e-01 9.92961513e-01 -1.02803867e-04 -3.08236686e+01] [-7.72997640e-04 1.13317428e-05 9.99999701e-01 -3.97743171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.41, Y:-30.83, Z:-0.40 [[ 9.92152547e-01 1.25030944e-01 7.66219765e-04 3.00414955e+02] [-1.25030902e-01 9.92152843e-01 -1.02766871e-04 -3.08306209e+01] [-7.73056157e-04 6.15926498e-06 9.99999701e-01 -3.97618266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.44, Y:-30.84, Z:-0.40 [[ 9.91745179e-01 1.28222124e-01 7.66223513e-04 3.00441270e+02] [-1.28222083e-01 9.91745475e-01 -1.02738923e-04 -3.08354343e+01] [-7.73072104e-04 3.64405652e-06 9.99999701e-01 -3.97885351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.47, Y:-30.84, Z:-0.40 [[ 9.91311730e-01 1.31531237e-01 7.66232255e-04 3.00469712e+02] [-1.31531197e-01 9.91312026e-01 -1.02673680e-04 -3.08397890e+01] [-7.73080046e-04 9.98177600e-07 9.99999701e-01 -3.99016012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.50, Y:-30.84, Z:-0.40 [[ 9.90421379e-01 1.38075720e-01 7.66237256e-04 3.00497927e+02] [-1.38075681e-01 9.90421676e-01 -1.02636342e-04 -3.08442983e+01] [-7.73069574e-04 -4.14550408e-06 9.99999701e-01 -3.99741073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77420382200006 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:300.52, Y:-30.85, Z:-0.40 [[ 9.89727559e-01 1.42964231e-01 7.66242319e-04 3.00524776e+02] [-1.42964194e-01 9.89727856e-01 -1.02598535e-04 -3.08480328e+01] [-7.73039288e-04 -8.00061773e-06 9.99999701e-01 -4.02812357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.55, Y:-30.85, Z:-0.40 [[ 9.89542786e-01 1.44237606e-01 7.66251151e-04 3.00553236e+02] [-1.44237570e-01 9.89543083e-01 -1.02532531e-04 -3.08517665e+01] [-7.73027573e-04 -9.06187764e-06 9.99999701e-01 -4.01503980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.58, Y:-30.86, Z:-0.40 [[ 9.89391094e-01 1.45274482e-01 7.66256153e-04 3.00580940e+02] [-1.45274447e-01 9.89391391e-01 -1.02495133e-04 -3.08555154e+01] [-7.73017169e-04 -9.90966658e-06 9.99999701e-01 -4.04618466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.61, Y:-30.86, Z:-0.40 [[ 9.89332892e-01 1.45670320e-01 7.66262375e-04 3.00609292e+02] [-1.45670285e-01 9.89333188e-01 -1.02448600e-04 -3.08598510e+01] [-7.73012519e-04 -1.02658882e-05 9.99999701e-01 -4.03486606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.64, Y:-30.86, Z:-0.41 [[ 9.89453822e-01 1.44846633e-01 7.66267256e-04 3.00638324e+02] [-1.44846597e-01 9.89454119e-01 -1.02412074e-04 -3.08636772e+01] [-7.73020337e-04 -9.65918594e-06 9.99999701e-01 -4.05206660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.67, Y:-30.87, Z:-0.41 [[ 9.90017371e-01 1.40943315e-01 7.66270966e-04 3.00665471e+02] [-1.40943278e-01 9.90017667e-01 -1.02384313e-04 -3.08684912e+01] [-7.73052178e-04 -6.63849365e-06 9.99999701e-01 -4.07388489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.69, Y:-30.87, Z:-0.41 [[ 9.90439477e-01 1.37945845e-01 7.66279442e-04 3.00693649e+02] [-1.37945807e-01 9.90439773e-01 -1.02320833e-04 -3.08737037e+01] [-7.73068370e-04 -4.36244343e-06 9.99999701e-01 -4.06808839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.72, Y:-30.88, Z:-0.41 [[ 9.90911660e-01 1.34512062e-01 7.66284266e-04 3.00722405e+02] [-1.34512023e-01 9.90911956e-01 -1.02284691e-04 -3.08787569e+01] [-7.73078766e-04 -1.71935405e-06 9.99999701e-01 -4.06487192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.75, Y:-30.88, Z:-0.40 [[ 9.91737054e-01 1.28284952e-01 7.66289099e-04 3.00750023e+02] [-1.28284911e-01 9.91737350e-01 -1.02248474e-04 -3.08839277e+01] [-7.73074461e-04 3.10027092e-06 9.99999701e-01 -4.04088242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:300.78, Y:-30.89, Z:-0.40 [[ 9.92074167e-01 1.25651345e-01 7.66296606e-04 3.00778028e+02] [-1.25651304e-01 9.92074463e-01 -1.02192183e-04 -3.08881390e+01] [-7.73063879e-04 5.09605662e-06 9.99999701e-01 -4.03108953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.80, Y:-30.89, Z:-0.40 [[ 9.92585594e-01 1.21545263e-01 7.66302960e-04 3.00804903e+02] [-1.21545220e-01 9.92585890e-01 -1.02144514e-04 -3.08936972e+01] [-7.73036687e-04 8.24671103e-06 9.99999701e-01 -4.01392858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.83, Y:-30.90, Z:-0.40 [[ 9.92698009e-01 1.20623692e-01 7.66307939e-04 3.00832353e+02] [-1.20623649e-01 9.92698305e-01 -1.02107142e-04 -3.08977903e+01] [-7.73029133e-04 8.92669661e-06 9.99999701e-01 -4.04682519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.1342038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.86, Y:-30.90, Z:-0.41 [[ 9.92716556e-01 1.20470962e-01 7.66314075e-04 3.00860502e+02] [-1.20470919e-01 9.92716852e-01 -1.02061076e-04 -3.09021178e+01] [-7.73028291e-04 8.99915904e-06 9.99999701e-01 -4.06886367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.89, Y:-30.91, Z:-0.41 [[ 9.92581105e-01 1.21581920e-01 7.66318797e-04 3.00889121e+02] [-1.21581878e-01 9.92581401e-01 -1.02025603e-04 -3.09060054e+01] [-7.73038254e-04 8.09820787e-06 9.99999701e-01 -4.05699360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.92, Y:-30.91, Z:-0.40 [[ 9.92448925e-01 1.22656202e-01 7.66323705e-04 3.00917383e+02] [-1.22656160e-01 9.92449221e-01 -1.01988729e-04 -3.09096526e+01] [-7.73046914e-04 7.22428112e-06 9.99999701e-01 -4.02796567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.94, Y:-30.91, Z:-0.40 [[ 9.92237751e-01 1.24352961e-01 7.66328750e-04 3.00944834e+02] [-1.24352920e-01 9.92238047e-01 -1.01950808e-04 -3.09149436e+01] [-7.73058427e-04 5.86422296e-06 9.99999701e-01 -4.00838912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.97, Y:-30.92, Z:-0.40 [[ 9.92193020e-01 1.24709355e-01 7.66335031e-04 3.00973026e+02] [-1.24709314e-01 9.92193316e-01 -1.01903569e-04 -3.09195433e+01] [-7.73060825e-04 5.53889435e-06 9.99999701e-01 -4.00095651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.00, Y:-30.92, Z:-0.40 [[ 9.92140945e-01 1.25122968e-01 7.66339954e-04 3.01000745e+02] [-1.25122927e-01 9.92141241e-01 -1.01866537e-04 -3.09247756e+01] [-7.73063317e-04 5.17926371e-06 9.99999701e-01 -4.04080156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.03, Y:-30.93, Z:-0.41 [[ 9.92130720e-01 1.25204026e-01 7.66344845e-04 3.01027806e+02] [-1.25203984e-01 9.92131016e-01 -1.01829731e-04 -3.09293006e+01] [-7.73063981e-04 5.07897630e-06 9.99999701e-01 -4.05827908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.06, Y:-30.93, Z:-0.41 [[ 9.91991321e-01 1.26303731e-01 7.66350799e-04 3.01056680e+02] [-1.26303690e-01 9.91991617e-01 -1.01784898e-04 -3.09342233e+01] [-7.73069381e-04 4.17680208e-06 9.99999701e-01 -4.05853252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.09, Y:-30.94, Z:-0.40 [[ 9.91839250e-01 1.27492407e-01 7.66355543e-04 3.01085158e+02] [-1.27492367e-01 9.91839547e-01 -1.01749171e-04 -3.09387417e+01] [-7.73073981e-04 3.21433963e-06 9.99999701e-01 -4.04291572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.11, Y:-30.95, Z:-0.41 [[ 9.91277922e-01 1.31785790e-01 7.66360478e-04 3.01112815e+02] [-1.31785751e-01 9.91278218e-01 -1.01711987e-04 -3.09451939e+01] [-7.73080643e-04 -1.70543689e-07 9.99999701e-01 -4.08398015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.14, Y:-30.95, Z:-0.41 [[ 9.90959214e-01 1.34161280e-01 7.66365397e-04 3.01140158e+02] [-1.34161241e-01 9.90959510e-01 -1.01674908e-04 -3.09499490e+01] [-7.73077914e-04 -2.06084582e-06 9.99999701e-01 -4.10768673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.17, Y:-30.95, Z:-0.41 [[ 9.90654022e-01 1.36396562e-01 7.66372918e-04 3.01168683e+02] [-1.36396524e-01 9.90654318e-01 -1.01618187e-04 -3.09545908e+01] [-7.73071012e-04 -3.86213660e-06 9.99999701e-01 -4.10486616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.20, Y:-30.96, Z:-0.41 [[ 9.90138534e-01 1.40089603e-01 7.66377717e-04 3.01196238e+02] [-1.40089567e-01 9.90138830e-01 -1.01581986e-04 -3.09586625e+01] [-7.73050916e-04 -6.78128401e-06 9.99999701e-01 -4.11232075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.23, Y:-30.96, Z:-0.41 [[ 9.90002445e-01 1.41048116e-01 7.66383705e-04 3.01225031e+02] [-1.41048080e-01 9.90002742e-01 -1.01536787e-04 -3.09619055e+01] [-7.73043542e-04 -7.57528245e-06 9.99999701e-01 -4.08452248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55420382200003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:301.25, Y:-30.97, Z:-0.41 [[ 9.89807813e-01 1.42407537e-01 7.66388669e-04 3.01253852e+02] [-1.42407501e-01 9.89808109e-01 -1.01499302e-04 -3.09655545e+01] [-7.73031985e-04 -8.67469240e-06 9.99999701e-01 -4.06376119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.28, Y:-30.97, Z:-0.41 [[ 9.89805734e-01 1.42421983e-01 7.66393677e-04 3.01281294e+02] [-1.42421947e-01 9.89806031e-01 -1.01461475e-04 -3.09696374e+01] [-7.73031428e-04 -8.72412997e-06 9.99999701e-01 -4.05104756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61420382200004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:301.31, Y:-30.97, Z:-0.41 [[ 9.89823790e-01 1.42296442e-01 7.66399898e-04 3.01310153e+02] [-1.42296406e-01 9.89824087e-01 -1.01414467e-04 -3.09749553e+01] [-7.73031996e-04 -8.67349859e-06 9.99999701e-01 -4.06771094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.34, Y:-30.98, Z:-0.41 [[ 9.89916042e-01 1.41653248e-01 7.66404906e-04 3.01337485e+02] [-1.41653212e-01 9.89916339e-01 -1.01376603e-04 -3.09796493e+01] [-7.73037064e-04 -8.20939059e-06 9.99999701e-01 -4.06953887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.37, Y:-30.98, Z:-0.41 [[ 9.89976890e-01 1.41227371e-01 7.66411127e-04 3.01366153e+02] [-1.41227335e-01 9.89977186e-01 -1.01329554e-04 -3.09831844e+01] [-7.73040037e-04 -7.92428375e-06 9.99999701e-01 -4.05962966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.39, Y:-30.98, Z:-0.41 [[ 9.89993666e-01 1.41109724e-01 7.66416128e-04 3.01392682e+02] [-1.41109688e-01 9.89993962e-01 -1.01291714e-04 -3.09846629e+01] [-7.73040585e-04 -7.87058488e-06 9.99999701e-01 -4.10341489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.42, Y:-30.99, Z:-0.41 [[ 9.90039357e-01 1.40788796e-01 7.66424833e-04 3.01420819e+02] [-1.40788760e-01 9.90039653e-01 -1.01225800e-04 -3.09905398e+01] [-7.73042435e-04 -7.68647606e-06 9.99999701e-01 -4.06472174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.45, Y:-31.00, Z:-0.41 [[ 9.90071530e-01 1.40562367e-01 7.66429806e-04 3.01448423e+02] [-1.40562330e-01 9.90071826e-01 -1.01188134e-04 -3.09951858e+01] [-7.73043801e-04 -7.54766861e-06 9.99999701e-01 -4.06195571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.48, Y:-31.00, Z:-0.41 [[ 9.90096504e-01 1.40386340e-01 7.66437744e-04 3.01475861e+02] [-1.40386304e-01 9.90096801e-01 -1.01127973e-04 -3.09980257e+01] [-7.73044545e-04 -7.47090889e-06 9.99999701e-01 -4.06835648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.50, Y:-31.00, Z:-0.41 [[ 9.90240024e-01 1.39370395e-01 7.66445494e-04 3.01504946e+02] [-1.39370358e-01 9.90240321e-01 -1.01069205e-04 -3.10002467e+01] [-7.73051287e-04 -6.73701088e-06 9.99999701e-01 -4.06903214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85420382200004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.53, Y:-31.00, Z:-0.41 [[ 9.90341592e-01 1.38646828e-01 7.66450229e-04 3.01533273e+02] [-1.38646791e-01 9.90341889e-01 -1.01033282e-04 -3.10035996e+01] [-7.73055712e-04 -6.20840343e-06 9.99999701e-01 -4.06089860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8842038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.56, Y:-31.01, Z:-0.40 [[ 9.90729009e-01 1.35850811e-01 7.66454970e-04 3.01561689e+02] [-1.35850773e-01 9.90729306e-01 -1.00997306e-04 -3.10080435e+01] [-7.73069966e-04 -4.06253929e-06 9.99999701e-01 -4.04657198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.59, Y:-31.01, Z:-0.40 [[ 9.90973726e-01 1.34054046e-01 7.66459802e-04 3.01590295e+02] [-1.34054008e-01 9.90974022e-01 -1.00960617e-04 -3.10131110e+01] [-7.73075932e-04 -2.69769015e-06 9.99999701e-01 -4.04090154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.62, Y:-31.02, Z:-0.40 [[ 9.91425117e-01 1.30673833e-01 7.66464641e-04 3.01617505e+02] [-1.30673794e-01 9.91425413e-01 -1.00923873e-04 -3.10171850e+01] [-7.73080632e-04 -9.83801804e-08 9.99999701e-01 -4.02319911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.65, Y:-31.02, Z:-0.40 [[ 9.91533162e-01 1.29851455e-01 7.66470640e-04 3.01645291e+02] [-1.29851416e-01 9.91533459e-01 -1.00878287e-04 -3.10198751e+01] [-7.73080477e-04 4.96868909e-07 9.99999701e-01 -4.03784403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.67, Y:-31.02, Z:-0.40 [[ 9.91639716e-01 1.29035212e-01 7.66476546e-04 3.01673868e+02] [-1.29035172e-01 9.91640012e-01 -1.00833394e-04 -3.10224923e+01] [-7.73079870e-04 1.08796522e-06 9.99999701e-01 -4.02184623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.70, Y:-31.03, Z:-0.40 [[ 9.91709227e-01 1.28499891e-01 7.66481278e-04 3.01702497e+02] [-1.28499852e-01 9.91709523e-01 -1.00797415e-04 -3.10260407e+01] [-7.73079239e-04 1.46899605e-06 9.99999701e-01 -4.00555174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.064203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:301.73, Y:-31.03, Z:-0.40 [[ 9.91730189e-01 1.28338011e-01 7.66486027e-04 3.01731349e+02] [-1.28337971e-01 9.91730485e-01 -1.00761286e-04 -3.10305371e+01] [-7.73079063e-04 1.55874757e-06 9.99999701e-01 -3.99857314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.76, Y:-31.04, Z:-0.40 [[ 9.91846304e-01 1.27437521e-01 7.66490936e-04 3.01759721e+02] [-1.27437481e-01 9.91846600e-01 -1.00723933e-04 -3.10358322e+01] [-7.73077437e-04 2.22298679e-06 9.99999701e-01 -3.98943000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:-31.04, Z:-0.40 [[ 9.91958425e-01 1.26561821e-01 7.66495820e-04 3.01787249e+02] [-1.26561781e-01 9.91958722e-01 -1.00686753e-04 -3.10406764e+01] [-7.73075312e-04 2.86799701e-06 9.99999701e-01 -4.00122371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.82, Y:-31.04, Z:-0.40 [[ 9.92188550e-01 1.24744914e-01 7.66501899e-04 3.01815413e+02] [-1.24744873e-01 9.92188846e-01 -1.00640450e-04 -3.10442549e+01] [-7.73069019e-04 4.23711998e-06 9.99999701e-01 -4.02724524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.84, Y:-31.05, Z:-0.41 [[ 9.92389702e-01 1.23134448e-01 7.66506770e-04 3.01842980e+02] [-1.23134407e-01 9.92389998e-01 -1.00603341e-04 -3.10483976e+01] [-7.73061388e-04 5.45436293e-06 9.99999701e-01 -4.06404215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.87, Y:-31.06, Z:-0.40 [[ 9.92893491e-01 1.19003902e-01 7.66513332e-04 3.01871570e+02] [-1.19003860e-01 9.92893786e-01 -1.00553318e-04 -3.10550494e+01] [-7.73032562e-04 8.62068906e-06 9.99999701e-01 -4.04786363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24420382200003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:301.90, Y:-31.06, Z:-0.40 [[ 9.93114564e-01 1.17144680e-01 7.66518279e-04 3.01900042e+02] [-1.17144638e-01 9.93114859e-01 -1.00515591e-04 -3.10599856e+01] [-7.73015560e-04 1.00299908e-05 9.99999701e-01 -4.04414060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.93, Y:-31.07, Z:-0.40 [[ 9.93426020e-01 1.14473379e-01 7.66523357e-04 3.01927445e+02] [-1.14473335e-01 9.93426316e-01 -1.00476855e-04 -3.10679526e+01] [-7.72986400e-04 1.20698369e-05 9.99999701e-01 -4.03857953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.96, Y:-31.07, Z:-0.40 [[ 9.93504290e-01 1.13792086e-01 7.66529662e-04 3.01956211e+02] [-1.13792043e-01 9.93504585e-01 -1.00428729e-04 -3.10733083e+01] [-7.72978729e-04 1.25513971e-05 9.99999701e-01 -4.02411794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.98, Y:-31.08, Z:-0.40 [[ 9.93375882e-01 1.14907659e-01 7.66534563e-04 3.01984679e+02] [-1.14907616e-01 9.93376177e-01 -1.00391307e-04 -3.10773359e+01] [-7.72992904e-04 1.16456437e-05 9.99999701e-01 -4.00921374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.01, Y:-31.08, Z:-0.40 [[ 9.93381511e-01 1.14858981e-01 7.66539470e-04 3.02013767e+02] [-1.14858938e-01 9.93381807e-01 -1.00353826e-04 -3.10810568e+01] [-7.72992902e-04 1.16457253e-05 9.99999701e-01 -4.00944045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.04, Y:-31.09, Z:-0.40 [[ 9.93197444e-01 1.16439901e-01 7.66544386e-04 3.02042253e+02] [-1.16439858e-01 9.93197739e-01 -1.00316263e-04 -3.10852375e+01] [-7.73010967e-04 1.03775366e-05 9.99999701e-01 -4.00217635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.07, Y:-31.09, Z:-0.40 [[ 9.92936028e-01 1.18648456e-01 7.66549306e-04 3.02069987e+02] [-1.18648414e-01 9.92936324e-01 -1.00278651e-04 -3.10894778e+01] [-7.73032558e-04 8.62042631e-06 9.99999701e-01 -3.98610926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.10, Y:-31.09, Z:-0.40 [[ 9.92149307e-01 1.25056651e-01 7.66556418e-04 3.02097431e+02] [-1.25056611e-01 9.92149603e-01 -1.00224254e-04 -3.10941410e+01] [-7.73072355e-04 3.57447624e-06 9.99999701e-01 -3.97932274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.13, Y:-31.10, Z:-0.40 [[ 9.91691955e-01 1.28633120e-01 7.66562583e-04 3.02125036e+02] [-1.28633081e-01 9.91692251e-01 -1.00177080e-04 -3.10975297e+01] [-7.73080264e-04 7.39497946e-07 9.99999701e-01 -4.00407637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.15, Y:-31.10, Z:-0.40 [[ 9.90912056e-01 1.34509147e-01 7.66568647e-04 3.02153012e+02] [-1.34509110e-01 9.90912352e-01 -1.00130658e-04 -3.11005981e+01] [-7.73070830e-04 -3.88979014e-06 9.99999701e-01 -4.00495285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54420382200004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:302.18, Y:-31.10, Z:-0.40 [[ 9.90537691e-01 1.37238828e-01 7.66573480e-04 3.02181308e+02] [-1.37238791e-01 9.90537987e-01 -1.00093646e-04 -3.11029568e+01] [-7.73056886e-04 -6.05708928e-06 9.99999701e-01 -4.00702628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.21, Y:-31.10, Z:-0.40 [[ 9.90021078e-01 1.40917270e-01 7.66578421e-04 3.02209181e+02] [-1.40917235e-01 9.90021375e-01 -1.00055787e-04 -3.11039589e+01] [-7.73028611e-04 -8.96677345e-06 9.99999701e-01 -3.99620590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.24, Y:-31.11, Z:-0.40 [[ 9.89890281e-01 1.41833154e-01 7.66584547e-04 3.02238352e+02] [-1.41833120e-01 9.89890578e-01 -1.00008829e-04 -3.11059556e+01] [-7.73019388e-04 -9.72931027e-06 9.99999701e-01 -3.99743848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.6342038220001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:302.27, Y:-31.11, Z:-0.40 [[ 9.89839831e-01 1.42184816e-01 7.66589361e-04 3.02267055e+02] [-1.42184781e-01 9.89840128e-01 -9.99719177e-05 -3.11081479e+01] [-7.73015400e-04 -1.00411543e-05 9.99999701e-01 -4.02437606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.29, Y:-31.11, Z:-0.40 [[ 9.90091308e-01 1.40422983e-01 7.66594192e-04 3.02294476e+02] [-1.40422948e-01 9.90091605e-01 -9.99348621e-05 -3.11130384e+01] [-7.73031625e-04 -8.70277771e-06 9.99999701e-01 -4.03269572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.32, Y:-31.12, Z:-0.40 [[ 9.90313837e-01 1.38844938e-01 7.66600207e-04 3.02323317e+02] [-1.38844903e-01 9.90314134e-01 -9.98886941e-05 -3.11155808e+01] [-7.73044060e-04 -7.51737526e-06 9.99999701e-01 -4.01608740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.35, Y:-31.12, Z:-0.40 [[ 9.90723344e-01 1.35892119e-01 7.66605142e-04 3.02351835e+02] [-1.35892083e-01 9.90723641e-01 -9.98508094e-05 -3.11169850e+01] [-7.73062775e-04 -5.25104148e-06 9.99999701e-01 -4.02327582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.38, Y:-31.12, Z:-0.40 [[ 9.90921929e-01 1.34436389e-01 7.66610090e-04 3.02379076e+02] [-1.34436352e-01 9.90922226e-01 -9.98128058e-05 -3.11210584e+01] [-7.73069450e-04 -4.15356592e-06 9.99999701e-01 -4.04741763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.41, Y:-31.12, Z:-0.40 [[ 9.91335953e-01 1.31348545e-01 7.66616209e-04 3.02407328e+02] [-1.31348507e-01 9.91336250e-01 -9.97657881e-05 -3.11245357e+01] [-7.73078528e-04 -1.79248199e-06 9.99999701e-01 -4.02130045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.44, Y:-31.13, Z:-0.40 [[ 9.91575568e-01 1.29527238e-01 7.66621007e-04 3.02436120e+02] [-1.29527200e-01 9.91575864e-01 -9.97289015e-05 -3.11275251e+01] [-7.73080497e-04 -4.09530409e-07 9.99999701e-01 -3.99928306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.46, Y:-31.13, Z:-0.40 [[ 9.91814666e-01 1.27683514e-01 7.66625890e-04 3.02463787e+02] [-1.27683475e-01 9.91814963e-01 -9.96913566e-05 -3.11314547e+01] [-7.73079971e-04 9.89892101e-07 9.99999701e-01 -4.00479658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.49, Y:-31.14, Z:-0.40 [[ 9.92238432e-01 1.24347525e-01 7.66631962e-04 3.02492711e+02] [-1.24347485e-01 9.92238728e-01 -9.96446411e-05 -3.11363174e+01] [-7.73072487e-04 3.54248634e-06 9.99999701e-01 -3.99918491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.52, Y:-31.14, Z:-0.40 [[ 9.92585864e-01 1.21543055e-01 7.66636679e-04 3.02521820e+02] [-1.21543014e-01 9.92586160e-01 -9.96083314e-05 -3.11385729e+01] [-7.73059659e-04 5.69048897e-06 9.99999701e-01 -3.98489690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.55, Y:-31.14, Z:-0.40 [[ 9.92748283e-01 1.20209226e-01 7.66641563e-04 3.02549320e+02] [-1.20209185e-01 9.92748579e-01 -9.95707288e-05 -3.11431571e+01] [-7.73051643e-04 6.69131284e-06 9.99999701e-01 -3.99362656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96420382200006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:302.58, Y:-31.15, Z:-0.40 [[ 9.92861689e-01 1.19268932e-01 7.66647645e-04 3.02578036e+02] [-1.19268890e-01 9.92861985e-01 -9.95238815e-05 -3.11481826e+01] [-7.73045410e-04 7.37623531e-06 9.99999701e-01 -4.02026006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99420382200003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:302.61, Y:-31.15, Z:-0.40 [[ 9.92874738e-01 1.19160255e-01 7.66652461e-04 3.02606575e+02] [-1.19160213e-01 9.92875034e-01 -9.94867652e-05 -3.11536866e+01] [-7.73044957e-04 7.42342521e-06 9.99999701e-01 -4.01540732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.63, Y:-31.16, Z:-0.40 [[ 9.92576738e-01 1.21617562e-01 7.66657393e-04 3.02634724e+02] [-1.21617521e-01 9.92577034e-01 -9.94487454e-05 -3.11569972e+01] [-7.73061235e-04 5.47153951e-06 9.99999701e-01 -4.02574302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05420382200003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:302.66, Y:-31.16, Z:-0.41 [[ 9.92268847e-01 1.24104579e-01 7.66662278e-04 3.02663232e+02] [-1.24104540e-01 9.92269144e-01 -9.94110713e-05 -3.11598700e+01] [-7.73072691e-04 3.49624004e-06 9.99999701e-01 -4.05602922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.69, Y:-31.16, Z:-0.41 [[ 9.91965168e-01 1.26508960e-01 7.66667195e-04 3.02690391e+02] [-1.26508921e-01 9.91965465e-01 -9.93731340e-05 -3.11640621e+01] [-7.73078973e-04 1.58444828e-06 9.99999701e-01 -4.07879161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.72, Y:-31.17, Z:-0.41 [[ 9.91418165e-01 1.30726563e-01 7.66673320e-04 3.02718579e+02] [-1.30726526e-01 9.91418461e-01 -9.93258606e-05 -3.11684570e+01] [-7.73078612e-04 -1.75107687e-06 9.99999701e-01 -4.10062473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.75, Y:-31.17, Z:-0.41 [[ 9.91211095e-01 1.32287482e-01 7.66678087e-04 3.02746669e+02] [-1.32287445e-01 9.91211391e-01 -9.92890494e-05 -3.11709963e+01] [-7.73074752e-04 -3.00547779e-06 9.99999701e-01 -4.12357464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.78, Y:-31.17, Z:-0.41 [[ 9.91020873e-01 1.33705051e-01 7.66684343e-04 3.02775649e+02] [-1.33705015e-01 9.91021170e-01 -9.92407228e-05 -3.11730219e+01] [-7.73069400e-04 -4.15991352e-06 9.99999701e-01 -4.09227340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.80, Y:-31.18, Z:-0.41 [[ 9.91043873e-01 1.33534466e-01 7.66689236e-04 3.02803572e+02] [-1.33534429e-01 9.91044170e-01 -9.92029053e-05 -3.11772317e+01] [-7.73069904e-04 -4.06497780e-06 9.99999701e-01 -4.11464597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.83, Y:-31.18, Z:-0.41 [[ 9.91284990e-01 1.31732612e-01 7.66695691e-04 3.02832446e+02] [-1.31732575e-01 9.91285286e-01 -9.91529879e-05 -3.11816300e+01] [-7.73075840e-04 -2.70992899e-06 9.99999701e-01 -4.08393724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.86, Y:-31.19, Z:-0.41 [[ 9.91420953e-01 1.30705420e-01 7.66700541e-04 3.02860953e+02] [-1.30705383e-01 9.91421249e-01 -9.91154770e-05 -3.11853234e+01] [-7.73078138e-04 -1.94672685e-06 9.99999701e-01 -4.07020666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.89, Y:-31.19, Z:-0.41 [[ 9.91511720e-01 1.30015077e-01 7.66705420e-04 3.02888820e+02] [-1.30015039e-01 9.91512017e-01 -9.90777189e-05 -3.11886046e+01] [-7.73079235e-04 -1.44651596e-06 9.99999701e-01 -4.06537016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.92, Y:-31.19, Z:-0.40 [[ 9.91423497e-01 1.30686123e-01 7.66711471e-04 3.02917811e+02] [-1.30686085e-01 9.91423793e-01 -9.90308677e-05 -3.11910090e+01] [-7.73077955e-04 -2.01699145e-06 9.99999701e-01 -4.04401894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.95, Y:-31.19, Z:-0.41 [[ 9.91239854e-01 1.32071815e-01 7.66716315e-04 3.02945590e+02] [-1.32071778e-01 9.91240150e-01 -9.89933534e-05 -3.11927354e+01] [-7.73074227e-04 -3.13542988e-06 9.99999701e-01 -4.06565627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3842038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.97, Y:-31.19, Z:-0.41 [[ 9.90747677e-01 1.35714600e-01 7.66722346e-04 3.02974289e+02] [-1.35714564e-01 9.90747974e-01 -9.89466190e-05 -3.11942256e+01] [-7.73057112e-04 -6.02425636e-06 9.99999701e-01 -4.07318698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.00, Y:-31.20, Z:-0.41 [[ 9.90553386e-01 1.37125492e-01 7.66727180e-04 3.03002277e+02] [-1.37125457e-01 9.90553683e-01 -9.89091500e-05 -3.11972410e+01] [-7.73047398e-04 -7.16302124e-06 9.99999701e-01 -4.10459179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.03, Y:-31.20, Z:-0.41 [[ 9.90268279e-01 1.39169494e-01 7.66733191e-04 3.03030100e+02] [-1.39169459e-01 9.90268576e-01 -9.88625318e-05 -3.11970900e+01] [-7.73030433e-04 -8.80541397e-06 9.99999701e-01 -4.07848600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.47420382200005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:303.06, Y:-31.20, Z:-0.41 [[ 9.90219412e-01 1.39516766e-01 7.66740462e-04 3.03058091e+02] [-1.39516731e-01 9.90219709e-01 -9.88061027e-05 -3.11981656e+01] [-7.73026625e-04 -9.13340211e-06 9.99999701e-01 -4.09743942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.09, Y:-31.20, Z:-0.41 [[ 9.90315101e-01 1.38835922e-01 7.66746493e-04 3.03087204e+02] [-1.38835887e-01 9.90315398e-01 -9.87592796e-05 -3.11989948e+01] [-7.73032194e-04 -8.64912355e-06 9.99999701e-01 -4.09634676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.12, Y:-31.20, Z:-0.41 [[ 9.90476446e-01 1.37680140e-01 7.66751183e-04 3.03115034e+02] [-1.37680105e-01 9.90476743e-01 -9.87228554e-05 -3.12019460e+01] [-7.73041391e-04 -7.78372049e-06 9.99999701e-01 -4.07843486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.14, Y:-31.20, Z:-0.41 [[ 9.90684334e-01 1.36176215e-01 7.66758488e-04 3.03143061e+02] [-1.36176179e-01 9.90684631e-01 -9.86660854e-05 -3.12049227e+01] [-7.73051824e-04 -6.66729618e-06 9.99999701e-01 -4.09511371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.17, Y:-31.21, Z:-0.41 [[ 9.91129635e-01 1.32896422e-01 7.66764554e-04 3.03171648e+02] [-1.32896386e-01 9.91129931e-01 -9.86189260e-05 -3.12071419e+01] [-7.73069402e-04 -4.15609792e-06 9.99999701e-01 -4.06628291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.20, Y:-31.21, Z:-0.41 [[ 9.91647718e-01 1.28973699e-01 7.66769424e-04 3.03200439e+02] [-1.28973661e-01 9.91648015e-01 -9.85810442e-05 -3.12092200e+01] [-7.73079739e-04 -1.13539213e-06 9.99999701e-01 -4.08622889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.23, Y:-31.21, Z:-0.41 [[ 9.91876736e-01 1.27200445e-01 7.66774273e-04 3.03227672e+02] [-1.27200406e-01 9.91877032e-01 -9.85433156e-05 -3.12119036e+01] [-7.73080544e-04 2.08823082e-07 9.99999701e-01 -4.12028219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.26, Y:-31.21, Z:-0.41 [[ 9.92086005e-01 1.25557837e-01 7.66780671e-04 3.03256696e+02] [-1.25557798e-01 9.92086302e-01 -9.84935024e-05 -3.12147418e+01] [-7.73079231e-04 1.43873266e-06 9.99999701e-01 -4.10598090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.28, Y:-31.22, Z:-0.41 [[ 9.92315275e-01 1.23732805e-01 7.66785454e-04 3.03284017e+02] [-1.23732766e-01 9.92315571e-01 -9.84562525e-05 -3.12186740e+01] [-7.73075414e-04 2.82315828e-06 9.99999701e-01 -4.13364586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.31, Y:-31.22, Z:-0.41 [[ 9.92405792e-01 1.23004698e-01 7.66791368e-04 3.03312965e+02] [-1.23004659e-01 9.92406088e-01 -9.84101741e-05 -3.12220903e+01] [-7.73073336e-04 3.34391601e-06 9.99999701e-01 -4.09370327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.34, Y:-31.23, Z:-0.41 [[ 9.92588809e-01 1.21519005e-01 7.66796190e-04 3.03340170e+02] [-1.21518965e-01 9.92589105e-01 -9.83725856e-05 -3.12260460e+01] [-7.73067683e-04 4.46324784e-06 9.99999701e-01 -4.11048672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.37, Y:-31.23, Z:-0.41 [[ 9.92706032e-01 1.20557644e-01 7.66802182e-04 3.03368069e+02] [-1.20557604e-01 9.92706328e-01 -9.83258598e-05 -3.12298129e+01] [-7.73063313e-04 5.16484048e-06 9.99999701e-01 -4.05820668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.40, Y:-31.23, Z:-0.41 [[ 9.92825417e-01 1.19570498e-01 7.66809462e-04 3.03395289e+02] [-1.19570458e-01 9.92825713e-01 -9.82690490e-05 -3.12326981e+01] [-7.73058230e-04 5.87625112e-06 9.99999701e-01 -4.06019498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.42, Y:-31.24, Z:-0.41 [[ 9.93091002e-01 1.17344251e-01 7.66815768e-04 3.03423888e+02] [-1.17344210e-01 9.93091298e-01 -9.82198160e-05 -3.12365592e+01] [-7.73043598e-04 7.55982497e-06 9.99999701e-01 -4.06298055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.45, Y:-31.25, Z:-0.41 [[ 9.93306219e-01 1.15508301e-01 7.66820589e-04 3.03451968e+02] [-1.15508259e-01 9.93306515e-01 -9.81821668e-05 -3.12453376e+01] [-7.73028742e-04 8.95084543e-06 9.99999701e-01 -4.06924653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.48, Y:-31.25, Z:-0.41 [[ 9.93376762e-01 1.14900043e-01 7.66825391e-04 3.03479256e+02] [-1.14900001e-01 9.93377058e-01 -9.81446472e-05 -3.12505691e+01] [-7.73023575e-04 9.38637356e-06 9.99999701e-01 -4.07191803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.51, Y:-31.25, Z:-0.41 [[ 9.93407038e-01 1.14637987e-01 7.66831356e-04 3.03506697e+02] [-1.14637946e-01 9.93407334e-01 -9.80980230e-05 -3.12548227e+01] [-7.73021653e-04 9.54329530e-06 9.99999701e-01 -4.08028442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.54, Y:-31.26, Z:-0.41 [[ 9.93368032e-01 1.14975501e-01 7.66837232e-04 3.03535240e+02] [-1.14975460e-01 9.93368327e-01 -9.80520684e-05 -3.12600814e+01] [-7.73025404e-04 9.23432674e-06 9.99999701e-01 -4.09557214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.56, Y:-31.27, Z:-0.41 [[ 9.93181863e-01 1.16572720e-01 7.66841848e-04 3.03563125e+02] [-1.16572679e-01 9.93182159e-01 -9.80159550e-05 -3.12674185e+01] [-7.73039628e-04 7.95486001e-06 9.99999701e-01 -4.07484021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.59, Y:-31.27, Z:-0.41 [[ 9.93046326e-01 1.17721730e-01 7.66846556e-04 3.03591857e+02] [-1.17721689e-01 9.93046622e-01 -9.79791020e-05 -3.12729503e+01] [-7.73048652e-04 7.02331521e-06 9.99999701e-01 -4.07389762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.62, Y:-31.28, Z:-0.41 [[ 9.92890811e-01 1.19026253e-01 7.66851329e-04 3.03618961e+02] [-1.19026213e-01 9.92891107e-01 -9.79417316e-05 -3.12788043e+01] [-7.73057503e-04 5.97003607e-06 9.99999701e-01 -4.09435051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.65, Y:-31.29, Z:-0.41 [[ 9.92553555e-01 1.21806618e-01 7.66857989e-04 3.03646853e+02] [-1.21806578e-01 9.92553851e-01 -9.78895595e-05 -3.12876826e+01] [-7.73071446e-04 3.75228267e-06 9.99999701e-01 -4.05515910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.1342038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.67, Y:-31.29, Z:-0.41 [[ 9.92375115e-01 1.23251947e-01 7.66862746e-04 3.03673959e+02] [-1.23251909e-01 9.92375412e-01 -9.78522819e-05 -3.12933691e+01] [-7.73076217e-04 2.58887251e-06 9.99999701e-01 -4.06023190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.70, Y:-31.30, Z:-0.40 [[ 9.92004367e-01 1.26201217e-01 7.66868670e-04 3.03701597e+02] [-1.26201179e-01 9.92004664e-01 -9.78058281e-05 -3.13011903e+01] [-7.73080512e-04 2.44078294e-07 9.99999701e-01 -4.03893259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.73, Y:-31.31, Z:-0.41 [[ 9.91831369e-01 1.27553704e-01 7.66873360e-04 3.03728701e+02] [-1.27553666e-01 9.91831665e-01 -9.77690413e-05 -3.13070457e+01] [-7.73080085e-04 -8.47106694e-07 9.99999701e-01 -4.07898898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.76, Y:-31.32, Z:-0.41 [[ 9.91560569e-01 1.29642004e-01 7.66879209e-04 3.03756682e+02] [-1.29641967e-01 9.91560866e-01 -9.77231391e-05 -3.13154520e+01] [-7.73076437e-04 -2.52131752e-06 9.99999701e-01 -4.10047267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.78, Y:-31.32, Z:-0.41 [[ 9.91468349e-01 1.30345402e-01 7.66883855e-04 3.03783819e+02] [-1.30345366e-01 9.91468646e-01 -9.76866731e-05 -3.13233094e+01] [-7.73074306e-04 -3.10651189e-06 9.99999701e-01 -4.10764935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.81, Y:-31.33, Z:-0.41 [[ 9.91474450e-01 1.30298987e-01 7.66889630e-04 3.03812921e+02] [-1.30298950e-01 9.91474747e-01 -9.76413097e-05 -3.13269213e+01] [-7.73074266e-04 -3.11604970e-06 9.99999701e-01 -4.10787604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.84, Y:-31.34, Z:-0.41 [[ 9.91452414e-01 1.30466556e-01 7.66894200e-04 3.03841068e+02] [-1.30466520e-01 9.91452711e-01 -9.76054076e-05 -3.13354925e+01] [-7.73073575e-04 -3.28290013e-06 9.99999701e-01 -4.08666743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.87, Y:-31.35, Z:-0.41 [[ 9.91246986e-01 1.32018273e-01 7.66899029e-04 3.03867942e+02] [-1.32018237e-01 9.91247283e-01 -9.75674478e-05 -3.13462071e+01] [-7.73067265e-04 -4.53121958e-06 9.99999701e-01 -4.12865460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.90, Y:-31.35, Z:-0.41 [[ 9.91034728e-01 1.33602317e-01 7.66905024e-04 3.03895363e+02] [-1.33602281e-01 9.91035025e-01 -9.75203071e-05 -3.13519397e+01] [-7.73058678e-04 -5.81424970e-06 9.99999701e-01 -4.14872021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.92, Y:-31.36, Z:-0.41 [[ 9.90368010e-01 1.38457999e-01 7.66910906e-04 3.03924354e+02] [-1.38457965e-01 9.90368307e-01 -9.74740220e-05 -3.13623927e+01] [-7.73020314e-04 -9.64977002e-06 9.99999701e-01 -4.10161079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.95, Y:-31.37, Z:-0.41 [[ 9.89951015e-01 1.41408625e-01 7.66913301e-04 3.03952847e+02] [-1.41408592e-01 9.89951312e-01 -9.74551780e-05 -3.13679384e+01] [-7.72987831e-04 -1.19722778e-05 9.99999701e-01 -4.06998356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.98, Y:-31.37, Z:-0.40 [[ 9.88979226e-01 1.48052364e-01 7.66918094e-04 3.03980823e+02] [-1.48052333e-01 9.88979523e-01 -9.74174423e-05 -3.13730173e+01] [-7.72889174e-04 -1.72001864e-05 9.99999701e-01 -4.01214307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.01, Y:-31.38, Z:-0.40 [[ 9.88486116e-01 1.51309651e-01 7.66921654e-04 3.04008563e+02] [-1.51309621e-01 9.88486413e-01 -9.73894131e-05 -3.13778772e+01] [-7.72827593e-04 -1.97745424e-05 9.99999701e-01 -3.99403988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.04, Y:-31.38, Z:-0.40 [[ 9.87985769e-01 1.54542975e-01 7.66927493e-04 3.04037427e+02] [-1.54542946e-01 9.87986067e-01 -9.73434109e-05 -3.13829064e+01] [-7.72757417e-04 -2.23493294e-05 9.99999701e-01 -3.97878539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.06, Y:-31.38, Z:-0.40 [[ 9.87057097e-01 1.60367387e-01 7.66932264e-04 3.04064812e+02] [-1.60367359e-01 9.87057395e-01 -9.73058049e-05 -3.13848223e+01] [-7.72610840e-04 -2.69445166e-05 9.99999701e-01 -4.01570064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.09, Y:-31.39, Z:-0.40 [[ 9.86725529e-01 1.62395019e-01 7.66938188e-04 3.04093713e+02] [-1.62394992e-01 9.86725827e-01 -9.72590874e-05 -3.13867424e+01] [-7.72552109e-04 -2.85788965e-05 9.99999701e-01 -4.00122127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.12, Y:-31.39, Z:-0.40 [[ 9.86462944e-01 1.63982535e-01 7.66943002e-04 3.04121315e+02] [-1.63982508e-01 9.86463242e-01 -9.72211117e-05 -3.13906749e+01] [-7.72503645e-04 -2.98602133e-05 9.99999701e-01 -4.04759905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.15, Y:-31.39, Z:-0.40 [[ 9.86536335e-01 1.63540429e-01 7.66948990e-04 3.04149678e+02] [-1.63540403e-01 9.86536632e-01 -9.71738521e-05 -3.13946324e+01] [-7.72515127e-04 -2.95616113e-05 9.99999701e-01 -4.02460437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.18, Y:-31.40, Z:-0.41 [[ 9.86976545e-01 1.60862401e-01 7.66953737e-04 3.04177952e+02] [-1.60862374e-01 9.86976842e-01 -9.71363747e-05 -3.13960778e+01] [-7.72591168e-04 -2.75026756e-05 9.99999701e-01 -4.05205968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.21, Y:-31.40, Z:-0.41 [[ 9.87355851e-01 1.58517620e-01 7.66959642e-04 3.04207406e+02] [-1.58517593e-01 9.87356148e-01 -9.70897293e-05 -3.13996726e+01] [-7.72652750e-04 -2.57144838e-05 9.99999701e-01 -4.07223374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.24, Y:-31.40, Z:-0.41 [[ 9.88251322e-01 1.52835652e-01 7.66820410e-04 3.04235360e+02] [-1.52835622e-01 9.88251619e-01 -9.81897818e-05 -3.14035593e+01] [-7.72818411e-04 -2.01612926e-05 9.99999701e-01 -4.07393676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.26, Y:-31.41, Z:-0.41 [[ 9.88707179e-01 1.49858350e-01 7.66966730e-04 3.04264268e+02] [-1.49858320e-01 9.88707477e-01 -9.70332394e-05 -3.14057535e+01] [-7.72846982e-04 -1.89988850e-05 9.99999701e-01 -4.07003965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.29, Y:-31.41, Z:-0.41 [[ 9.89101911e-01 1.47230501e-01 7.66971336e-04 3.04292574e+02] [-1.47230470e-01 9.89102209e-01 -9.69968252e-05 -3.14074540e+01] [-7.72893933e-04 -1.69818054e-05 9.99999701e-01 -4.07713212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.32, Y:-31.41, Z:-0.41 [[ 9.89879863e-01 1.41905847e-01 7.66977520e-04 3.04321627e+02] [-1.41905814e-01 9.89880160e-01 -9.69479009e-05 -3.14121622e+01] [-7.72973304e-04 -1.28717947e-05 9.99999701e-01 -4.08103893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.35, Y:-31.42, Z:-0.41 [[ 9.90280383e-01 1.39083340e-01 7.66979888e-04 3.04348847e+02] [-1.39083307e-01 9.90280680e-01 -9.69291608e-05 -3.14165322e+01] [-7.73006596e-04 -1.06870529e-05 9.99999701e-01 -4.09621585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8842038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.38, Y:-31.42, Z:-0.41 [[ 9.90888390e-01 1.34683372e-01 7.66985802e-04 3.04378639e+02] [-1.34683338e-01 9.90888687e-01 -9.68823397e-05 -3.14186851e+01] [-7.73045995e-04 -7.30062212e-06 9.99999701e-01 -4.09555104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.91420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.41, Y:-31.42, Z:-0.41 [[ 9.91220773e-01 1.32214940e-01 7.66988144e-04 3.04407092e+02] [-1.32214905e-01 9.91221070e-01 -9.68637964e-05 -3.14230788e+01] [-7.73061650e-04 -5.39385737e-06 9.99999701e-01 -4.08609196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.43, Y:-31.43, Z:-0.41 [[ 9.91293959e-01 1.31665103e-01 7.66992949e-04 3.04434330e+02] [-1.31665068e-01 9.91294255e-01 -9.68257351e-05 -3.14268568e+01] [-7.73064275e-04 -5.00341239e-06 9.99999701e-01 -4.09313526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.46, Y:-31.43, Z:-0.41 [[ 9.91246097e-01 1.32024949e-01 7.66998935e-04 3.04463644e+02] [-1.32024914e-01 9.91246394e-01 -9.67782938e-05 -3.14292593e+01] [-7.73062078e-04 -5.33186232e-06 9.99999701e-01 -4.05333694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.49, Y:-31.43, Z:-0.40 [[ 9.90906407e-01 1.34550746e-01 7.67001342e-04 3.04492759e+02] [-1.34550712e-01 9.90906704e-01 -9.67592148e-05 -3.14294407e+01] [-7.73045797e-04 -7.32125056e-06 9.99999701e-01 -4.03384423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.52, Y:-31.43, Z:-0.40 [[ 9.90464167e-01 1.37768449e-01 7.67004934e-04 3.04520150e+02] [-1.37768416e-01 9.90464464e-01 -9.67307318e-05 -3.14309575e+01] [-7.73017574e-04 -9.86073080e-06 9.99999701e-01 -4.03143954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.55, Y:-31.43, Z:-0.40 [[ 9.90252801e-01 1.39279582e-01 7.67010624e-04 3.04549211e+02] [-1.39279549e-01 9.90253098e-01 -9.66855904e-05 -3.14328493e+01] [-7.73000976e-04 -1.10857168e-05 9.99999701e-01 -4.04201494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.58, Y:-31.43, Z:-0.41 [[ 9.90037480e-01 1.40801990e-01 7.67015137e-04 3.04577232e+02] [-1.40801957e-01 9.90037777e-01 -9.66497811e-05 -3.14344580e+01] [-7.72982442e-04 -1.23103269e-05 9.99999701e-01 -4.05368336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.60, Y:-31.43, Z:-0.41 [[ 9.89714627e-01 1.43053728e-01 7.67021151e-04 3.04604983e+02] [-1.43053696e-01 9.89714924e-01 -9.66020268e-05 -3.14344847e+01] [-7.72951560e-04 -1.41167714e-05 9.99999701e-01 -4.07791072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.63, Y:-31.44, Z:-0.41 [[ 9.89631738e-01 1.43626023e-01 7.67026707e-04 3.04634290e+02] [-1.43625991e-01 9.89632035e-01 -9.65578919e-05 -3.14368681e+01] [-7.72942427e-04 -1.46082164e-05 9.99999701e-01 -4.08411193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.66, Y:-31.44, Z:-0.41 [[ 9.89660733e-01 1.43426095e-01 7.67030115e-04 3.04662700e+02] [-1.43426064e-01 9.89661030e-01 -9.65308101e-05 -3.14381481e+01] [-7.72944851e-04 -1.44793579e-05 9.99999701e-01 -4.13495509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21420382200006 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:304.69, Y:-31.44, Z:-0.41 [[ 9.89687272e-01 1.43242853e-01 7.67034641e-04 3.04691602e+02] [-1.43242821e-01 9.89687569e-01 -9.64948395e-05 -3.14397671e+01] [-7.72946845e-04 -1.43724913e-05 9.99999701e-01 -4.09487268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.72, Y:-31.44, Z:-0.41 [[ 9.89915489e-01 1.41657108e-01 7.67039591e-04 3.04719035e+02] [-1.41657076e-01 9.89915786e-01 -9.64554726e-05 -3.14417159e+01] [-7.72968203e-04 -1.31738192e-05 9.99999701e-01 -4.10393230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.75, Y:-31.44, Z:-0.41 [[ 9.90054380e-01 1.40683103e-01 7.67045748e-04 3.04747687e+02] [-1.40683071e-01 9.90054677e-01 -9.64064827e-05 -3.14446733e+01] [-7.72979994e-04 -1.24626906e-05 9.99999701e-01 -4.09198319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.78, Y:-31.45, Z:-0.41 [[ 9.90227417e-01 1.39459940e-01 7.67050389e-04 3.04776384e+02] [-1.39459907e-01 9.90227714e-01 -9.63695416e-05 -3.14469226e+01] [-7.72994244e-04 -1.15450137e-05 9.99999701e-01 -4.07295575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.80, Y:-31.45, Z:-0.41 [[ 9.90621602e-01 1.36631814e-01 7.67055091e-04 3.04804915e+02] [-1.36631781e-01 9.90621899e-01 -9.63321049e-05 -3.14484363e+01] [-7.73023601e-04 -9.37543875e-06 9.99999701e-01 -4.05909767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.83, Y:-31.45, Z:-0.41 [[ 9.90795753e-01 1.35363166e-01 7.67059856e-04 3.04832414e+02] [-1.35363132e-01 9.90796050e-01 -9.62941482e-05 -3.14511568e+01] [-7.73034556e-04 -8.42379134e-06 9.99999701e-01 -4.05785038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39420382200007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:304.86, Y:-31.45, Z:-0.41 [[ 9.90990967e-01 1.33926528e-01 7.67065783e-04 3.04861601e+02] [-1.33926493e-01 9.90991264e-01 -9.62469089e-05 -3.14516397e+01] [-7.73045504e-04 -7.35061309e-06 9.99999701e-01 -4.06060493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.89, Y:-31.45, Z:-0.41 [[ 9.91158796e-01 1.32678755e-01 7.67070542e-04 3.04889693e+02] [-1.32678720e-01 9.91159093e-01 -9.62089653e-05 -3.14544909e+01] [-7.73053829e-04 -6.41557545e-06 9.99999701e-01 -4.07439768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.92, Y:-31.46, Z:-0.41 [[ 9.91293806e-01 1.31666253e-01 7.67076468e-04 3.04918361e+02] [-1.31666218e-01 9.91294103e-01 -9.61616979e-05 -3.14578933e+01] [-7.73059629e-04 -5.67356227e-06 9.99999701e-01 -4.05092458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.95, Y:-31.46, Z:-0.40 [[ 9.91590250e-01 1.29414793e-01 7.67081170e-04 3.04946580e+02] [-1.29414757e-01 9.91590546e-01 -9.61241766e-05 -3.14612600e+01] [-7.73070326e-04 -3.95582715e-06 9.99999701e-01 -4.04880142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.97, Y:-31.46, Z:-0.41 [[ 9.91696204e-01 1.28600355e-01 7.67085915e-04 3.04974040e+02] [-1.28600319e-01 9.91696500e-01 -9.60862929e-05 -3.14647376e+01] [-7.73073149e-04 -3.35908152e-06 9.99999701e-01 -4.07714654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.00, Y:-31.47, Z:-0.40 [[ 9.91739663e-01 1.28264776e-01 7.67091818e-04 3.05002242e+02] [-1.28264740e-01 9.91739960e-01 -9.60391407e-05 -3.14674568e+01] [-7.73074048e-04 -3.14500745e-06 9.99999701e-01 -4.03483528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.03, Y:-31.47, Z:-0.40 [[ 9.91500077e-01 1.30103840e-01 7.67097756e-04 3.05031524e+02] [-1.30103805e-01 9.91500374e-01 -9.59916932e-05 -3.14673812e+01] [-7.73066599e-04 -4.62656552e-06 9.99999701e-01 -3.99951499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.06, Y:-31.47, Z:-0.40 [[ 9.91035512e-01 1.33596503e-01 7.67102486e-04 3.05059748e+02] [-1.33596469e-01 9.91035809e-01 -9.59538800e-05 -3.14671431e+01] [-7.73045135e-04 -7.38848067e-06 9.99999701e-01 -4.01661889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.6342038220001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:305.09, Y:-31.47, Z:-0.40 [[ 9.90739120e-01 1.35777048e-01 7.67108357e-04 3.05088319e+02] [-1.35777015e-01 9.90739417e-01 -9.59069201e-05 -3.14685084e+01] [-7.73026445e-04 -9.13694509e-06 9.99999701e-01 -4.02151805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.12, Y:-31.47, Z:-0.40 [[ 9.90494294e-01 1.37551678e-01 7.67113055e-04 3.05117379e+02] [-1.37551645e-01 9.90494591e-01 -9.58693296e-05 -3.14706015e+01] [-7.73008319e-04 -1.05596386e-05 9.99999701e-01 -4.01296753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.15, Y:-31.47, Z:-0.40 [[ 9.90288507e-01 1.39025483e-01 7.67117782e-04 3.05145972e+02] [-1.39025451e-01 9.90288804e-01 -9.58314884e-05 -3.14732334e+01] [-7.72991170e-04 -1.17480740e-05 9.99999701e-01 -4.02476736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.17, Y:-31.47, Z:-0.41 [[ 9.90145812e-01 1.40038148e-01 7.67122495e-04 3.05173410e+02] [-1.40038116e-01 9.90146109e-01 -9.57937426e-05 -3.14749121e+01] [-7.72978132e-04 -1.25766159e-05 9.99999701e-01 -4.05310957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.20, Y:-31.47, Z:-0.40 [[ 9.90388634e-01 1.38310391e-01 7.67128355e-04 3.05202227e+02] [-1.38310359e-01 9.90388931e-01 -9.57467950e-05 -3.14738111e+01] [-7.72998208e-04 -1.12752604e-05 9.99999701e-01 -4.02510483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78420382200005 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:305.23, Y:-31.48, Z:-0.41 [[ 9.90602992e-01 1.36766677e-01 7.67133170e-04 3.05229759e+02] [-1.36766644e-01 9.90603289e-01 -9.57082034e-05 -3.14757513e+01] [-7.73014334e-04 -1.01093968e-05 9.99999701e-01 -4.07283655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.26, Y:-31.48, Z:-0.41 [[ 9.90922377e-01 1.34433088e-01 7.67139516e-04 3.05258220e+02] [-1.34433054e-01 9.90922673e-01 -9.56573110e-05 -3.14789353e+01] [-7.73035447e-04 -8.33993825e-06 9.99999701e-01 -4.05560180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.29, Y:-31.48, Z:-0.41 [[ 9.91233022e-01 1.32123074e-01 7.67144187e-04 3.05286325e+02] [-1.32123040e-01 9.91233319e-01 -9.56198350e-05 -3.14815015e+01] [-7.73052465e-04 -6.57588374e-06 9.99999701e-01 -4.07495436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.31, Y:-31.48, Z:-0.41 [[ 9.91786929e-01 1.27898782e-01 7.67149994e-04 3.05314644e+02] [-1.27898746e-01 9.91787226e-01 -9.55732214e-05 -3.14837118e+01] [-7.73073263e-04 -3.32925068e-06 9.99999701e-01 -4.07328600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.34, Y:-31.49, Z:-0.41 [[ 9.92427016e-01 1.22833344e-01 7.67154504e-04 3.05342272e+02] [-1.22833306e-01 9.92427312e-01 -9.55370080e-05 -3.14869106e+01] [-7.73080212e-04 5.81383466e-07 9.99999701e-01 -4.06148685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.37, Y:-31.49, Z:-0.40 [[ 9.92742626e-01 1.20255931e-01 7.67160095e-04 3.05370768e+02] [-1.20255893e-01 9.92742923e-01 -9.54920878e-05 -3.14897355e+01] [-7.73076245e-04 2.54354340e-06 9.99999701e-01 -4.03957292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.40, Y:-31.49, Z:-0.40 [[ 9.93027959e-01 1.17876567e-01 7.67164776e-04 3.05398550e+02] [-1.17876528e-01 9.93028255e-01 -9.54544704e-05 -3.14926278e+01] [-7.73068144e-04 4.35823760e-06 9.99999701e-01 -4.04242892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.43, Y:-31.50, Z:-0.40 [[ 9.93536854e-01 1.13507410e-01 7.67170582e-04 3.05427104e+02] [-1.13507370e-01 9.93537150e-01 -9.54077822e-05 -3.14964203e+01] [-7.73041964e-04 7.71163269e-06 9.99999701e-01 -4.04942226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.46, Y:-31.50, Z:-0.41 [[ 9.93714357e-01 1.11942789e-01 7.67175188e-04 3.05455764e+02] [-1.11942749e-01 9.93714653e-01 -9.53707328e-05 -3.15010627e+01] [-7.73029292e-04 8.89156681e-06 9.99999701e-01 -4.06389139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.48, Y:-31.51, Z:-0.41 [[ 9.93850197e-01 1.10730292e-01 7.67179838e-04 3.05483367e+02] [-1.10730252e-01 9.93850493e-01 -9.53333116e-05 -3.15062706e+01] [-7.73018346e-04 9.79701406e-06 9.99999701e-01 -4.09405209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.51, Y:-31.51, Z:-0.41 [[ 9.93823322e-01 1.10971237e-01 7.67185626e-04 3.05511165e+02] [-1.10971197e-01 9.93823618e-01 -9.52867092e-05 -3.15097300e+01] [-7.73021279e-04 9.56264662e-06 9.99999701e-01 -4.10216276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.54, Y:-31.51, Z:-0.41 [[ 9.93687491e-01 1.12181022e-01 7.67191196e-04 3.05539391e+02] [-1.12180982e-01 9.93687787e-01 -9.52418426e-05 -3.15126286e+01] [-7.73032849e-04 8.57636554e-06 9.99999701e-01 -4.10767194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.57, Y:-31.52, Z:-0.41 [[ 9.93261758e-01 1.15889998e-01 7.67195641e-04 3.05568031e+02] [-1.15889959e-01 9.93262054e-01 -9.52060225e-05 -3.15150814e+01] [-7.73059744e-04 5.65422973e-06 9.99999701e-01 -4.08812601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.60, Y:-31.52, Z:-0.41 [[ 9.93267389e-01 1.15841729e-01 7.67200263e-04 3.05597142e+02] [-1.15841690e-01 9.93267685e-01 -9.51687656e-05 -3.15186035e+01] [-7.73059743e-04 5.65425638e-06 9.99999701e-01 -4.08835271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.63, Y:-31.52, Z:-0.41 [[ 9.92732003e-01 1.20343601e-01 7.67204886e-04 3.05625319e+02] [-1.20343564e-01 9.92732299e-01 -9.51314821e-05 -3.15223105e+01] [-7.73077535e-04 2.11189673e-06 9.99999701e-01 -4.07887841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.23420382200004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:305.65, Y:-31.53, Z:-0.41 [[ 9.92381363e-01 1.23201632e-01 7.67209660e-04 3.05653340e+02] [-1.23201596e-01 9.92381659e-01 -9.50929607e-05 -3.15260878e+01] [-7.73080404e-04 -1.52972456e-07 9.99999701e-01 -4.12672990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.68, Y:-31.53, Z:-0.41 [[ 9.92092799e-01 1.25504140e-01 7.67215941e-04 3.05682180e+02] [-1.25504104e-01 9.92093096e-01 -9.50422630e-05 -3.15299885e+01] [-7.73077835e-04 -1.99800458e-06 9.99999701e-01 -4.10116951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.71, Y:-31.53, Z:-0.41 [[ 9.91450694e-01 1.30479623e-01 7.67219433e-04 3.05710383e+02] [-1.30479588e-01 9.91450991e-01 -9.50140668e-05 -3.15326455e+01] [-7.73057867e-04 -5.90471321e-06 9.99999701e-01 -4.11719881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3242038220001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.74, Y:-31.54, Z:-0.41 [[ 9.91188409e-01 1.32457350e-01 7.67224087e-04 3.05738798e+02] [-1.32457316e-01 9.91188706e-01 -9.49764683e-05 -3.15352534e+01] [-7.73044181e-04 -7.48486888e-06 9.99999701e-01 -4.12377556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.77, Y:-31.54, Z:-0.42 [[ 9.90740550e-01 1.35766612e-01 7.67228771e-04 3.05766364e+02] [-1.35766579e-01 9.90740848e-01 -9.49386132e-05 -3.15369531e+01] [-7.73014377e-04 -1.01044920e-05 9.99999701e-01 -4.15505646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3842038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.79, Y:-31.54, Z:-0.41 [[ 9.90648732e-01 1.36434971e-01 7.67234597e-04 3.05794840e+02] [-1.36434939e-01 9.90649029e-01 -9.48915134e-05 -3.15395636e+01] [-7.73006729e-04 -1.06734477e-05 9.99999701e-01 -4.12167927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.82, Y:-31.54, Z:-0.41 [[ 9.90649566e-01 1.36428918e-01 7.67239290e-04 3.05823021e+02] [-1.36428885e-01 9.90649863e-01 -9.48535504e-05 -3.15417768e+01] [-7.73006265e-04 -1.07069724e-05 9.99999701e-01 -4.13264120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.85, Y:-31.54, Z:-0.41 [[ 9.90765263e-01 1.35586150e-01 7.67245628e-04 3.05850719e+02] [-1.35586117e-01 9.90765560e-01 -9.48022599e-05 -3.15426252e+01] [-7.73014418e-04 -1.01010697e-05 9.99999701e-01 -4.13438602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.88, Y:-31.54, Z:-0.41 [[ 9.90872746e-01 1.34798415e-01 7.67251296e-04 3.05879121e+02] [-1.34798382e-01 9.90873043e-01 -9.47563645e-05 -3.15443155e+01] [-7.73021634e-04 -9.53273407e-06 9.99999701e-01 -4.12926882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.91, Y:-31.55, Z:-0.41 [[ 9.91028369e-01 1.33649476e-01 7.67255735e-04 3.05907540e+02] [-1.33649443e-01 9.91028666e-01 -9.47204057e-05 -3.15455444e+01] [-7.73031760e-04 -8.67269248e-06 9.99999701e-01 -4.10361918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.94, Y:-31.55, Z:-0.41 [[ 9.91326171e-01 1.31422346e-01 7.67260419e-04 3.05936683e+02] [-1.31422312e-01 9.91326468e-01 -9.46824528e-05 -3.15463340e+01] [-7.73048951e-04 -6.97394503e-06 9.99999701e-01 -4.10498669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.96, Y:-31.55, Z:-0.41 [[ 9.91522116e-01 1.29935769e-01 7.67265096e-04 3.05964617e+02] [-1.29935734e-01 9.91522413e-01 -9.46445355e-05 -3.15487335e+01] [-7.73058250e-04 -5.85300362e-06 9.99999701e-01 -4.09327204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.99, Y:-31.55, Z:-0.41 [[ 9.92020539e-01 1.26074029e-01 7.67270894e-04 3.05993600e+02] [-1.26073993e-01 9.92020836e-01 -9.45975048e-05 -3.15494105e+01] [-7.73075002e-04 -2.89023793e-06 9.99999701e-01 -4.08039649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.02, Y:-31.55, Z:-0.41 [[ 9.92310859e-01 1.23768209e-01 7.67275512e-04 3.06021301e+02] [-1.23768173e-01 9.92311156e-01 -9.45600332e-05 -3.15508501e+01] [-7.73079576e-04 -1.13134049e-06 9.99999701e-01 -4.08643320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.05, Y:-31.55, Z:-0.41 [[ 9.92599118e-01 1.21434769e-01 7.67281257e-04 3.06050458e+02] [-1.21434733e-01 9.92599414e-01 -9.45133950e-05 -3.15531051e+01] [-7.73080139e-04 6.39318257e-07 9.99999701e-01 -4.06674298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.08, Y:-31.55, Z:-0.41 [[ 9.93135931e-01 1.16963386e-01 7.67285854e-04 3.06078784e+02] [-1.16963348e-01 9.93136227e-01 -9.44760648e-05 -3.15528760e+01] [-7.73069618e-04 4.08325220e-06 9.99999701e-01 -4.05141322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.11, Y:-31.55, Z:-0.41 [[ 9.93384029e-01 1.14837200e-01 7.67291572e-04 3.06107637e+02] [-1.14837161e-01 9.93384325e-01 -9.44295986e-05 -3.15545889e+01] [-7.73059451e-04 5.69126921e-06 9.99999701e-01 -4.05271209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.14, Y:-31.56, Z:-0.41 [[ 9.93890149e-01 1.10371114e-01 7.67295979e-04 3.06136345e+02] [-1.10371074e-01 9.93890445e-01 -9.43937738e-05 -3.15591128e+01] [-7.73026488e-04 9.12976058e-06 9.99999701e-01 -4.07376839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:306.16, Y:-31.56, Z:-0.41 [[ 9.94055499e-01 1.08871830e-01 7.67300359e-04 3.06164360e+02] [-1.08871790e-01 9.94055795e-01 -9.43581613e-05 -3.15638487e+01] [-7.73012314e-04 1.02598856e-05 9.99999701e-01 -4.08560571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80420382200003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:306.19, Y:-31.57, Z:-0.41 [[ 9.94381157e-01 1.05856153e-01 7.67304731e-04 3.06193079e+02] [-1.05856112e-01 9.94381453e-01 -9.43225922e-05 -3.15655770e+01] [-7.72978220e-04 1.25687128e-05 9.99999701e-01 -4.06979543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.22, Y:-31.57, Z:-0.41 [[ 9.94514811e-01 1.04593035e-01 7.67309327e-04 3.06220676e+02] [-1.04592993e-01 9.94515106e-01 -9.42851913e-05 -3.15674662e+01] [-7.72962291e-04 1.35128401e-05 9.99999701e-01 -4.06209297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.25, Y:-31.57, Z:-0.40 [[ 9.94602113e-01 1.03759567e-01 7.67315042e-04 3.06249168e+02] [-1.03759525e-01 9.94602409e-01 -9.42386540e-05 -3.15709660e+01] [-7.72951552e-04 1.41137202e-05 9.99999701e-01 -4.04258634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.28, Y:-31.58, Z:-0.40 [[ 9.94775733e-01 1.02081593e-01 7.67319664e-04 3.06275944e+02] [-1.02081551e-01 9.94776029e-01 -9.42010047e-05 -3.15771378e+01] [-7.72927398e-04 1.53796924e-05 9.99999701e-01 -4.03533631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92420382200004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:306.30, Y:-31.58, Z:-0.41 [[ 9.94792297e-01 1.01920050e-01 7.67326596e-04 3.06304792e+02] [-1.01920008e-01 9.94792593e-01 -9.41445090e-05 -3.15818741e+01] [-7.72926027e-04 1.54482999e-05 9.99999701e-01 -4.05744653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.33, Y:-31.59, Z:-0.41 [[ 9.94933866e-01 1.00528666e-01 7.67331169e-04 3.06332593e+02] [-1.00528623e-01 9.94934162e-01 -9.41072193e-05 -3.15882442e+01] [-7.72904467e-04 1.64917138e-05 9.99999701e-01 -4.05597050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.36, Y:-31.59, Z:-0.41 [[ 9.94981257e-01 1.00058534e-01 7.67335745e-04 3.06359650e+02] [-1.00058492e-01 9.94981552e-01 -9.40698974e-05 -3.15943504e+01] [-7.72897406e-04 1.68193275e-05 9.99999701e-01 -4.05083349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.39, Y:-31.60, Z:-0.40 [[ 9.95022886e-01 9.96437076e-02 7.67341416e-04 3.06387712e+02] [-9.96436647e-02 9.95023181e-01 -9.40236128e-05 -3.15999998e+01] [-7.72891358e-04 1.70949357e-05 9.99999701e-01 -4.03572994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04420382200004 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:306.42, Y:-31.61, Z:-0.40 [[ 9.95147835e-01 9.83879988e-02 7.67345955e-04 3.06415165e+02] [-9.83879556e-02 9.95148130e-01 -9.39865526e-05 -3.16058841e+01] [-7.72870042e-04 1.80329145e-05 9.99999701e-01 -4.03700301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0742038220001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:306.44, Y:-31.61, Z:-0.40 [[ 9.95165148e-01 9.82127300e-02 7.67351585e-04 3.06443420e+02] [-9.82126867e-02 9.95165443e-01 -9.39405640e-05 -3.16114617e+01] [-7.72867940e-04 1.81227144e-05 9.99999701e-01 -4.04714401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.47, Y:-31.62, Z:-0.41 [[ 9.95363394e-01 9.61827686e-02 7.67356154e-04 3.06469857e+02] [-9.61827248e-02 9.95363690e-01 -9.39032278e-05 -3.16211798e+01] [-7.72830325e-04 1.96614297e-05 9.99999701e-01 -4.05870188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.1342038220001 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:306.50, Y:-31.63, Z:-0.41 [[ 9.95403056e-01 9.57714363e-02 7.67362622e-04 3.06498249e+02] [-9.57713924e-02 9.95403351e-01 -9.38503452e-05 -3.16283626e+01] [-7.72823508e-04 1.99275336e-05 9.99999701e-01 -4.07859967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.53, Y:-31.64, Z:-0.41 [[ 9.95543918e-01 9.42959098e-02 7.67367081e-04 3.06525134e+02] [-9.42958655e-02 9.95544213e-01 -9.38138689e-05 -3.16363496e+01] [-7.72794121e-04 2.10362836e-05 9.99999701e-01 -4.08212506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.55, Y:-31.64, Z:-0.41 [[ 9.95543727e-01 9.42979284e-02 7.67372625e-04 3.06553689e+02] [-9.42978842e-02 9.95544022e-01 -9.37685022e-05 -3.16424180e+01] [-7.72795405e-04 2.09890293e-05 9.99999701e-01 -4.09047050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22420382200005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:306.58, Y:-31.65, Z:-0.41 [[ 9.95392239e-01 9.58837925e-02 7.67377025e-04 3.06580922e+02] [-9.58837487e-02 9.95392535e-01 -9.37324809e-05 -3.16509866e+01] [-7.72828787e-04 1.97215983e-05 9.99999701e-01 -4.10206982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.254203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:306.61, Y:-31.66, Z:-0.41 [[ 9.95268492e-01 9.71598711e-02 7.67382561e-04 3.06608001e+02] [-9.71598277e-02 9.95268787e-01 -9.36871319e-05 -3.16561874e+01] [-7.72854541e-04 1.86850930e-05 9.99999701e-01 -4.10655441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28420382200005 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:306.64, Y:-31.66, Z:-0.41 [[ 9.95050118e-01 9.93713935e-02 7.67388023e-04 3.06636185e+02] [-9.93713508e-02 9.95050414e-01 -9.36423709e-05 -3.16618426e+01] [-7.72895143e-04 1.69224677e-05 9.99999701e-01 -4.12494869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.66, Y:-31.67, Z:-0.41 [[ 9.94784937e-01 1.01991859e-01 7.67392359e-04 3.06664270e+02] [-1.01991817e-01 9.94785233e-01 -9.36068268e-05 -3.16683281e+01] [-7.72937721e-04 1.48509205e-05 9.99999701e-01 -4.08756390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34420382200005 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:306.69, Y:-31.67, Z:-0.41 [[ 9.94569156e-01 1.04074997e-01 7.67396946e-04 3.06692434e+02] [-1.04074956e-01 9.94569452e-01 -9.35692090e-05 -3.16744165e+01] [-7.72967775e-04 1.31942461e-05 9.99999701e-01 -4.12919871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.374203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:306.72, Y:-31.68, Z:-0.41 [[ 9.94365764e-01 1.06000656e-01 7.67400374e-04 3.06720459e+02] [-1.06000615e-01 9.94366060e-01 -9.35410837e-05 -3.16820908e+01] [-7.72992302e-04 1.16691394e-05 9.99999701e-01 -4.12912418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.75, Y:-31.69, Z:-0.41 [[ 9.94269421e-01 1.06900556e-01 7.67403581e-04 3.06748760e+02] [-1.06900516e-01 9.94269717e-01 -9.35147682e-05 -3.16878383e+01] [-7.73002922e-04 1.09430361e-05 9.99999701e-01 -4.10592414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.43420382200003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:306.78, Y:-31.69, Z:-0.42 [[ 9.94205302e-01 1.07495253e-01 7.67408146e-04 3.06777056e+02] [-1.07495213e-01 9.94205598e-01 -9.34772928e-05 -3.16937732e+01] [-7.73009839e-04 1.04429181e-05 9.99999701e-01 -4.15521484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46420382200006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:306.81, Y:-31.70, Z:-0.42 [[ 9.94197413e-01 1.07568192e-01 7.67411556e-04 3.06805994e+02] [-1.07568152e-01 9.94197709e-01 -9.34492897e-05 -3.17035040e+01] [-7.73010981e-04 1.03579991e-05 9.99999701e-01 -4.15212787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.49420382200003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.83, Y:-31.71, Z:-0.41 [[ 9.94244139e-01 1.07135442e-01 7.67413667e-04 3.06834999e+02] [-1.07135401e-01 9.94244435e-01 -9.34319472e-05 -3.17105500e+01] [-7.73006641e-04 1.06769947e-05 9.99999701e-01 -4.11393840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.86, Y:-31.72, Z:-0.41 [[ 9.94328475e-01 1.06349874e-01 7.67415930e-04 3.06863402e+02] [-1.06349833e-01 9.94328771e-01 -9.34133540e-05 -3.17201350e+01] [-7.72998237e-04 1.12690015e-05 9.99999701e-01 -4.11990629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55420382200003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:306.89, Y:-31.73, Z:-0.41 [[ 9.94282088e-01 1.06782682e-01 7.67417056e-04 3.06893585e+02] [-1.06782641e-01 9.94282384e-01 -9.34041055e-05 -3.17265516e+01] [-7.73003201e-04 1.09232086e-05 9.99999701e-01 -4.11518566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58420382200006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:306.92, Y:-31.73, Z:-0.41 [[ 9.94271113e-01 1.06884821e-01 7.67417056e-04 3.06923104e+02] [-1.06884780e-01 9.94271409e-01 -9.34041055e-05 -3.17321722e+01] [-7.73004319e-04 1.08438004e-05 9.99999701e-01 -4.09726108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61420382200004 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:306.95, Y:-31.74, Z:-0.41 [[ 9.94112870e-01 1.08346723e-01 7.67416361e-04 3.06952969e+02] [-1.08346683e-01 9.94113166e-01 -9.34098132e-05 -3.17402051e+01] [-7.73019356e-04 9.71288050e-06 9.99999701e-01 -4.06924371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64420382200007 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:306.98, Y:-31.75, Z:-0.40 [[ 9.93954425e-01 1.09790764e-01 7.67415214e-04 3.06982772e+02] [-1.09790725e-01 9.93954721e-01 -9.34192340e-05 -3.17475016e+01] [-7.73032545e-04 8.59938864e-06 9.99999701e-01 -4.02263284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67420382200004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:307.01, Y:-31.76, Z:-0.40 [[ 9.93550663e-01 1.13386465e-01 7.67415214e-04 3.07012018e+02] [-1.13386427e-01 9.93550960e-01 -9.34192340e-05 -3.17573289e+01] [-7.73058599e-04 5.80227303e-06 9.99999701e-01 -3.99050857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70420382200007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:307.04, Y:-31.76, Z:-0.40 [[ 9.93318771e-01 1.15400305e-01 7.67414059e-04 3.07042077e+02] [-1.15400268e-01 9.93319067e-01 -9.34287261e-05 -3.17620558e+01] [-7.73068721e-04 4.24471950e-06 9.99999701e-01 -3.98117021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.73420382200004 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:307.07, Y:-31.77, Z:-0.40 [[ 9.93088720e-01 1.17363561e-01 7.67412930e-04 3.07070943e+02] [-1.17363524e-01 9.93089016e-01 -9.34379990e-05 -3.17660843e+01] [-7.73075568e-04 2.72593705e-06 9.99999701e-01 -3.98594637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76420382200007 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:307.10, Y:-31.77, Z:-0.40 [[ 9.92617316e-01 1.21285923e-01 7.67414029e-04 3.07100606e+02] [-1.21285887e-01 9.92617613e-01 -9.34289662e-05 -3.17731201e+01] [-7.73080300e-04 -3.37281744e-07 9.99999701e-01 -3.98128953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.79420382200004 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:307.13, Y:-31.78, Z:-0.40 [[ 9.92393686e-01 1.23102331e-01 7.67414029e-04 3.07130577e+02] [-1.23102295e-01 9.92393982e-01 -9.34289662e-05 -3.17778958e+01] [-7.73078388e-04 -1.75211249e-06 9.99999701e-01 -3.99848463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8242038220001 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:307.16, Y:-31.78, Z:-0.40 [[ 9.92010969e-01 1.26149312e-01 7.67414029e-04 3.07160591e+02] [-1.26149278e-01 9.92011266e-01 -9.34289662e-05 -3.17823205e+01] [-7.73069362e-04 -4.12616645e-06 9.99999701e-01 -4.03926745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.85420382200004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:307.19, Y:-31.79, Z:-0.41 [[ 9.91844893e-01 1.27448495e-01 7.67414029e-04 3.07190007e+02] [-1.27448461e-01 9.91845190e-01 -9.34289662e-05 -3.17872449e+01] [-7.73063295e-04 -5.13869364e-06 9.99999701e-01 -4.06122583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8842038220001 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:307.22, Y:-31.79, Z:-0.41 [[ 9.91647944e-01 1.28971957e-01 7.67415167e-04 3.07219072e+02] [-1.28971924e-01 9.91648241e-01 -9.34196198e-05 -3.17920373e+01] [-7.73054412e-04 -6.33563660e-06 9.99999701e-01 -4.07359858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91420382200005 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:307.25, Y:-31.80, Z:-0.41 [[ 9.91096523e-01 1.33143128e-01 7.67416298e-04 3.07248738e+02] [-1.33143095e-01 9.91096820e-01 -9.34103279e-05 -3.17950949e+01] [-7.73020796e-04 -9.59753029e-06 9.99999701e-01 -4.06892118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.944203822 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:307.28, Y:-31.80, Z:-0.41 [[ 9.90817714e-01 1.35202325e-01 7.67418581e-04 3.07277890e+02] [-1.35202293e-01 9.90818011e-01 -9.33915729e-05 -3.17976496e+01] [-7.72998910e-04 -1.12227270e-05 9.99999701e-01 -4.06589870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97420382200005 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:307.31, Y:-31.80, Z:-0.41 [[ 9.90351893e-01 1.38573225e-01 7.67420854e-04 3.07307358e+02] [-1.38573195e-01 9.90352190e-01 -9.33728864e-05 -3.18009277e+01] [-7.72955906e-04 -1.38719446e-05 9.99999701e-01 -4.08732182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.004203822 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:307.34, Y:-31.80, Z:-0.41 [[ 9.90221019e-01 1.39505356e-01 7.67421981e-04 3.07336993e+02] [-1.39505326e-01 9.90221316e-01 -9.33636234e-05 -3.18038615e+01] [-7.72942330e-04 -1.46088312e-05 9.99999701e-01 -4.07560692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03420382200005 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:307.37, Y:-31.81, Z:-0.41 [[ 9.90153006e-01 1.39987270e-01 7.67424105e-04 3.07366550e+02] [-1.39987240e-01 9.90153303e-01 -9.33461659e-05 -3.18064372e+01] [-7.72934787e-04 -1.50025951e-05 9.99999701e-01 -4.07138854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.064203822 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:307.40, Y:-31.81, Z:-0.41 [[ 9.90211344e-01 1.39574016e-01 7.67426258e-04 3.07397071e+02] [-1.39573985e-01 9.90211641e-01 -9.33284623e-05 -3.18104418e+01] [-7.72940642e-04 -1.46978393e-05 9.99999701e-01 -4.06541102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09420382200005 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:307.43, Y:-31.81, Z:-0.41 [[ 9.90211344e-01 1.39574016e-01 7.67426258e-04 3.07427840e+02] [-1.39573985e-01 9.90211641e-01 -9.33284623e-05 -3.18141837e+01] [-7.72940642e-04 -1.46978393e-05 9.99999701e-01 -4.06565064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.124203822 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:307.46, Y:-31.82, Z:-0.41 [[ 9.90286729e-01 1.39038142e-01 7.67426258e-04 3.07458106e+02] [-1.39038112e-01 9.90287026e-01 -9.33284623e-05 -3.18172104e+01] [-7.72948483e-04 -1.42795602e-05 9.99999701e-01 -4.06215619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15420382200006 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:307.49, Y:-31.82, Z:-0.41 [[ 9.90373223e-01 1.38420698e-01 7.67426258e-04 3.07487501e+02] [-1.38420667e-01 9.90373521e-01 -9.33284623e-05 -3.18167482e+01] [-7.72957235e-04 -1.37976446e-05 9.99999701e-01 -4.09224340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18420382200003 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:307.52, Y:-31.82, Z:-0.41 [[ 9.90380482e-01 1.38368754e-01 7.67427385e-04 3.07516620e+02] [-1.38368723e-01 9.90380779e-01 -9.33191933e-05 -3.18184715e+01] [-7.72957792e-04 -1.37664397e-05 9.99999701e-01 -4.10799530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21420382200006 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:307.55, Y:-31.82, Z:-0.41 [[ 9.90190214e-01 1.39723839e-01 7.67430670e-04 3.07546686e+02] [-1.39723809e-01 9.90190511e-01 -9.32921689e-05 -3.18190317e+01] [-7.72937707e-04 -1.48513436e-05 9.99999701e-01 -4.09489508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24420382200003 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:307.58, Y:-31.82, Z:-0.41 [[ 9.90036016e-01 1.40812277e-01 7.67432859e-04 3.07575024e+02] [-1.40812247e-01 9.90036314e-01 -9.32741537e-05 -3.18206193e+01] [-7.72920545e-04 -1.57191736e-05 9.99999701e-01 -4.09140618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27420382200006 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:307.60, Y:-31.82, Z:-0.41 [[ 9.89924279e-01 1.41595667e-01 7.67436128e-04 3.07604457e+02] [-1.41595638e-01 9.89924576e-01 -9.32472498e-05 -3.18222012e+01] [-7.72907291e-04 -1.63578915e-05 9.99999701e-01 -4.05270375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30420382200003 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:307.63, Y:-31.82, Z:-0.40 [[ 9.89910393e-01 1.41692710e-01 7.67438389e-04 3.07633197e+02] [-1.41692680e-01 9.89910691e-01 -9.32286440e-05 -3.18237521e+01] [-7.72905285e-04 -1.64523983e-05 9.99999701e-01 -4.04038997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33420382200006 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:307.66, Y:-31.83, Z:-0.40 [[ 9.90036084e-01 1.40811798e-01 7.67441760e-04 3.07662352e+02] [-1.40811768e-01 9.90036382e-01 -9.32008800e-05 -3.18265136e+01] [-7.72919047e-04 -1.57925968e-05 9.99999701e-01 -4.03854271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36420382200004 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:307.69, Y:-31.83, Z:-0.41 [[ 9.90563654e-01 1.37051296e-01 7.67446268e-04 3.07691780e+02] [-1.37051265e-01 9.90563952e-01 -9.31637490e-05 -3.18259972e+01] [-7.72972820e-04 -1.28948580e-05 9.99999701e-01 -4.05568807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39420382200007 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:307.72, Y:-31.83, Z:-0.41 [[ 9.90847330e-01 1.34985110e-01 7.67450791e-04 3.07720267e+02] [-1.34985079e-01 9.90847627e-01 -9.31264775e-05 -3.18286952e+01] [-7.72997483e-04 -1.13202839e-05 9.99999701e-01 -4.07541150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42420382200004 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:307.75, Y:-31.83, Z:-0.41 [[ 9.91115744e-01 1.32999976e-01 7.67455309e-04 3.07748619e+02] [-1.32999944e-01 9.91116041e-01 -9.30892296e-05 -3.18326369e+01] [-7.73018132e-04 -9.80931189e-06 9.99999701e-01 -4.09389196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45420382200007 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:307.78, Y:-31.84, Z:-0.41 [[ 9.91300656e-01 1.31614667e-01 7.67458688e-04 3.07777444e+02] [-1.31614634e-01 9.91300953e-01 -9.30613623e-05 -3.18362836e+01] [-7.73030769e-04 -8.75700497e-06 9.99999701e-01 -4.10216590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48420382200004 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:307.81, Y:-31.84, Z:-0.41 [[ 9.91345479e-01 1.31276626e-01 7.67462003e-04 3.07806854e+02] [-1.31276594e-01 9.91345776e-01 -9.30340180e-05 -3.18376824e+01] [-7.73033406e-04 -8.52094429e-06 9.99999701e-01 -4.09361073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51420382200007 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:307.84, Y:-31.84, Z:-0.41 [[ 9.91274756e-01 1.31809597e-01 7.67525308e-04 3.07835635e+02] [-1.31809565e-01 9.91275053e-01 -9.25113354e-05 -3.18405954e+01] [-7.73022572e-04 -9.46302550e-06 9.99999701e-01 -4.10157849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54420382200004 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:307.86, Y:-31.84, Z:-0.41 [[ 9.90726261e-01 1.35870847e-01 7.67468764e-04 3.07863553e+02] [-1.35870815e-01 9.90726558e-01 -9.29780640e-05 -3.18429562e+01] [-7.72984696e-04 -1.21607970e-05 9.99999701e-01 -4.10968082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5742038220001 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:307.89, Y:-31.84, Z:-0.41 [[ 9.90389250e-01 1.38305985e-01 7.67474224e-04 3.07892749e+02] [-1.38305954e-01 9.90389547e-01 -9.29329794e-05 -3.18442518e+01] [-7.72951636e-04 -1.41064310e-05 9.99999701e-01 -4.08655587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60420382200004 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:307.92, Y:-31.84, Z:-0.41 [[ 9.90046152e-01 1.40740995e-01 7.67478736e-04 3.07921296e+02] [-1.40740965e-01 9.90046450e-01 -9.28956958e-05 -3.18449399e+01] [-7.72913831e-04 -1.60446717e-05 9.99999701e-01 -4.08671958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.6342038220001 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:307.95, Y:-31.85, Z:-0.41 [[ 9.89781107e-01 1.42593024e-01 7.67483241e-04 3.07948750e+02] [-1.42592995e-01 9.89781405e-01 -9.28584679e-05 -3.18455576e+01] [-7.72881610e-04 -1.75281765e-05 9.99999701e-01 -4.08295323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66420382200005 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:307.98, Y:-31.85, Z:-0.41 [[ 9.89420350e-01 1.45075093e-01 7.67489945e-04 3.07977800e+02] [-1.45075064e-01 9.89420647e-01 -9.28030197e-05 -3.18454864e+01] [-7.72833805e-04 -1.95224569e-05 9.99999701e-01 -4.07974021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.694203822 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:308.01, Y:-31.84, Z:-0.41 [[ 9.89464902e-01 1.44770920e-01 7.67494438e-04 3.08006274e+02] [-1.44770891e-01 9.89465199e-01 -9.27658520e-05 -3.18439257e+01] [-7.72838834e-04 -1.93222991e-05 9.99999701e-01 -4.09375488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72420382200005 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:308.04, Y:-31.84, Z:-0.41 [[ 9.89638800e-01 1.43577350e-01 7.67500025e-04 3.08035271e+02] [-1.43577321e-01 9.89639098e-01 -9.27196004e-05 -3.18446136e+01] [-7.72860467e-04 -1.84366837e-05 9.99999701e-01 -4.09248968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.754203822 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:308.06, Y:-31.85, Z:-0.41 [[ 9.89837054e-01 1.42204141e-01 7.67467589e-04 3.08063364e+02] [-1.42204112e-01 9.89837351e-01 -9.29882547e-05 -3.18464634e+01] [-7.72891401e-04 -1.70938268e-05 9.99999701e-01 -4.06729248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78420382200005 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:308.09, Y:-31.85, Z:-0.41 [[ 9.90195705e-01 1.39684922e-01 7.67509137e-04 3.08093256e+02] [-1.39684892e-01 9.90196002e-01 -9.26440496e-05 -3.18492082e+01] [-7.72925456e-04 -1.54736909e-05 9.99999701e-01 -4.05075979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.814203822 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:308.12, Y:-31.85, Z:-0.40 [[ 9.91105208e-01 1.33078464e-01 7.67449016e-04 3.08120968e+02] [-1.33078432e-01 9.91105505e-01 -9.31419302e-05 -3.18508454e+01] [-7.73018130e-04 -9.81745915e-06 9.99999701e-01 -4.04861331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84420382200005 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:308.15, Y:-31.85, Z:-0.41 [[ 9.91612507e-01 1.29244136e-01 7.67504788e-04 3.08150115e+02] [-1.29244103e-01 9.91612804e-01 -9.26800668e-05 -3.18541992e+01] [-7.73045930e-04 -7.29275471e-06 9.99999701e-01 -4.06796541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.874203822 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:308.18, Y:-31.86, Z:-0.40 [[ 9.92774410e-01 1.19993254e-01 7.67511533e-04 3.08179077e+02] [-1.19993218e-01 9.92774707e-01 -9.26241812e-05 -3.18588590e+01] [-7.73080314e-04 -1.41261602e-07 9.99999701e-01 -4.04397484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90420382200006 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:308.21, Y:-31.86, Z:-0.40 [[ 9.93311378e-01 1.15463922e-01 7.67513774e-04 3.08208585e+02] [-1.15463885e-01 9.93311675e-01 -9.26056028e-05 -3.18621638e+01] [-7.73072998e-04 3.36607700e-06 9.99999701e-01 -4.01779861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.93420382200003 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:308.24, Y:-31.87, Z:-0.40 [[ 9.93777723e-01 1.11378846e-01 7.67516071e-04 3.08237333e+02] [-1.11378807e-01 9.93778020e-01 -9.25865653e-05 -3.18662651e+01] [-7.73052786e-04 6.52544148e-06 9.99999701e-01 -4.03307890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96420382200006 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:308.27, Y:-31.87, Z:-0.40 [[ 9.94430761e-01 1.05389151e-01 7.67519483e-04 3.08265912e+02] [-1.05389111e-01 9.94431057e-01 -9.25582670e-05 -3.18742211e+01] [-7.72999848e-04 1.11545920e-05 9.99999701e-01 -4.01912001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99420382200003 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:308.30, Y:-31.88, Z:-0.40 [[ 9.94628938e-01 1.03502108e-01 7.67521715e-04 3.08295260e+02] [-1.03502067e-01 9.94629234e-01 -9.25397621e-05 -3.18802521e+01] [-7.72977596e-04 1.26026414e-05 9.99999701e-01 -4.00843447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02420382200006 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:308.32, Y:-31.89, Z:-0.40 [[ 9.94782861e-01 1.02012113e-01 7.67523932e-04 3.08324303e+02] [-1.02012072e-01 9.94783157e-01 -9.25213640e-05 -3.18872276e+01] [-7.72958180e-04 1.37419609e-05 9.99999701e-01 -4.00606515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05420382200003 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:308.35, Y:-31.89, Z:-0.40 [[ 9.94818892e-01 1.01660137e-01 7.67525047e-04 3.08353515e+02] [-1.01660096e-01 9.94819188e-01 -9.25121184e-05 -3.18922359e+01] [-7.72953438e-04 1.40061330e-05 9.99999701e-01 -4.01941018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08420382200006 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:308.38, Y:-31.90, Z:-0.41 [[ 9.94768460e-01 1.02152449e-01 7.67527281e-04 3.08382609e+02] [-1.02152408e-01 9.94768756e-01 -9.24935792e-05 -3.18998258e+01] [-7.72960604e-04 1.36049357e-05 9.99999701e-01 -4.05317578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11420382200004 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:308.41, Y:-31.91, Z:-0.40 [[ 9.94701867e-01 1.02798866e-01 7.67528397e-04 3.08413129e+02] [-1.02798825e-01 9.94702163e-01 -9.24843202e-05 -3.19052454e+01] [-7.72969439e-04 1.30933089e-05 9.99999701e-01 -4.03835450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14420382200007 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:308.44, Y:-31.91, Z:-0.40 [[ 9.94642115e-01 1.03375402e-01 7.67528397e-04 3.08442096e+02] [-1.03375361e-01 9.94642411e-01 -9.24843202e-05 -3.19100155e+01] [-7.72976899e-04 1.26452745e-05 9.99999701e-01 -4.04808703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17420382200004 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:308.47, Y:-31.92, Z:-0.41 [[ 9.94252962e-01 1.07053528e-01 7.67527612e-04 3.08471854e+02] [-1.07053488e-01 9.94253259e-01 -9.24908336e-05 -3.19190314e+01] [-7.73018299e-04 9.79277706e-06 9.99999701e-01 -4.05264171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20420382200007 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:308.50, Y:-31.92, Z:-0.41 [[ 9.93895724e-01 1.10320903e-01 7.67527612e-04 3.08500557e+02] [-1.10320864e-01 9.93896020e-01 -9.24908336e-05 -3.19245553e+01] [-7.73046311e-04 7.25193467e-06 9.99999701e-01 -4.07575821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.23420382200004 meters Centerline goodness : 0.997132 Centerline is valid? [True, True] Translation: X:308.53, Y:-31.93, Z:-0.41 [[ 9.93063341e-01 1.17578105e-01 7.67528722e-04 3.08529351e+02] [-1.17578068e-01 9.93063638e-01 -9.24816144e-05 -3.19287222e+01] [-7.73078678e-04 1.59555647e-06 9.99999701e-01 -4.08435613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26420382200007 meters Centerline goodness : 0.996393 Centerline is valid? [True, True] Translation: X:308.56, Y:-31.94, Z:-0.42 [[ 9.92568473e-01 1.21684989e-01 7.67529810e-04 3.08563210e+02] [-1.21684954e-01 9.92568770e-01 -9.24725889e-05 -3.19353617e+01] [-7.73078645e-04 -1.61145338e-06 9.99999701e-01 -4.15668135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.29420382200004 meters Centerline goodness : 0.995425 Centerline is valid? [True, True] Translation: X:308.59, Y:-31.94, Z:-0.41 [[ 9.92047322e-01 1.25863110e-01 7.66665796e-04 3.08588929e+02] [-1.25863071e-01 9.92047619e-01 -9.96322166e-05 -3.19379471e+01] [-7.73108998e-04 2.34496252e-06 9.99999701e-01 -4.06720492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3242038220001 meters Centerline goodness : 0.992799 Centerline is valid? [True, True] Translation: X:308.62, Y:-31.94, Z:-0.40 [[ 9.91336547e-01 1.31344059e-01 7.67532574e-04 3.08622501e+02] [-1.31344026e-01 9.91336844e-01 -9.24349295e-05 -3.19414587e+01] [-7.73024099e-04 -9.17669485e-06 9.99999701e-01 -3.95786666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.35420382200004 meters Centerline goodness : 0.991170 Centerline is valid? [True, True] Translation: X:308.65, Y:-31.95, Z:-0.40 [[ 9.91039155e-01 1.33569477e-01 7.66878229e-04 3.08651121e+02] [-1.33569441e-01 9.91039452e-01 -9.78907310e-05 -3.19450391e+01] [-7.73081793e-04 -5.41794884e-06 9.99999701e-01 -4.03564771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3842038220001 meters Centerline goodness : 0.989774 Centerline is valid? [True, True] Translation: X:308.68, Y:-31.95, Z:-0.40 [[ 9.90935515e-01 1.34336209e-01 7.66968066e-04 3.08680827e+02] [-1.34336175e-01 9.90935812e-01 -9.71428548e-05 -3.19474535e+01] [-7.73065926e-04 -6.76925117e-06 9.99999701e-01 -3.97512538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.41420382200005 meters Centerline goodness : 0.985701 Centerline is valid? [True, True] Translation: X:308.71, Y:-31.95, Z:-0.40 [[ 9.90702301e-01 1.36045444e-01 7.66996458e-04 3.08711150e+02] [-1.36045410e-01 9.90702598e-01 -9.69086310e-05 -3.19516761e+01] [-7.73049361e-04 -8.33874386e-06 9.99999701e-01 -4.04924177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.444203822 meters Centerline goodness : 0.984199 Centerline is valid? [True, True] Translation: X:308.74, Y:-31.95, Z:-0.41 [[ 9.90742515e-01 1.35752275e-01 7.67011537e-04 3.08738555e+02] [-1.35752241e-01 9.90742812e-01 -9.67842427e-05 -3.19528622e+01] [-7.73049848e-04 -8.23527105e-06 9.99999701e-01 -4.05845635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.47420382200005 meters Centerline goodness : 0.093248 Centerline is valid? [True, False] Translation: X:308.70, Y:-31.94, Z:-0.41 [[ 9.91337567e-01 1.31333202e-01 -1.19105827e-03 3.08698870e+02] [-1.31338360e-01 9.91312400e-01 -7.06822854e-03 -3.19401030e+01] [ 2.52417741e-04 7.16343212e-03 9.99974310e-01 -4.07135290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.504203822 meters Centerline goodness : 0.979610 Centerline is valid? [False, True] Translation: X:308.71, Y:-31.95, Z:-0.41 [[ 9.91876068e-01 1.27107833e-01 5.04629464e-03 3.08705775e+02] [-1.27134870e-01 9.91870433e-01 5.45603441e-03 -3.19479334e+01] [-4.31176574e-03 -6.05326997e-03 9.99972383e-01 -4.13810015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53420382200005 meters Centerline goodness : 0.978504 Centerline is valid? [True, True] Translation: X:308.74, Y:-31.95, Z:-0.41 [[ 9.92184064e-01 1.24707071e-01 4.35072911e-03 3.08736752e+02] [-1.24705798e-01 9.92193603e-01 -5.63750706e-04 -3.19476761e+01] [-4.38706929e-03 1.67833232e-05 9.99990377e-01 -4.14371138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.564203822 meters Centerline goodness : 0.089007 Centerline is valid? [True, False] Translation: X:308.69, Y:-31.94, Z:-0.42 [[ 9.92952846e-01 1.18447384e-01 3.85529369e-03 3.08692563e+02] [-1.18422458e-01 9.92944225e-01 -6.15522122e-03 -3.19413644e+01] [-4.55716146e-03 5.65529107e-03 9.99973625e-01 -4.15678074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59420382200005 meters Centerline goodness : 0.103457 Centerline is valid? [False, False] Translation: X:308.69, Y:-31.94, Z:-0.42 [[ 9.93468210e-01 1.14056013e-01 3.48446414e-03 3.08692806e+02] [-1.14013045e-01 9.93421422e-01 -1.07193168e-02 -3.19399473e+01] [-4.68414386e-03 1.02520261e-02 9.99936475e-01 -4.16444047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.624203822 meters Centerline goodness : 0.113998 Centerline is valid? [False, False] Translation: X:308.67, Y:-31.94, Z:-0.42 [[ 9.94035664e-01 1.09026093e-01 2.53172757e-03 3.08671979e+02] [-1.09016629e-01 9.94033349e-01 -3.61601989e-03 -3.19413973e+01] [-2.91086216e-03 3.31845233e-03 9.99990257e-01 -4.17158749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65420382200006 meters Centerline goodness : 0.125315 Centerline is valid? [False, False] Translation: X:308.69, Y:-31.95, Z:-0.42 [[ 9.94335553e-01 1.06146731e-01 5.44786252e-03 3.08687196e+02] [-1.06180495e-01 9.94326691e-01 6.33518210e-03 -3.19509268e+01] [-4.74449624e-03 -6.87775354e-03 9.99965093e-01 -4.16309019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68420382200003 meters Centerline goodness : 0.141879 Centerline is valid? [False, False] Translation: X:308.65, Y:-31.96, Z:-0.42 [[ 9.95242656e-01 9.71444879e-02 7.41646882e-03 3.08646493e+02] [-9.72575093e-02 9.95117302e-01 1.68086841e-02 -3.19562273e+01] [-5.74738544e-03 -1.74500267e-02 9.99831218e-01 -4.19536335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71420382200006 meters Centerline goodness : 0.146121 Centerline is valid? [False, False] Translation: X:308.65, Y:-31.95, Z:-0.42 [[ 9.96005588e-01 8.90574414e-02 6.45297793e-03 3.08648196e+02] [-8.91040696e-02 9.95995281e-01 7.33923031e-03 -3.19505950e+01] [-5.77352250e-03 -7.88490099e-03 9.99952246e-01 -4.20212523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74420382200003 meters Centerline goodness : 0.142876 Centerline is valid? [False, False] Translation: X:308.65, Y:-31.95, Z:-0.42 [[ 9.95987857e-01 8.92257444e-02 6.85239497e-03 3.08646987e+02] [-8.92801604e-02 9.95973663e-01 8.09412142e-03 -3.19541079e+01] [-6.10260091e-03 -8.67342957e-03 9.99943763e-01 -4.20718871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77420382200006 meters Centerline goodness : 0.143012 Centerline is valid? [False, False] Translation: X:308.65, Y:-31.95, Z:-0.42 [[ 9.96305339e-01 8.56367879e-02 6.48162418e-03 3.08647864e+02] [-8.56621095e-02 9.96317245e-01 3.73493199e-03 -3.19536035e+01] [-6.13790637e-03 -4.27636228e-03 9.99972019e-01 -4.20845542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80420382200003 meters Centerline goodness : 0.135475 Centerline is valid? [False, False] Translation: X:308.66, Y:-31.97, Z:-0.42 [[ 9.96325210e-01 8.53461249e-02 7.21900556e-03 3.08660855e+02] [-8.54547477e-02 9.96207311e-01 1.63853440e-02 -3.19665586e+01] [-5.79320051e-03 -1.69420296e-02 9.99839690e-01 -4.15590970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83420382200006 meters Centerline goodness : 0.142340 Centerline is valid? [False, False] Translation: X:308.68, Y:-31.97, Z:-0.42 [[ 9.96192050e-01 8.68858333e-02 7.22849351e-03 3.08681790e+02] [-8.69349366e-02 9.96190914e-01 6.78081125e-03 -3.19672688e+01] [-6.61180312e-03 -7.38339888e-03 9.99950884e-01 -4.15665718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86420382200004 meters Centerline goodness : 0.127804 Centerline is valid? [False, False] Translation: X:308.68, Y:-31.97, Z:-0.42 [[ 9.96512778e-01 8.31821327e-02 6.55872335e-03 3.08683347e+02] [-8.31996333e-02 9.96529909e-01 2.44171172e-03 -3.19665403e+01] [-6.33285720e-03 -2.97888031e-03 9.99975510e-01 -4.15662911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89420382200007 meters Centerline goodness : 0.139118 Centerline is valid? [False, False] Translation: X:308.69, Y:-31.97, Z:-0.42 [[ 9.96820163e-01 7.94760751e-02 5.75473725e-03 3.08685543e+02] [-7.94653890e-02 9.96835492e-01 -2.06272570e-03 -3.19650810e+01] [-5.90046367e-03 1.59886413e-03 9.99981314e-01 -4.15860160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92420382200004 meters Centerline goodness : 0.136673 Centerline is valid? [False, False] Translation: X:308.65, Y:-31.95, Z:-0.42 [[ 9.97208357e-01 7.46262549e-02 2.53260993e-03 3.08650351e+02] [-7.45952240e-02 9.97156570e-01 -1.06923703e-02 -3.19549822e+01] [-3.32334018e-03 1.04736005e-02 9.99939628e-01 -4.15662514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95420382200007 meters Centerline goodness : 0.129741 Centerline is valid? [False, False] Translation: X:308.65, Y:-31.96, Z:-0.42 [[ 9.97164444e-01 7.52028501e-02 2.75747664e-03 3.08650293e+02] [-7.51740863e-02 9.97126445e-01 -9.36533322e-03 -3.19604384e+01] [-3.45385263e-03 9.13148650e-03 9.99952342e-01 -4.17072832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98420382200004 meters Centerline goodness : 0.129741 Centerline is valid? [False, False] Translation: X:308.65, Y:-31.96, Z:-0.42 [[ 9.97385772e-01 7.21657387e-02 3.70510374e-03 3.08646458e+02] [-7.21098071e-02 9.97305444e-01 -1.34917704e-02 -3.19572266e+01] [-4.66876371e-03 1.31893255e-02 9.99902117e-01 -4.15940437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01420382200007 meters Centerline goodness : 0.086215 Centerline is valid? [False, False] Translation: X:308.66, Y:-32.01, Z:-0.41 [[ 9.96751957e-01 8.00815134e-02 8.51400371e-03 3.08664732e+02] [-8.04375521e-02 9.95134501e-01 5.68957414e-02 -3.20143619e+01] [-3.91628176e-03 -5.73957872e-02 9.98343822e-01 -4.07249689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04420382200004 meters Centerline goodness : 0.088505 Centerline is valid? [False, False] Translation: X:308.67, Y:-32.00, Z:-0.41 [[ 9.96715810e-01 8.07762478e-02 5.72637388e-03 3.08667590e+02] [-8.09304958e-02 9.96071892e-01 3.59310598e-02 -3.20026357e+01] [-2.80150387e-03 -3.62764937e-02 9.99337865e-01 -4.12440522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0742038220001 meters Centerline goodness : 0.087466 Centerline is valid? [False, False] Translation: X:308.67, Y:-31.99, Z:-0.42 [[ 9.96666729e-01 8.13640633e-02 5.94316527e-03 3.08674526e+02] [-8.14515680e-02 9.96542849e-01 1.63704665e-02 -3.19906719e+01] [-4.59065118e-03 -1.67999794e-02 9.99848332e-01 -4.18142917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10420382200004 meters Centerline goodness : 0.087129 Centerline is valid? [False, False] Translation: X:308.68, Y:-31.99, Z:-0.42 [[ 9.96918953e-01 7.82369774e-02 5.61937935e-03 3.08675526e+02] [-7.82994443e-02 9.96858592e-01 1.19224745e-02 -3.19866163e+01] [-4.66894822e-03 -1.23257350e-02 9.99913135e-01 -4.19255345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.1342038220001 meters Centerline goodness : 0.085616 Centerline is valid? [False, False] Translation: X:308.70, Y:-31.99, Z:-0.42 [[ 9.96652333e-01 8.15355284e-02 6.00704891e-03 3.08695877e+02] [-8.15564901e-02 9.96663155e-01 3.33094997e-03 -3.19853070e+01] [-5.71541355e-03 -3.80971289e-03 9.99976410e-01 -4.18943873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16420382200005 meters Centerline goodness : 0.088222 Centerline is valid? [False, False] Translation: X:308.68, Y:-31.98, Z:-0.43 [[ 9.96259481e-01 8.60862796e-02 7.49661347e-03 3.08677290e+02] [-8.60693326e-02 9.96285873e-01 -2.55523395e-03 -3.19825999e+01] [-7.68874068e-03 1.90044753e-03 9.99968635e-01 -4.25914673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.194203822 meters Centerline goodness : 0.087787 Centerline is valid? [False, False] Translation: X:308.68, Y:-31.99, Z:-0.43 [[ 9.95777331e-01 9.14545612e-02 7.97311182e-03 3.08678498e+02] [-9.14760725e-02 9.95804441e-01 2.37562639e-03 -3.19860847e+01] [-7.72239829e-03 -3.09494386e-03 9.99965392e-01 -4.27482044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22420382200005 meters Centerline goodness : 0.085066 Centerline is valid? [False, False] Translation: X:308.68, Y:-31.98, Z:-0.43 [[ 9.95734605e-01 9.19109780e-02 8.06027662e-03 3.08679154e+02] [-9.19287475e-02 9.95763847e-01 1.86173700e-03 -3.19824532e+01] [-7.85501799e-03 -2.59476709e-03 9.99965782e-01 -4.28485353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.254203822 meters Centerline goodness : 0.084775 Centerline is valid? [False, False] Translation: X:308.70, Y:-31.98, Z:-0.44 [[ 9.94838176e-01 1.00598317e-01 1.33034562e-02 3.08702838e+02] [-1.00600153e-01 9.94926794e-01 -5.32831051e-04 -3.19789948e+01] [-1.32895669e-02 -8.08249054e-04 9.99911363e-01 -4.35835561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28420382200005 meters Centerline goodness : 0.086232 Centerline is valid? [False, False] Translation: X:308.70, Y:-31.98, Z:-0.44 [[ 9.94826446e-01 1.00689426e-01 1.34900829e-02 3.08702802e+02] [-1.00684250e-01 9.94917861e-01 -1.06397449e-03 -3.19758706e+01] [-1.35286554e-02 -2.99768920e-04 9.99908439e-01 -4.36516086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.314203822 meters Centerline goodness : 0.085173 Centerline is valid? [False, False] Translation: X:308.70, Y:-31.97, Z:-0.44 [[ 9.94823017e-01 1.00692569e-01 1.37175422e-02 3.08702800e+02] [-1.00679854e-01 9.94917562e-01 -1.61609097e-03 -3.19730185e+01] [-1.38105520e-02 2.26644349e-04 9.99904604e-01 -4.37434433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34420382200005 meters Centerline goodness : 0.086631 Centerline is valid? [False, False] Translation: X:308.70, Y:-31.97, Z:-0.44 [[ 9.94814817e-01 1.00746742e-01 1.39131040e-02 3.08703751e+02] [-1.00725935e-01 9.94911800e-01 -2.19003208e-03 -3.19699655e+01] [-1.40629499e-02 7.77265956e-04 9.99900810e-01 -4.39413340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.374203822 meters Centerline goodness : 0.083307 Centerline is valid? [False, False] Translation: X:308.70, Y:-31.96, Z:-0.44 [[ 9.95213568e-01 9.67826976e-02 1.35300775e-02 3.08704788e+02] [-9.66893430e-02 9.95287151e-01 -7.39310274e-03 -3.19637720e+01] [-1.41818367e-02 6.04950185e-03 9.99881132e-01 -4.40821863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40420382200006 meters Centerline goodness : 0.087403 Centerline is valid? [False, False] Translation: X:308.71, Y:-31.96, Z:-0.44 [[ 9.95613033e-01 9.26400737e-02 1.31341069e-02 3.08706001e+02] [-9.24748292e-02 9.95634329e-01 -1.26763408e-02 -3.19573830e+01] [-1.42511049e-02 1.14061558e-02 9.99833389e-01 -4.42281050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.43420382200003 meters Centerline goodness : 0.087745 Centerline is valid? [False, False] Translation: X:308.71, Y:-31.95, Z:-0.44 [[ 9.95656944e-01 9.21235886e-02 1.34348193e-02 3.08706761e+02] [-9.19445523e-02 9.95674146e-01 -1.33863691e-02 -3.19536119e+01] [-1.46099026e-02 1.20929729e-02 9.99820139e-01 -4.44174250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46420382200006 meters Centerline goodness : 0.090156 Centerline is valid? [False, False] Translation: X:308.71, Y:-31.95, Z:-0.45 [[ 9.96074330e-01 8.75357279e-02 1.31691293e-02 3.08707563e+02] [-8.72792423e-02 9.96003970e-01 -1.89321360e-02 -3.19459874e+01] [-1.47737434e-02 1.77084231e-02 9.99734039e-01 -4.45325783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49420382200003 meters Centerline goodness : 0.091965 Centerline is valid? [False, False] Translation: X:308.71, Y:-31.94, Z:-0.45 [[ 9.96460780e-01 8.30673818e-02 1.28734003e-02 3.08708303e+02] [-8.27389471e-02 9.96276565e-01 -2.42336988e-02 -3.19393462e+01] [-1.48384969e-02 2.30827988e-02 9.99623431e-01 -4.46212922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52420382200006 meters Centerline goodness : 0.089384 Centerline is valid? [False, False] Translation: X:308.71, Y:-31.93, Z:-0.45 [[ 9.96839117e-01 7.83794111e-02 1.29785281e-02 3.08707829e+02] [-7.79683408e-02 9.96515727e-01 -2.96199857e-02 -3.19326181e+01] [-1.52549044e-02 2.85144461e-02 9.99476970e-01 -4.46768257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55420382200003 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 317.58420382200006 meters Centerline goodness : 0.092585 Centerline is valid? [False, False] Translation: X:308.74, Y:-31.93, Z:-0.46 [[ 9.96893424e-01 7.64518365e-02 1.89372172e-02 3.08737979e+02] [-7.59873088e-02 9.96816456e-01 -2.41429501e-02 -3.19328962e+01] [-2.07227026e-02 2.26289601e-02 9.99529139e-01 -4.58917525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61420382200004 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 317.64420382200007 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 317.67420382200004 meters Centerline goodness : 0.066343 Centerline is valid? [False, False] Translation: X:308.74, Y:-31.92, Z:-0.47 [[ 9.96662297e-01 7.91705091e-02 1.99071837e-02 3.08742940e+02] [-7.87136088e-02 9.96637087e-01 -2.27746623e-02 -3.19204092e+01] [-2.16433192e-02 2.11316809e-02 9.99542405e-01 -4.65572047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70420382200007 meters Centerline goodness : 0.068991 Centerline is valid? [False, False] Translation: X:308.74, Y:-31.92, Z:-0.47 [[ 9.96684746e-01 7.88726558e-02 1.99654990e-02 3.08743742e+02] [-7.83988493e-02 9.96645148e-01 -2.34961561e-02 -3.19164998e+01] [-2.17517219e-02 2.18529882e-02 9.99524542e-01 -4.66768077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73420382200004 meters Centerline goodness : 0.818533 Centerline is valid? [False, False] Translation: X:308.74, Y:-31.91, Z:-0.47 [[ 9.96705508e-01 7.85967384e-02 2.00170869e-02 3.08744646e+02] [-7.81095509e-02 9.96654460e-01 -2.40579589e-02 -3.19134559e+01] [-2.18409960e-02 2.24151744e-02 9.99510145e-01 -4.68138865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76420382200007 meters Centerline goodness : 0.811855 Centerline is valid? [False, False] Translation: X:308.75, Y:-31.91, Z:-0.47 [[ 9.96723546e-01 7.83613721e-02 2.00416411e-02 3.08745543e+02] [-7.78651364e-02 9.96664124e-01 -2.44467684e-02 -3.19112952e+01] [-2.18904670e-02 2.28061246e-02 9.99500219e-01 -4.69479329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79420382200004 meters Centerline goodness : 0.804584 Centerline is valid? [False, False] Translation: X:308.77, Y:-31.91, Z:-0.47 [[ 9.97201171e-01 7.20958105e-02 1.97994682e-02 3.08770281e+02] [-7.16670330e-02 9.97195268e-01 -2.15739052e-02 -3.19095504e+01] [-2.12993242e-02 2.00945544e-02 9.99571182e-01 -4.71165412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8242038220001 meters Centerline goodness : 0.800026 Centerline is valid? [False, False] Translation: X:308.77, Y:-31.90, Z:-0.47 [[ 9.97523504e-01 6.75656231e-02 1.95383190e-02 3.08771210e+02] [-6.70346701e-02 9.97394374e-01 -2.66611145e-02 -3.19036856e+01] [-2.12887843e-02 2.52853436e-02 9.99453570e-01 -4.72273875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85420382200004 meters Centerline goodness : 0.792555 Centerline is valid? [False, False] Translation: X:308.80, Y:-31.91, Z:-0.48 [[ 9.97925358e-01 6.05569114e-02 2.18595608e-02 3.08796253e+02] [-6.00478945e-02 9.97925005e-01 -2.32364903e-02 -3.19057843e+01] [-2.32213324e-02 2.18756623e-02 9.99490983e-01 -4.76797094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8842038220001 meters Centerline goodness : 0.786239 Centerline is valid? [False, False] Translation: X:308.80, Y:-31.91, Z:-0.48 [[ 9.97927284e-01 6.05209961e-02 2.18711189e-02 3.08796908e+02] [-6.00205312e-02 9.97935404e-01 -2.28574960e-02 -3.19079400e+01] [-2.32093223e-02 2.14974028e-02 9.99499469e-01 -4.77693299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91420382200005 meters Centerline goodness : 0.604460 Centerline is valid? [False, False] Translation: X:308.80, Y:-31.91, Z:-0.48 [[ 9.97927538e-01 6.04753884e-02 2.19853506e-02 3.08797195e+02] [-5.99768089e-02 9.97942279e-01 -2.26713549e-02 -3.19090143e+01] [-2.33111699e-02 2.13057582e-02 9.99501203e-01 -4.78604695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.944203822 meters Centerline goodness : 0.773572 Centerline is valid? [False, False] Translation: X:308.80, Y:-31.91, Z:-0.48 [[ 9.97937268e-01 6.02494061e-02 2.21634327e-02 3.08798284e+02] [-5.97453559e-02 9.97954544e-01 -2.27424796e-02 -3.19085866e+01] [-2.34883193e-02 2.13714058e-02 9.99495654e-01 -4.79802940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.97420382200005 meters Centerline goodness : 0.768326 Centerline is valid? [False, False] Translation: X:308.80, Y:-31.91, Z:-0.48 [[ 9.97935633e-01 6.02344635e-02 2.22773925e-02 3.08798750e+02] [-5.97273318e-02 9.97955000e-01 -2.27697852e-02 -3.19085497e+01] [-2.36033611e-02 2.13922108e-02 9.99492499e-01 -4.80826968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.004203822 meters Centerline goodness : 0.768224 Centerline is valid? [False, False] Translation: X:308.80, Y:-31.91, Z:-0.48 [[ 9.97930941e-01 6.02762385e-02 2.23743510e-02 3.08799418e+02] [-5.97676189e-02 9.97953152e-01 -2.27450652e-02 -3.19090327e+01] [-2.36995411e-02 2.13607426e-02 9.99490896e-01 -4.82231944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03420382200005 meters Centerline goodness : 0.762619 Centerline is valid? [False, False] Translation: X:308.80, Y:-31.91, Z:-0.48 [[ 9.97932146e-01 6.02528234e-02 2.23836620e-02 3.08801404e+02] [-5.97342602e-02 9.97945707e-01 -2.31556392e-02 -3.19069658e+01] [-2.37328721e-02 2.17706852e-02 9.99481259e-01 -4.83820779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.064203822 meters Centerline goodness : 0.758719 Centerline is valid? [False, False] Translation: X:308.80, Y:-31.90, Z:-0.49 [[ 9.97939165e-01 6.01443985e-02 2.23623450e-02 3.08802534e+02] [-5.96159748e-02 9.97942593e-01 -2.35905917e-02 -3.19042213e+01] [-2.37351785e-02 2.22088224e-02 9.99471565e-01 -4.85042384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09420382200005 meters Centerline goodness : 0.754439 Centerline is valid? [False, False] Translation: X:308.80, Y:-31.90, Z:-0.49 [[ 9.97949822e-01 5.99934404e-02 2.22921436e-02 3.08804027e+02] [-5.94533298e-02 9.97938922e-01 -2.41497360e-02 -3.19004930e+01] [-2.36950235e-02 2.27748826e-02 9.99459779e-01 -4.86529863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.124203822 meters Centerline goodness : 0.747960 Centerline is valid? [False, False] Translation: X:308.81, Y:-31.90, Z:-0.49 [[ 9.97842341e-01 6.19324474e-02 2.17952729e-02 3.08811870e+02] [-6.14339882e-02 9.97849748e-01 -2.28417606e-02 -3.18986230e+01] [-2.31630537e-02 2.14535053e-02 9.99501486e-01 -4.92242134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15420382200006 meters Centerline goodness : 0.743064 Centerline is valid? [False, False] Translation: X:308.81, Y:-31.90, Z:-0.49 [[ 9.97845055e-01 6.18835074e-02 2.18100370e-02 3.08813049e+02] [-6.13768040e-02 9.97845386e-01 -2.31834565e-02 -3.18968612e+01] [-2.31977184e-02 2.17948671e-02 9.99493296e-01 -4.93718863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18420382200003 meters Centerline goodness : 0.742675 Centerline is valid? [False, False] Translation: X:308.81, Y:-31.90, Z:-0.49 [[ 9.97848410e-01 6.18172638e-02 2.18443660e-02 3.08813972e+02] [-6.13025813e-02 9.97842676e-01 -2.34944151e-02 -3.18951316e+01] [-2.32496010e-02 2.21047487e-02 9.99485286e-01 -4.94914514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21420382200006 meters Centerline goodness : 0.732838 Centerline is valid? [False, False] Translation: X:308.82, Y:-31.89, Z:-0.50 [[ 9.97840664e-01 6.19136576e-02 2.19250410e-02 3.08816655e+02] [-6.13870404e-02 9.97827157e-01 -2.39289737e-02 -3.18923777e+01] [-2.33589316e-02 2.25313897e-02 9.99473210e-01 -4.96893396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24420382200003 meters Centerline goodness : 0.730298 Centerline is valid? [False, False] Translation: X:308.82, Y:-31.89, Z:-0.50 [[ 9.97838825e-01 6.19499834e-02 2.19061507e-02 3.08818014e+02] [-6.14222391e-02 9.97823395e-01 -2.39954440e-02 -3.18925076e+01] [-2.33449871e-02 2.25980608e-02 9.99472030e-01 -4.98683974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27420382200006 meters Centerline goodness : 0.722645 Centerline is valid? [False, False] Translation: X:308.82, Y:-31.89, Z:-0.50 [[ 9.97835906e-01 6.19812176e-02 2.19507065e-02 3.08820923e+02] [-6.14492202e-02 9.97818390e-01 -2.41340943e-02 -3.18922445e+01] [-2.33986791e-02 2.27330120e-02 9.99467714e-01 -5.01048535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30420382200003 meters Centerline goodness : 0.629756 Centerline is valid? [False, False] Translation: X:308.82, Y:-31.89, Z:-0.50 [[ 9.97841354e-01 6.18613425e-02 2.20410217e-02 3.08821848e+02] [-6.13220472e-02 9.97820791e-01 -2.43572678e-02 -3.18907012e+01] [-2.34997630e-02 2.29530885e-02 9.99460313e-01 -5.02280924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33420382200006 meters Centerline goodness : 0.722287 Centerline is valid? [False, False] Translation: X:308.82, Y:-31.89, Z:-0.50 [[ 9.97843683e-01 6.17892953e-02 2.21374476e-02 3.08822566e+02] [-6.12447308e-02 9.97822371e-01 -2.44867147e-02 -3.18895468e+01] [-2.36022573e-02 2.30781116e-02 9.99455019e-01 -5.03440924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36420382200004 meters Centerline goodness : 0.714727 Centerline is valid? [False, False] Translation: X:308.82, Y:-31.89, Z:-0.50 [[ 9.97844833e-01 6.16932133e-02 2.23525659e-02 3.08823320e+02] [-6.11398616e-02 9.97824853e-01 -2.46471258e-02 -3.18883792e+01] [-2.38245061e-02 2.32273744e-02 9.99446288e-01 -5.04650071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39420382200007 meters Centerline goodness : 0.498344 Centerline is valid? [False, False] Translation: X:308.82, Y:-31.89, Z:-0.51 [[ 9.97846308e-01 6.15437823e-02 2.26960105e-02 3.08824046e+02] [-6.09750312e-02 9.97827311e-01 -2.49540355e-02 -3.18868370e+01] [-2.41824648e-02 2.35164022e-02 9.99430932e-01 -5.05062036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42420382200004 meters Centerline goodness : 0.583000 Centerline is valid? [False, False] Translation: X:308.82, Y:-31.89, Z:-0.51 [[ 9.97844964e-01 6.14450770e-02 2.30202266e-02 3.08824535e+02] [-6.08645572e-02 9.97829815e-01 -2.51230347e-02 -3.18853566e+01] [-2.45139552e-02 2.36677777e-02 9.99419283e-01 -5.06046533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45420382200007 meters Centerline goodness : 0.697345 Centerline is valid? [False, False] Translation: X:308.83, Y:-31.88, Z:-0.51 [[ 9.97848458e-01 6.13516652e-02 2.31177006e-02 3.08825116e+02] [-6.07634160e-02 9.97830411e-01 -2.53431918e-02 -3.18840777e+01] [-2.46223917e-02 2.38839544e-02 9.99411474e-01 -5.06873258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48420382200004 meters Centerline goodness : 0.692418 Centerline is valid? [False, False] Translation: X:308.83, Y:-31.88, Z:-0.51 [[ 9.97845426e-01 6.13452935e-02 2.32649919e-02 3.08825542e+02] [-6.07510686e-02 9.97828641e-01 -2.54423029e-02 -3.18838345e+01] [-2.47752408e-02 2.39741125e-02 9.99405538e-01 -5.07829630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51420382200007 meters Centerline goodness : 0.487086 Centerline is valid? [False, False] Translation: X:308.83, Y:-31.88, Z:-0.51 [[ 9.97845165e-01 6.12533636e-02 2.35170736e-02 3.08826919e+02] [-6.06437547e-02 9.97825593e-01 -2.58151367e-02 -3.18818285e+01] [-2.50472018e-02 2.43333456e-02 9.99390077e-01 -5.08636571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54420382200004 meters Centerline goodness : 0.586282 Centerline is valid? [False, False] Translation: X:308.83, Y:-31.88, Z:-0.51 [[ 9.97854887e-01 6.10894099e-02 2.35310257e-02 3.08828334e+02] [-6.04703147e-02 9.97826615e-01 -2.61799055e-02 -3.18794937e+01] [-2.50791987e-02 2.47008181e-02 9.99380260e-01 -5.10047638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5742038220001 meters Centerline goodness : 0.676262 Centerline is valid? [False, False] Translation: X:308.84, Y:-31.88, Z:-0.52 [[ 9.97834217e-01 6.15245496e-02 2.32724164e-02 3.08836244e+02] [-6.09118685e-02 9.97799795e-01 -2.61784734e-02 -3.18765840e+01] [-2.48318311e-02 2.47042102e-02 9.99386353e-01 -5.16109945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60420382200004 meters Centerline goodness : 0.674979 Centerline is valid? [False, False] Translation: X:308.84, Y:-31.87, Z:-0.52 [[ 9.97847187e-01 6.13401614e-02 2.32029483e-02 3.08838120e+02] [-6.07223597e-02 9.97804062e-01 -2.64546739e-02 -3.18744289e+01] [-2.47747300e-02 2.49887842e-02 9.99380695e-01 -5.17987847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.6342038220001 meters Centerline goodness : 0.567169 Centerline is valid? [False, False] Translation: X:308.84, Y:-31.87, Z:-0.52 [[ 9.97861287e-01 6.11279692e-02 2.31565044e-02 3.08839721e+02] [-6.05033810e-02 9.97808787e-01 -2.67761979e-02 -3.18723072e+01] [-2.47425382e-02 2.53178845e-02 9.99373209e-01 -5.19430032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66420382200005 meters Centerline goodness : 0.468718 Centerline is valid? [False, False] Translation: X:308.84, Y:-31.87, Z:-0.52 [[ 9.97873551e-01 6.08936816e-02 2.32451321e-02 3.08842158e+02] [-6.02573938e-02 9.97813378e-01 -2.71571113e-02 -3.18705633e+01] [-2.48480002e-02 2.56986720e-02 9.99360873e-01 -5.20736131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.694203822 meters Centerline goodness : 0.496337 Centerline is valid? [False, False] Translation: X:308.84, Y:-31.87, Z:-0.52 [[ 9.97879198e-01 6.08381131e-02 2.31479947e-02 3.08844128e+02] [-6.02042952e-02 9.97816549e-01 -2.71583912e-02 -3.18711750e+01] [-2.47497175e-02 2.57071849e-02 9.99363093e-01 -5.22849989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72420382200005 meters Centerline goodness : 0.469941 Centerline is valid? [False, False] Translation: X:308.85, Y:-31.87, Z:-0.53 [[ 9.97992885e-01 5.92195430e-02 2.24331629e-02 3.08852062e+02] [-5.85725197e-02 9.97876874e-01 -2.84781303e-02 -3.18687045e+01] [-2.40719963e-02 2.71070046e-02 9.99342659e-01 -5.27331793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.754203822 meters Centerline goodness : 0.478712 Centerline is valid? [False, False] Translation: X:308.85, Y:-31.87, Z:-0.53 [[ 9.98002453e-01 5.90687654e-02 2.24050217e-02 3.08853447e+02] [-5.84206749e-02 9.97883580e-01 -2.85549494e-02 -3.18679240e+01] [-2.40443089e-02 2.71889930e-02 9.99341098e-01 -5.28798183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78420382200005 meters Centerline goodness : 0.507821 Centerline is valid? [False, False] Translation: X:308.86, Y:-31.87, Z:-0.53 [[ 9.98015285e-01 5.88755236e-02 2.23419525e-02 3.08855187e+02] [-5.82266220e-02 9.97891875e-01 -2.86612304e-02 -3.18671133e+01] [-2.39822978e-02 2.73034496e-02 9.99339467e-01 -5.30553145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.814203822 meters Centerline goodness : 0.553657 Centerline is valid? [False, False] Translation: X:308.88, Y:-31.87, Z:-0.53 [[ 9.98365047e-01 5.40361621e-02 1.86366820e-02 3.08877486e+02] [-5.35077784e-02 9.98181155e-01 -2.77722692e-02 -3.18658871e+01] [-2.01034916e-02 2.67296554e-02 9.99440531e-01 -5.27004552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84420382200005 meters Centerline goodness : 0.476544 Centerline is valid? [False, False] Translation: X:308.88, Y:-31.87, Z:-0.53 [[ 9.98377997e-01 5.38432470e-02 1.85008137e-02 3.08879375e+02] [-5.33227662e-02 9.98196931e-01 -2.75602735e-02 -3.18669885e+01] [-1.99513901e-02 2.65290561e-02 9.99448924e-01 -5.28540010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.874203822 meters Centerline goodness : 0.504966 Centerline is valid? [False, False] Translation: X:308.88, Y:-31.87, Z:-0.53 [[ 9.98394308e-01 5.36064508e-02 1.83072087e-02 3.08881341e+02] [-5.30977429e-02 9.98218082e-01 -2.72266631e-02 -3.18691916e+01] [-1.97341116e-02 2.62108740e-02 9.99461633e-01 -5.29921012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90420382200006 meters Centerline goodness : 0.504966 Centerline is valid? [False, False] Translation: X:308.88, Y:-31.87, Z:-0.53 [[ 9.98394308e-01 5.36064508e-02 1.83072087e-02 3.08881341e+02] [-5.30977429e-02 9.98218082e-01 -2.72266631e-02 -3.18691916e+01] [-1.97341116e-02 2.62108740e-02 9.99461633e-01 -5.29921012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.93420382200003 meters Centerline goodness : 0.636368 Centerline is valid? [False, False] Translation: X:308.90, Y:-31.87, Z:-0.53 [[ 9.98787006e-01 4.69500847e-02 1.48393525e-02 3.08904522e+02] [-4.65496316e-02 9.98570534e-01 -2.62682542e-02 -3.18744709e+01] [-1.60514369e-02 2.55456246e-02 9.99544783e-01 -5.25668101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96420382200006 meters Centerline goodness : 0.566778 Centerline is valid? [False, False] Translation: X:308.91, Y:-31.88, Z:-0.53 [[ 9.98847835e-01 4.58601308e-02 1.41368610e-02 3.08910100e+02] [-4.54729943e-02 9.98611697e-01 -2.65873084e-02 -3.18762083e+01] [-1.53365322e-02 2.59138300e-02 9.99546529e-01 -5.29385550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99420382200003 meters Centerline goodness : 0.467906 Centerline is valid? [False, False] Translation: X:308.91, Y:-31.88, Z:-0.53 [[ 9.98848488e-01 4.58831161e-02 1.40156144e-02 3.08911583e+02] [-4.55050294e-02 9.98620509e-01 -2.61987033e-02 -3.18786483e+01] [-1.51983581e-02 2.55307543e-02 9.99558498e-01 -5.30760304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02420382200006 meters Centerline goodness : 0.462537 Centerline is valid? [False, False] Translation: X:308.91, Y:-31.88, Z:-0.53 [[ 9.98851376e-01 4.57734407e-02 1.41675844e-02 3.08913576e+02] [-4.53931831e-02 9.98628472e-01 -2.60889722e-02 -3.18789537e+01] [-1.53423352e-02 2.54158940e-02 9.99559225e-01 -5.31116885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05420382200003 meters Centerline goodness : 0.460750 Centerline is valid? [False, False] Translation: X:308.91, Y:-31.88, Z:-0.53 [[ 9.98847211e-01 4.58657403e-02 1.41627396e-02 3.08914423e+02] [-4.54872367e-02 9.98626998e-01 -2.59813489e-02 -3.18795307e+01] [-1.53349480e-02 2.53071740e-02 9.99562097e-01 -5.32026040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08420382200006 meters Centerline goodness : 0.448675 Centerline is valid? [False, False] Translation: X:308.92, Y:-31.88, Z:-0.53 [[ 9.98838249e-01 4.60643339e-02 1.41502637e-02 3.08915697e+02] [-4.56885213e-02 9.98621902e-01 -2.58235575e-02 -3.18812600e+01] [-1.53203082e-02 2.51470523e-02 9.99566363e-01 -5.33468944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11420382200004 meters Centerline goodness : 0.465088 Centerline is valid? [False, False] Translation: X:308.92, Y:-31.89, Z:-0.54 [[ 9.98844727e-01 4.59959621e-02 1.39134310e-02 3.08922304e+02] [-4.56227164e-02 9.98619049e-01 -2.60492365e-02 -3.18853190e+01] [-1.50923769e-02 2.53843739e-02 9.99563832e-01 -5.38672409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14420382200007 meters Centerline goodness : 0.467750 Centerline is valid? [False, False] Translation: X:308.92, Y:-31.89, Z:-0.54 [[ 9.98840974e-01 4.61337600e-02 1.37253083e-02 3.08924389e+02] [-4.57672300e-02 9.98615874e-01 -2.59171148e-02 -3.18860797e+01] [-1.49019647e-02 2.52589069e-02 9.99569867e-01 -5.40572392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17420382200004 meters Centerline goodness : 0.475517 Centerline is valid? [False, False] Translation: X:308.93, Y:-31.89, Z:-0.55 [[ 9.98710100e-01 4.90592430e-02 1.30891579e-02 3.08933876e+02] [-4.87664066e-02 9.98571734e-01 -2.18249775e-02 -3.18922399e+01] [-1.41411800e-02 2.11585143e-02 9.99676120e-01 -5.46799413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 6897.06 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%| | 0/10635 [00:00